Shoe sole dynamic following glue spraying method and system

Abstract

The invention provides a shoe sole dynamic following glue spraying method which comprises the following steps: performing three-dimensional scanning on a shoe sole product needing glue spraying, and reconstructing a three-dimensional model of the product according to point cloud data and position information; extracting an original point location track according to the three-dimensional model; removing outlier cloud of the original point location track, and eliminating bad track point locations to obtain a point location track; after a point location track curve is fitted, dispersing the point location track curve into equidistant track point locations; calculating a surface normal vector of the track on the sole point cloud through the point cloud data and the equidistant track point locations; and calculating point position information followed by a mechanical arm in real time according to the obtained spraying track and the position information of a conveying belt. A transmission following module is introduced and combined with an industrial camera to obtain three-dimensional data of a shoe sole, and dynamic following glue spraying of the shoe sole is achieved through the space movement capacity of a multi-joint robot, following movement of the conveying belt and glue spraying equipment according to the extracted information. The invention further provides a shoe sole dynamic following glue spraying system.

Description

technical field [0001] The invention relates to the field of mechanical automation, in particular to a method and system for dynamically following glue spraying on soles. Background technique [0002] At present, the sole gluing process in shoemaking is at the level of semi-automation or even manual operation, which seriously affects the quality of finished shoes, and personalized shoemaking is even more out of the question. Traditionally, most of the operations are done manually, how to reduce manual repetitive labor and improve the employment environment has become a realistic problem that needs to be solved urgently. The efficiency of the current production methods in the footwear industry has become the bottleneck of the industry. [0003] Existing a sole glue spraying equipment and method based on monocular vision (patent publication number: CN109671123A), proposed a kind of automatic sole glue spraying equipment and method, but in its technological process, S6 step " ...

AI Technical Summary

Problems solved by technology

[0003] Existing a sole glue spraying equipment and method based on monocular vision (patent publication number: CN109671123A), proposed a kind of automatic sole glue spraying equipment and method, but in its technological process, S6 step " when with described track point position After the corresponding shoe sole is transported to the predetermined position, the conveyor belt device stops the transmission, the process of stopping the transmission and waiting for spraying is an invalid process time, but it occupies half of the process time

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