A method for automatic gluing by a shoemaking forming robot

Abstract

The invention relates to the technical field of automatic shoe-making molding, in particular to an automatic glue-applying method for a shoe-making molding robot. The method includes a process generation part and a glue spraying real-time compensation part. Through the simulation of the robot's motion path, the changing path compensation pressure value is obtained to ensure that the amount of glue applied to each glued surface of the shoe material is consistent and the quality of the glue is guaranteed; in the actual work process, the flow rate can be monitored in time. Increase the pressure compensation in a small amount and multiple times to ensure that the nozzle maintains a stable output state for a long time, thereby realizing the improvement of product quality and production efficiency while reducing the number of cleaning operations.

Description

technical field [0001] The invention relates to the technical field of automatic shoe-making molding, in particular to an automatic glue-applying method for a shoe-making molding robot. Background technique [0002] With the improvement of automation technology, the automatic working mode of robots has gradually replaced the manual operation mode. In the field of shoemaking, the gluing process is highly repetitive and labor-intensive, so many shoe manufacturers have gradually adopted the automatic gluing method of robots. The action of robots depends on the execution of the set program. The gluing surface of the shoe material has a large number of curved surfaces with different curvatures. When the robot is winding and gluing, it is limited by the performance of the robot itself, and it cannot achieve the same speed when the nozzle sweeps all the gluing surfaces of the shoe material. For example, the toe cap of the shoe material The corner of the position is relatively larg...

AI Technical Summary

Problems solved by technology

In the field of shoemaking, the gluing process is highly repetitive and labor-intensive, so many shoe manufacturers have gradually adopted the automatic gluing method of robots. The action of robots depends on the execution of the set program. The gluing surface of the shoe material has a large number of curved surfaces with different curvatures. When the robot is winding and gluing, it is limited by the performance of the robot itself, and it cannot achieve the same speed when the nozzle sweeps all the gluing surfaces of the shoe material. For example, the toe cap of the shoe material The corner of the position is relatively large. Although the distance of the glued surface is short, the robot needs to perform a large movement to make the nozzle sweep over the glued surface, which is limited by the limit speed of the robot. Therefore, the speed at which the nozzle sweeps at this position will be If it slows down, it will happen that the speed of the nozzle sweeping across all the glued surfaces of the shoe material is inconsistent, and the amount of glue on the glued surface is uneven, which will affect the quality of the final product; at the same time, in the actual glue spraying work, due to the inevitable occurrence of Therefore, with the prolongation of the working time, the glue output of the nozzle will gradually decrease, so it is necessary to perform a glue cleaning operation every once in a while to restore the original glue output of the nozzle, and the glue output of the nozzle will decrease. The small process will lead to uneven glue spraying quality of the same batch of products, but if the glue cleaning operation is performed too frequently, it will also affect the work efficiency

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