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Method for adjusting sole gluing posture, storage equipment and sole gluing robot

A technology of gluing and posture, which is applied in the field of sole gluing robot and adjustment of sole gluing posture, which can solve problems such as difficult to obtain gluing posture, poor gluing effect, and inability to obtain relevant point cloud data in the side wall area, etc., to achieve easy to understand effects

Pending Publication Date: 2022-07-15
DONGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of the above problems, the present application provides a method for adjusting the gluing posture of the sole, in order to solve the inability to obtain relevant point cloud data in the side wall area blocked by the concave in the prior art. For the blind area of ​​this phenomenon, the gluing posture Difficult to obtain, leading to technical problems of poor gluing effect

Method used

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  • Method for adjusting sole gluing posture, storage equipment and sole gluing robot
  • Method for adjusting sole gluing posture, storage equipment and sole gluing robot
  • Method for adjusting sole gluing posture, storage equipment and sole gluing robot

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Embodiment Construction

[0063] In order to describe in detail the possible application scenarios, technical principles, specific solutions that can be implemented, and the realization of purposes and effects of the present application, the following detailed description is given in conjunction with the specific embodiments listed and with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the protection scope of the present application.

[0064] Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of the word "embodiment" in various places in the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or a...

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Abstract

The invention relates to the technical field of sole gluing, in particular to a method for adjusting a sole gluing posture, storage equipment and a sole gluing robot. The method for adjusting the sole gluing posture comprises the following steps: acquiring point cloud data of a target object; calculating the bending degree of the gluing area of the target object; calculating the weight of the normal vector according to the bending degree data; calculating a normal vector of the gluing area based on PCA; calculating a normal vector of gluing based on the weight; and adjusting the gluing posture according to the finally obtained normal vector. Through the method, a more accurate gluing posture can be obtained, and a better gluing effect is obtained.

Description

technical field [0001] The present application relates to the technical field of shoe sole gluing, and in particular, to a method for adjusting the posture of shoe sole gluing, a storage device and a shoe sole gluing robot. Background technique [0002] Most of the traditional shoe-making process relies on labor, and the technical requirements of workers are very high, and the quality of the produced sports shoes is unstable. In the shoe-making process, the sole application of glue takes up a lot of workers, and the glue is harmful to the workers' health. Therefore, it is of great significance to introduce machine vision and robotics into the automatic production of sports shoes. Machine vision, as the "eyes" of the robot, needs to accurately provide the spatial position of the robot. At the same time, due to the large changes in the sole and shoe wall, the robot glue application is easy to cause unqualified products such as missed coating and out-of-bounds. The robot need...

Claims

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Application Information

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IPC IPC(8): A43D25/18
CPCA43D25/18A43D2200/10G06T2207/10028
Inventor 孟婥陈玉洁张豪孙以泽郗欣甫
Owner DONGHUA UNIV