A kind of robot spraying method and device for shoe material spraying

Abstract

The invention provides a robot spraying method and device for shoe material spraying. The spraying method includes the following steps: A. Obtaining a preliminary spraying trajectory; B. Obtaining a final spraying path; C. Calculating the value of the Jacobian and the 5-axis center The distance between the point and the axis of 1 axis; D. If the robot will approach the singular interval in the process of spraying, then go to step E, otherwise go to step G; E, reduce the linear speed of the robot, and calculate the angular speed of each axis of the robot; F. If the angular velocity is lower than the angular velocity alarm value, go to step G; otherwise, go to step E; G. Find the corresponding atomization pressure value and material pressure value in the process database, the robot will follow the adjusted linear speed, The angular velocity, as well as the corresponding atomization pressure value and material pressure value, are sprayed according to the spraying path. The invention not only ensures that the overall production rhythm is stable within a certain range, but also ensures the spraying precision, and also avoids the occurrence of glue overflow or glue shortage.

Description

technical field [0001] The invention relates to a robot spraying method and device for shoe material spraying. Background technique [0002] At present, it is known that the spraying method of the robot shoe material is constant pressure and constant speed, and the spraying movement is high-speed movement. The constant pressure and constant speed method is adopted. During the spraying process, it is inevitable that the robot will alarm and stop due to the robot overspeed error or approaching the strange area. The higher the frequency of shutdown alarms in the production process, the more participation of machine repair or maintenance personnel is required, resulting in production stagnation, affecting production tact, and wasting labor costs. The common solution to this problem today is to reduce the overall movement speed of the robot, or to adjust the attitude of some points that are prone to overspeed and close to the singular interval, but doing so reduces both the produ...

AI Technical Summary

Problems solved by technology

[0002] At present, it is known that the robot shoe material spraying method is constant pressure and constant speed, and the spraying movement is high-speed movement. If the constant pressure and constant speed method is used, it is inevitable that the robot will alarm and stop due to overspeed error or approaching the singular area during the spraying process. The higher the frequency of shutdown alarms in the production process, the more machine repair or maintenance personnel are required to participate, which will lead to production stagnation, affect the production cycle, and waste labor costs

Nowadays, the common solution to this problem is to reduce the overall movement speed of the robot, or adjust the position posture of some parts that are prone to overspeed and close to the singular area, but this not only reduces the production cycle but also reduces the spraying accuracy

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