Intelligent flexible polishing method, device and equipment

Abstract

The invention relates to the technical field of intelligent polishing, in particular to an intelligent flexible polishing method, device and equipment. A group of 3D images are shot for each shoe sole from different visual angles; fusing the group of 3D images by using a preset 3D image splicing algorithm so as to establish an accurate and shadow-free 3D model for each shoe sole; according to the 3D model, a preset track algorithm and a polishing pressure algorithm, the polishing track, the polishing posture and the polishing force of each shoe sole are generated; and a five-axis manipulator achieves multi-dimensional space polishing according to the polishing posture and the polishing track of each shoe sole, meanwhile, a force control device at the tail end of the five-axis manipulator achieves constant-force polishing according to the polishing force of each shoe sole, and the force control device is independent of the five-axis manipulator, so that the five-axis manipulator does not need to participate in force position adjustment, the force position response speed is fast, the accurate polishing of each shoe sole is ensured, and compared with the prior art, full-automatic polishing is achieved without manual teaching, the polishing efficiency is improved while the polishing quality is guaranteed, and manual polishing is completely replaced.

Description

technical field [0001] The invention relates to the technical field of intelligent grinding, in particular to an intelligent flexible grinding method, device and equipment. Background technique [0002] In the production process of EVA soles, secondary foam molding technology is generally used at present. In order to improve the yield and appearance of the second foaming, the EVA sole after the first foaming needs to be polished off the skin before the second foaming can be performed. Since the shape of the sole after the first foaming is irregular, and the deformation between different individuals is very large, automatic polishing cannot be realized. The existing method is to manually hold the sole to fit the grinding wheel to realize the peeling work of the EVA surface after one foaming. Grinding has dust pollution and noise pollution, which makes it difficult to recruit workers. The aging trend of grinders is obvious. The cost of manual grinding is high, the quality is...

AI Technical Summary

Problems solved by technology

[0003] The main purpose of the present invention is to provide an intelligent flexible grinding method, device and equipment, which can solve the problem of low manual grinding efficiency in the prior art. In order to achieve the above purpose:

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