A sole gluing track offset method and storage device

Abstract

The present application relates to the technical field of gluing, in particular to a shoe sole gluing track bias method and a storage device. The shoe sole gluing track bias method comprises the following steps: obtaining initial track data of a glue gun through 3D vision; and calculating bias track data according to the initial track data of the glue gun. The glue gun is controlled to perform gluing operation according to the bias track data through the above method, so that the gluing accuracy is greatly improved, and the situation that the side wall is not close to the boundary or exceeds the boundary during the gluing process is avoided.

Description

Technical Field

[0001] This invention relates to the field of adhesive coating technology, and in particular to a method and storage device for offsetting adhesive coating trajectory on shoe soles. Background Technology

[0002] As we all know, for a pair of shoes that require glue, the success of the glue application directly affects the quality of the entire shoe. Currently, the most common method is manual glue application. Manual glue application is not only inefficient, but also often subject to human error, resulting in substandard glue application quality.

[0003] Unlike manual glue application, some methods use robotic arms for glue application. However, depending on the glue gun used, if the application process is not calibrated in real time, problems may arise such as the glue not reaching the boundary or exceeding the boundary on the sidewall of the shoe sole. Summary of the Invention

[0004] Therefore, a method for offsetting the adhesive application trajectory on the sole is needed to solve the problem of poor adhesive application accuracy on the sidewalls of the sole during the existing adhesive application process. The specific technical solution is as follows:

[0005] A method for offsetting the adhesive application trajectory of a shoe sole includes the following steps:

[0006] Preliminary trajectory data of the glue gun was obtained through 3D vision;

[0007] The offset trajectory data is calculated based on the initial trajectory data of the glue gun.

[0008] Furthermore, the step of "calculating the offset trajectory data based on the preliminary trajectory data of the glue gun" specifically includes the following steps:

[0009] The trajectory points extracted by 3D vision are p n =(x n ,y n ,z n The corresponding spray width is L, and the trajectory point is p. n Region normal vector Given that the offset trajectory point is p′ n =(x′) n ,y′ n ,z′ n The bias trajectory is as follows:

[0010]

[0011] Where α, β, γ are the offset spray distance and the coordinate system x′. n ,y′ n ,z′ n The angle between the three coordinate axes.

[0012] Furthermore, the "acquiring preliminary trajectory data of the glue gun through 3D vision" specifically includes the following steps:

[0013] Calculate the spray width based on the initial trajectory data of the glue gun;

[0014] The step of "calculating the spray width based on the initial trajectory data of the glue gun" further includes the following steps:

[0015]

[0016] θ is the tilt angle between the glue gun and the spray surface, and h is the spray distance for tilt spraying;

[0017] h=d(1+tan 2 θ)

[0018] d is the spray distance when spraying vertically;

[0019]

[0020] in b1 and b2 are known parameters, p f p is the air pressure of the spray pattern. w The pressure of the atomized air.

[0021] Furthermore, it also includes the following steps:

[0022] The glue gun is controlled to perform the glue application operation according to the bias trajectory data.

[0023] To address the aforementioned technical problems, a storage device is also provided, with the specific technical solution as follows:

[0024] A storage device storing an instruction set for execution:

[0025] Preliminary trajectory data of the glue gun was obtained through 3D vision;

[0026] The offset trajectory data is calculated based on the initial trajectory data of the glue gun.

[0027] Furthermore, the instruction set is also used to execute:

[0028] The step of "calculating the offset trajectory data based on the preliminary trajectory data of the glue gun" further includes the following steps:

[0029] The trajectory points extracted by 3D vision are p n =(x n ,y n ,z n The corresponding spray width is L, and the trajectory point is p. n Region normal vector Given that the offset trajectory point is p′ n=(x′) n ,y′ n ,z′ n The bias trajectory is as follows:

[0030]

[0031] Where α, β, γ are the offset spray distance and the coordinate system x′. n ,y′ n ,z′ n The angle between the three coordinate axes.

[0032] Furthermore, the instruction set is also used to execute:

[0033] The "acquiring preliminary trajectory data of the glue gun through 3D vision" further includes the following steps:

[0034] Calculate the spray width based on the initial trajectory data of the glue gun;

[0035] The step of "calculating the spray width based on the initial trajectory data of the glue gun" further includes the following steps:

[0036]

[0037] θ is the tilt angle between the glue gun and the spray surface, and h is the spray distance for tilt spraying;

[0038] h=d(1+tan 2 θ)

[0039] d is the spray distance when spraying vertically;

[0040]

[0041] in b1 and b2 are known parameters, p f p is the air pressure of the spray pattern. w The pressure of the atomized air.

[0042] Furthermore, the instruction set is also used to execute:

[0043] The glue gun is controlled to perform the glue application operation according to the bias trajectory data.

[0044] The beneficial effects of this invention are: a method for offsetting the adhesive application trajectory of a shoe sole, comprising the steps of: acquiring preliminary trajectory data of a glue gun through 3D vision; and calculating offset trajectory data based on the preliminary trajectory data of the glue gun. By controlling the glue gun to perform the adhesive application operation according to the offset trajectory data using the above method, the accuracy of adhesive application is greatly improved, avoiding the situation where the shoe sole sidewalls do not reach the boundary or exceed the boundary during the adhesive application process. Attached Figure Description

[0045] Figure 1A flowchart illustrating a method for offsetting the adhesive application trajectory of a shoe sole, as described in a specific embodiment;

[0046] Figure 2 This is a schematic diagram of the spraying trajectory described in the specific implementation method;

[0047] Figure 3 This is a schematic diagram illustrating the vertical spraying effect of the glue gun as described in a specific embodiment;

[0048] Figure 4 This is a schematic diagram illustrating the tilt angle spraying calculation in a specific implementation method;

[0049] Figure 5 This is a schematic diagram of the X and Y direction fog cone angle prediction curves and measured data as described in the specific implementation method;

[0050] Figure 6 This is a schematic diagram of the included angle as described in the specific implementation method;

[0051] Figure 7 The offset of the adhesive application trajectory of the robotic arm described in the specific implementation embodiment

[0052] Figure 8 This is a schematic diagram of a storage device according to a specific embodiment.

[0053] Explanation of reference numerals in the attached figures:

[0054] 800. Storage devices. Detailed Implementation

[0055] To explain in detail the technical content, structural features, objectives, and effects of the technical solution, the following description is provided in conjunction with specific embodiments and accompanying drawings.

[0056] Please see Figures 1 to 7 In this embodiment, a method for biasing the adhesive coating trajectory of a shoe sole can be applied to a storage device, which includes, but is not limited to, personal computers, servers, general-purpose computers, special-purpose computers, network devices, embedded devices, programmable devices, and smart mobile terminals.

[0057] The specific technical solution is as follows:

[0058] Step S101: Obtain preliminary trajectory data of the glue gun through 3D vision.

[0059] Step S102: Calculate the offset trajectory data based on the preliminary trajectory data of the glue gun. After calculating the offset trajectory data, the following steps are also included:

[0060] The glue gun is controlled to perform the glue application operation according to the bias trajectory data.

[0061] A method for offsetting the adhesive application trajectory of shoe soles includes the following steps: acquiring preliminary trajectory data of the glue gun through 3D vision; and calculating offset trajectory data based on the preliminary trajectory data of the glue gun. By controlling the glue gun to perform the adhesive application operation according to the offset trajectory data using the above method, the accuracy of adhesive application is greatly improved, avoiding the situation where the sidewalls do not reach the boundary or exceed the boundary during the adhesive application process.

[0062] Furthermore, the step of "calculating the offset trajectory data based on the preliminary trajectory data of the glue gun" specifically includes the following steps:

[0063] The trajectory points extracted by 3D vision are p n =(x n ,y n ,z n The corresponding spray width is L, and the trajectory point is p. n Region normal vector Given that the offset trajectory point is p′ n =(x′) n ,y′ n ,z′ n The bias trajectory is as follows:

[0064]

[0065] Where α, β, γ are the offset spray distance and the coordinate system x′ n ,y′ n ,z′ n The angle between the three coordinate axes.

[0066] The calculation of the spray width L is as follows:

[0067] The "acquiring preliminary trajectory data of the glue gun through 3D vision" further includes the following steps:

[0068] Calculate the spray width based on the initial trajectory data of the glue gun;

[0069] The step of "calculating the spray width based on the initial trajectory data of the glue gun" further includes the following steps:

[0070]

[0071] θ is the tilt angle between the glue gun and the spray surface, and h is the spray distance for tilt spraying;

[0072] h=d(1+tan 2 θ)

[0073] d is the spray distance when spraying vertically;

[0074]

[0075] in b1 and b2 are known parameters, p f p is the air pressure of the spray pattern. w The pressure of the atomized air.

[0076] The parameters and principles mentioned above will be explained in detail below:

[0077] Air spraying is a coating process that uses compressed air to atomize paint into tiny particles and deposit them onto the surface of a workpiece to form a continuous coating. The coating formation process is very complex, involving many physical processes such as fluid dynamics, flow, atomization, evaporation, and deposition. Therefore, many factors affect the coating thickness distribution. This paper classifies these influencing factors into four categories, as shown in Table 1.

[0078] Table 1 Factors affecting coating effect

[0079] Tab.1 Factors affecting the coating effect

[0080]

[0081] Of these four types of parameters, the spraying device and external environment are generally constant for the same spraying robot or the same batch of spraying operations, and therefore do not need to be used as independent variables in the spray gun model. Among the spraying parameters, the needle valve position is generally not changed after being set; atomization pressure, spray width pressure, and spray gun flow rate are all constant adjustment quantities in spraying operations and need to be used as independent variables in the model, while changes in the material supply pressure are directly reflected in the flow rate, so there is no need to select them repeatedly. Among the path parameters, spraying distance and spraying rate are frequently adjusted according to different spraying operations, and therefore need to be used as independent variables in the spraying model. The spraying angle is unnecessary because in most spraying operations the spray gun axis is strictly perpendicular to the workpiece surface or at a fixed tilt angle, and "compared to the spraying speed, a small change in angle (<20%) has a negligible impact on the spraying quality." Since the research object in this paper is not significantly related to the thickness of the adhesive film, the independent variables in the final determined spray gun model include spraying distance h and spray width air pressure p. f and atomizing air pressure p w The basic principle of spraying experiment trajectory offset is as follows: Figure 2 The atomizing air pressure and spray width air pressure are adjusted by the adhesive supply system, while the spraying distance is controlled by the spraying robotic arm.

[0082] To establish the spray distance model, a straight-line experiment perpendicular to the spray surface was designed. This experiment yields a straight-line coating, such as... Figure 3 As shown, by using fixed-point spraying to complete the gun switching action in a short time (0.3-0.5s), an elliptical coating can be obtained, which facilitates the analysis of the influence of different parameters on the spray width.

[0083] Although the sprayed paint appears uniform in actual spraying operations, the distribution of paint particles is actually non-uniform. Spraying experiments revealed that the paint distribution space is conical, while the distribution on the workpiece surface is elliptical, with the major and minor axes of the ellipse designated as 'a' and 'b'. When the spray gun is opened, paint accumulates within the sprayed area, and the shape of the coating thickness curve is similar in both the x and y axes. Therefore, it is assumed that the coating growth rate curves along both the x and y axes follow a β-distribution model, and that the β value is the same for the cross-sectional curves in the same direction.

[0084] Since the coating surface on the workpiece is elliptical, its minor and major axis lengths a and b increase with the increase of the vertical spraying distance d. Due to the different cone angles on the x-axis and y-axis, the major and minor axes of the coating surface under different vertical distances are as shown in formula (1).

[0085]

[0086] In equation (1): a and b are the minor axis and length during vertical spraying, respectively; d is the spray distance during vertical spraying; α x and α y These are the fog cone angles of the glue gun in the x and y directions, respectively.

[0087] According to process requirements, for applying adhesive to the sidewalls of the shoe sole, the glue gun is not perpendicular to the sidewall, but rather at a certain angle θ, such as... Figure 4 As shown. The spraying distance and spraying width are as shown in formula (2).

[0088]

[0089] In formula (2): h is the spray distance of the tilt spray and L is the width of the tilt spray.

[0090] Analysis revealed that the cone angle of the spray gun is significantly influenced by factors such as the gun's structure, atomization pressure, and spray width pressure. Generally, the cone angle is controlled by altering the atomization pressure and spray width pressure. Multiple spraying experiments yielded the following findings: 1) x-axis α x With p f Decrease or p w Increases with increasing, and decreases with decreasing; 2) y-axis α y With p f and p w Simultaneously, it increases with increasing flow rate q, and decreases with decreasing flow rate q; 3) The cone angle also increases with increasing flow rate q. Therefore, the relationship between the cone angle, the spray gun flow rate, and the air pressure is proposed as shown in formula (3).

[0091]

[0092] In formula (3): and These are the coefficients for the x-axis and y-axis.

[0093] Based on the analysis of experimental data and parameter optimization, we obtain a1 = 1, a2 = 1 / 3, b1 = 1 / 2, b2 = 1 / 3. When the atomization pressure, adhesive spraying pressure, and spraying flow rate change, the cone angle of the spraying model can be predicted using equation (3). Figure 5 As shown.

[0094] Considering the complex surface of the actual curved surface of athletic shoe soles, the adhesive spraying trajectory curve is generally offset from the sole contour curve towards its principal normal. However, since this offset is done manually based on engineering experience, it cannot be guaranteed that all the adhesive sprayed from the gun will land on the sole surface. Therefore, an ideal adhesive spraying trajectory curve needs to meet two conditions: first, the curve is an offset curve relative to the sole contour line; second, the atomized adhesive sprayed from the gun must land completely on the side curved surface of the sole. The adhesive spraying trajectory curve is closely related to the spraying model, with the spraying of the gun directly affecting the adhesive spraying trajectory curve. According to equations (1) and (3), the relationship between the vertical spraying distance d and the major and minor axes a and b of the sprayed coverage area can be obtained as shown in equation (4).

[0095]

[0096] In equation (4): For a1, a2, b1, and b2 have been derived based on experimental data analysis and parameter optimization, while the spray pressure p f and p w The atomization pressure is fixed for the same batch of work objects. Based on the above formula, the accurate relationship between the vertical spray distance d and the spray width b is shown in formula (5).

[0097]

[0098] For actual glue application, the glue gun and the spraying surface are tilted at an angle θ according to the process requirements, such as... Figure 2 As shown in the figure, the actual spray width L and spray distance d are related as shown in formula (6).

[0099]

[0100] The trajectory points extracted from 3D visual point cloud data are p n =(x n ,y n ,z n The corresponding spray width is L, and the trajectory point is p. n The region normal vector n = (a, b, c) is known, and the offset trajectory point is p′.n =(x′) n ,y′ n ,z′ n If the bias trajectory is as shown in formula (7), then the bias trajectory is as shown in formula (7).

[0101]

[0102] In equation (7): α, β, γ are the offset spray distance and coordinate system x′ n ,y′ n ,z′ n The included angles of the three coordinate axes, such as Figure 6 As shown.

[0103] The bias trajectory can be obtained through the above methods, such as Figure 7 As shown.

[0104] Please see Figure 8 In this embodiment, a specific implementation of a storage device 800 is as follows:

[0105] A storage device 800 stores an instruction set for execution:

[0106] Preliminary trajectory data of the glue gun was obtained through 3D vision;

[0107] The offset trajectory data is calculated based on the initial trajectory data of the glue gun.

[0108] Furthermore, the instruction set is also used to execute:

[0109] The step of "calculating the offset trajectory data based on the preliminary trajectory data of the glue gun" further includes the following steps:

[0110] The trajectory points extracted by 3D vision are p n =(x n ,y n ,z n The corresponding spray width is L, and the trajectory point is p. n The region normal vector n = (a, b, c) is known, and the offset trajectory point is p′. n =(x′) n ,y′ n ,z′ n The bias trajectory is as follows:

[0111]

[0112] Where α, β, γ are the offset spray distance and the coordinate system x′. n ,y′ n ,z′ n The angle between the three coordinate axes.

[0113] Furthermore, the instruction set is also used to execute:

[0114] The "acquiring preliminary trajectory data of the glue gun through 3D vision" further includes the following steps:

[0115] Calculate the spray width based on the initial trajectory data of the glue gun;

[0116] The step of "calculating the spray width based on the initial trajectory data of the glue gun" further includes the following steps:

[0117]

[0118] θ is the tilt angle between the glue gun and the spray surface, and h is the spray distance for tilt spraying;

[0119] h=d(1+tan 2 θ)

[0120] d is the spray distance when spraying vertically;

[0121]

[0122] in b1 and b2 are known parameters, p f p is the air pressure of the spray pattern. w The pressure of the atomized air.

[0123] Furthermore, the instruction set is also used to execute:

[0124] The glue gun is controlled to perform the glue application operation according to the bias trajectory data.

[0125] By executing commands through the 800 instruction set of the above storage device, the glue gun is controlled to perform glue application according to the offset trajectory data, which greatly improves the accuracy of glue application and avoids the situation where the shoe sole sidewall does not reach the boundary or exceeds the boundary during the glue application process.

[0126] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of the present invention. Therefore, any changes and modifications made to the embodiments described herein based on the innovative concept of the present invention, or equivalent structural or procedural transformations made using the content of the present invention's specification and drawings, directly or indirectly applying the above technical solutions to other related technical fields, are all included within the scope of patent protection of the present invention.

Claims

1. A method for offsetting the adhesive application trajectory on a shoe sole, characterized in that, Including the following steps: Preliminary trajectory data of the glue gun was obtained through 3D vision; The offset trajectory data is calculated based on the preliminary trajectory data of the glue gun; The step of calculating the offset trajectory data based on the initial trajectory data of the glue gun further includes the following steps: The trajectory points extracted by 3D vision are The corresponding spray width is trajectory points Region normal vector Given that the offset trajectory point is The bias trajectory is then shown below: in For offset spray distance and coordinate system The angle between the three coordinate axes; The process of acquiring preliminary trajectory data of the glue gun through 3D vision further includes the following steps: Calculate the spray width based on the initial trajectory data of the glue gun; The calculation of the spray width based on the initial trajectory data of the glue gun further includes the following steps: The angle between the glue gun and the surface to be sprayed is h, where h is the spray distance for angled spraying. d is the spray distance when spraying vertically; in , and Given parameters, The air pressure of the spray pattern. The pressure of the atomized air.

2. The method for offsetting the adhesive coating trajectory of a shoe sole according to claim 1, characterized in that, It also includes the following steps: The glue gun is controlled to perform the glue application operation according to the bias trajectory data.

3. A storage device storing an instruction set, characterized in that, The instruction set is used to execute: Preliminary trajectory data of the glue gun was obtained through 3D vision; The offset trajectory data is calculated based on the preliminary trajectory data of the glue gun; The instruction set is also used to execute: The step of calculating the offset trajectory data based on the initial trajectory data of the glue gun further includes the following steps: The trajectory points extracted by 3D vision are The corresponding spray width is trajectory points Region normal vector Given that the offset trajectory point is The bias trajectory is then shown below: in For offset spray distance and coordinate system The angle between the three coordinate axes; The instruction set is also used to execute: The process of acquiring preliminary trajectory data of the glue gun through 3D vision further includes the following steps: Calculate the spray width based on the initial trajectory data of the glue gun; The calculation of the spray width based on the initial trajectory data of the glue gun further includes the following steps: The angle between the glue gun and the surface to be sprayed is h, where h is the spray distance for angled spraying. d is the spray distance when spraying vertically; in , and Given parameters, The air pressure of the spray pattern. The pressure of the atomized air.

4. A storage device according to claim 3, characterized in that, The instruction set is also used to execute: The glue gun is controlled to perform the glue application operation according to the bias trajectory data.

Images