Visual positioning-based four-axis shoe sole glue spraying mechanism and glue spraying method

Abstract

The invention relates to a shoe sole four-axis glue spraying mechanism based on visual positioning and a glue spraying method. The shoe sole four-axis glue spraying mechanism comprises a conveying belt device, a visual device, a four-axis movement device, a glue spraying device and a control system. A sensor is mounted on the conveyor belt device; the visual device and the four-axis movement device are sequentially arranged on the conveyor belt device; the glue spraying device is mounted on the four-axis movement device, the four-axis movement device drives the glue spraying device to move, and an encoder is arranged on a motor of the four-axis movement device; the glue spraying device comprises an angle adjusting mechanism and a glue spraying gun; and the control system is at least electrically connected with the visual device, the four-axis movement device and the glue spraying device. The shoe sole outline can be quickly recognized through the visual device, and the control system operates the four-axis movement device to execute the track of the corresponding shoe product and triggers the glue spraying device to execute the glue spraying action; and before the mechanism works, the inclination angle of the glue spraying gun relative to the Z axis is manually adjusted according to different shoe sole outlines, so that the shoe soles are more uniformly and comprehensively sprayed with glue.

Description

Technical Field

[0001] The present invention relates to the technical field of sole glue spraying equipment, and particularly relates to a four-axis sole glue spraying mechanism and a glue spraying method based on visual positioning. Background Art

[0002] Driven by the dual factors of the accelerating iteration of the global footwear market and the continuous upgrading of consumer demands, footwear development is rapidly moving towards the direction of high frequency and multiple categories. As a core link in the shoe-making process, sole glue spraying technology directly determines the bonding strength and service life of shoes, and its process upgrade has become the focus of the industry. The traditional manual glue spraying mode has obvious drawbacks: operators need to repeatedly perform high-precision spraying actions in a fixed posture, which not only easily leads to quality problems such as uneven glue layer thickness and blurred boundaries in the finished products, but also may cause irreversible occupational injuries to the physical health of workers in the long-term operation. This labor-intensive production mode has been difficult to meet modern manufacturing standards. Summary of the Invention

[0003] The purpose of the present invention is to provide a four-axis sole glue spraying mechanism and a glue spraying method based on visual positioning, which can not only achieve automated glue spraying actions, but also manually adjust the tilt angle of the glue spraying gun according to different types of soles to make the glue spraying more uniform and comprehensive.

[0004] To achieve the above object, the present invention discloses a four-axis sole glue spraying mechanism based on visual positioning, including: a conveyor belt device, a visual device, a four-axis motion device, a glue spraying device and a control system; the conveyor belt device is used for conveying soles, and a sensor for real-time monitoring of the conveyor belt speed is installed on the conveyor belt device; the visual device and the four-axis motion device are sequentially arranged on the conveyor belt device along the conveying direction of the conveyor belt. The visual device is used for identifying the contour of the sole; the glue spraying device is installed on the four-axis motion device, and the four-axis motion device drives the glue spraying device to move, and an encoder is provided on the motor of the four-axis motion device. The glue spraying device includes an angle adjustment mechanism and a glue spraying gun. Setting the vertical direction as the Z-axis direction, the angle adjustment mechanism is used for adjusting the tilt angle of the glue spraying gun relative to the Z-axis; the control system is electrically connected to at least the visual device, the four-axis motion device and the glue spraying device, and the control system is used for collecting the feedback signals of the sensor and the encoder, and issuing commands to control the actions of the four-axis motion device and the glue spraying device.

[0005] Preferably, the visual device includes a camera and a light source, the camera and the light source are arranged above the conveyor belt device, and the light source is used for illuminating the sole on the conveyor belt device.

[0006] Preferably, the light source is a red light source.

[0007] Preferably, the angle adjustment mechanism includes an angle adjustment bracket with an arc-shaped groove formed thereon, and the glue spraying gun is arranged within the range of the arc-shaped groove.

[0008] Preferably, the four-axis motion device includes an X-axis moving device, a Y-axis moving device, a Z-axis moving device, and an R-axis rotating device. The X-axis moving device includes a first slide rail, a first slider, a first rack, and a first moving motor. The first slide rail is perpendicular to the conveying direction of the conveyor belt device. The first slider is slidably connected to the first slide rail. The first rack is installed on the side of the first slide rail without affecting the sliding of the first slider. The first moving motor is installed on the first slider, and a first driving gear is installed on the output shaft of the first moving motor. The first driving gear meshes with the first rack. The Y-axis moving device is installed on the first slider and includes a second slide rail, a second slider, a second rack, and a second moving motor. The second slide rail is parallel to the conveying direction of the conveyor belt device. The second slider is slidably connected to the second slide rail. The second rack is installed on the side of the second slide rail without affecting the sliding of the second slider. The second moving motor is installed on the second slider, and a second driving gear is installed on the output shaft of the second moving motor. The second driving gear meshes with the second rack. The Z-axis moving device is installed on the second slider and includes a third slide rail, a third slider, a third rack, and a third moving motor. The third slide rail is vertically arranged. The third slider is slidably connected to the third slide rail. The third rack is installed on the side of the third slide rail without affecting the sliding of the third slider. The third moving motor is installed on the third slider, and a third driving gear is installed on the output shaft of the third moving motor. The third driving gear meshes with the third rack. The R-axis rotating device is installed on the third slider and includes a rotating motor installed on the third slider, and the output shaft of the rotating motor is connected to the angle adjustment bracket.

[0009] Preferably, it includes a frame, and the conveyor belt device, the vision device, the four-axis motion device, the glue spraying device, and the control system are all installed on the frame. Universal wheels are arranged in a rectangular array at the bottom of the frame.

[0010] A glue spraying method for a four-axis glue spraying mechanism of a shoe sole based on vision positioning includes the following steps: S1, calibrate the four-axis motion device and the camera. At the same time, establish a measurement coordinate system with the camera as the reference and a glue spraying coordinate system with the four-axis motion device as the reference, and obtain the calibration result data and the coordinate transformation matrix between the measurement coordinate system and the glue spraying coordinate system.

[0011] S2. Obtain an image. Place the sole on the conveyor belt of the conveyor belt device in the same posture in sequence. The conveyor belt drives the sole to move. When the sole passes below the camera, the camera takes a picture of the sole to obtain an image. At the same time, obtain the sensor data during the picture-taking process.

[0012] S3. Generate a sole feature template. Process the image obtained in step S2 to obtain the sole contour feature in the image.

[0013] S4. Generate a trajectory. Generate a sole planning trajectory with the same curvature and shape as the sole contour trajectory. The R-axis direction of the point trajectory is also tangent to the curvature circle of this point in the planning trajectory.

[0014] S5. Enter product information. Enter the sole planning trajectory generated in step S4 and its corresponding product model into the database.

[0015] S6. Identify the product. After placing the product on the conveyor belt device, start the conveyor belt device. When it passes below the camera, use the edge detection algorithm to identify the head area and tail area of the sole contour in S3 to complete the product identification.

[0016] S7. Adjust the angle of the glue gun. The angle adjustment bracket adjusts the angle between the glue gun and the Z-axis according to the sole type of the next batch.

[0017] S8. Execute the glue spraying action. After identifying the product in step S6, call the sole planning trajectory corresponding to this product from the database. The four-axis motion device drives the glue spraying device to execute the sole planning trajectory and glue spraying action of this product.

[0018] Preferably, in step S1, calibrating the four-axis motion device and the camera includes the following steps: S1.1 Camera calibration. Take a calibration rod. The overall height of the calibration rod is equal to the highest point when the sole product is placed flat. Install the calibration rod on the four-axis motion device. Operate the four-axis motion device to move the calibration rod below the camera, and the bottom of the calibration rod is close to the conveyor belt, so that after the camera takes a picture, the calibration rod is located in the upper left corner of the image, and mark the top position of the calibration rod; move the calibration rod again, so that after the camera takes a picture, the calibration rod is located in the lower right corner of the image, and mark the position of the top of the calibration rod to complete the camera calibration.

[0019] S1.2 Conveyor belt calibration. Operate the four-axis motion device to make the calibration rod close to the belt, measure the distance between the bottom of the calibration rod and the conveyor belt, and calibrate the Z-axis direction of the production line; take another marker, place the marker on the conveyor belt and under the nozzle of the glue spraying device, and start the production line following to complete the calibration of the production line belt.

[0020] S1.3 Z+R Axis Calibration: Operate the four-axis motion device to control the Z-axis so that the tip of the nozzle of the glue spraying device touches the conveyor belt, set this position as 0 to complete the Z-axis calibration; place the marker directly below the Z-axis, rotate the R-axis to 0 degrees, record the encoder data, then rotate the R-axis 180 degrees, and then move the nozzle of the glue spraying device directly above the marker and record the encoder data. The angle information of the R-axis can be obtained by reading the encoder data to complete the R-axis calibration.

[0021] S1.4 XYZR Compensation Calibration: Set the Z-axis height to the height of the marker, place the marker under the camera, take a picture, record the position where the marker is located and the sensor data, start the conveyor belt for a period of time, record the sensor data again after stopping, move the nozzle of the glue spraying device directly above the marker, and record this position to complete the XY calibration.

[0022] Preferably, in step S3, the processing of the image includes histogram equalization, denoising, and contrast stretching.

[0023] Preferably, in step S3, product features are extracted from the sole head region and the sole tail region in the processed image by the ORB algorithm. Preferably, in step S6, the product on the conveyor belt is matched with the pre-stored sole feature template, and the similarity score is calculated. If the similarity score exceeds the set threshold, it is considered that the product matches the sole feature template successfully.

[0024] Preferably, in step S4, the contour of the sole is extracted by the edge detection algorithm, and then a reduced-scale sole planning trajectory that is exactly the same as the curvature and shape of the sole is generated by the contour fitting method, and the R-axis signal direction of the glue spraying device defining the point trajectory is also tangent to the curvature circle of this point in the planning trajectory.

[0025] The present invention has the following beneficial effects: 1. The present invention combines the advantages of fast visual recognition detection, and the four-axis motion module has higher glue spraying efficiency, stronger versatility compared with the three-axis motion module, and lower price compared with the six-axis manipulator. For any shoe size and shoe shape contour, the glue application work can be quickly completed, and the glue application quality meets the requirements of the shoemaking process, saving labor, reducing the labor intensity of workers and the possible harm of chemical adhesives to the human body.

[0026] 2. Before the operation of this mechanism, according to different sole contours, the inclination angle of the glue spraying gun relative to the Z-axis is manually adjusted to make the glue spraying more uniform and comprehensive, further improving the glue application quality.

[0027] 3. The annular light source used by the camera in the present invention is red, forming a color difference with the green conveyor belt, which is convenient for the preprocessing work of the image.

[0028] 4. For the present invention, the sole only needs to be placed on the conveyor belt device as required, without the need for special positioning and clamping devices. The head trajectory contour and tail contour of the sole can be recognized through the vision device, and then the corresponding glue spraying action can be executed, with simple operation. Description of the Drawings

[0029] Figure 1 It is a schematic diagram of the overall structure provided in a specific embodiment of the present invention; Figure 2 It is a schematic diagram of the overall structure provided in a specific embodiment of the present invention; Figure 3 It is a schematic side view provided in a specific embodiment of the present invention.

[0030] Description of the main component symbols: 100, support; 110, universal wheel; 200, conveyor belt device; 210, sensor; 300, four-axis motion device; 301, angle adjustment bracket; 304, arc-shaped groove; 310, control system; 320, first slide rail; 321, first slider; 322, first moving motor; 323, first rack; 330, second slide rail; 331, second slider; 332, second moving motor; 333, second rack; 340, third slide rail; 341, third slider; 342, third moving motor; 343, third rack; 350, rotating motor; 400, camera; 410, light source; 420, gantry; 500, glue spraying gun. Specific Embodiments

[0031] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0032] As Figures 1 to 3 , the present invention provides a four-axis glue spraying mechanism for soles based on vision positioning, including: a frame, a conveyor belt device, a vision device, a four-axis motion device 300, a glue spraying device and a control system 310; the conveyor belt device 200, the vision device, the four-axis motion device 300, the glue spraying device and the control system 310 are all installed on the frame, and universal wheels 110 are arranged in a rectangular array at the bottom of the frame. The conveyor belt device 200 is used to convey the soles, and a sensor 210 for real-time monitoring of the conveyor belt speed is installed on the conveyor belt device 200.

[0033] The vision device and the four-axis motion device 300 are sequentially arranged on the conveyor belt device 200 along the conveying direction of the conveyor belt. The vision device is arranged directly above the conveyor belt device 200 through a gantry 420. The vision device includes a camera 400 and a light source 410. The camera 400 is a CCD camera 400, and compared with a dual-camera, the cost of the CCD camera is lower. The camera 400 and the light source 410 are arranged directly above the conveyor belt device. The light source 410 is used to illuminate the soles on the conveyor belt device. The light source 410 is annular, and when the conveyor belt is green, the light source 410 is a red light source, forming a color difference with the green conveyor belt to facilitate the preprocessing of images.

[0034] The four-axis motion device 300 includes an X-axis moving device, a Y-axis moving device, a Z-axis moving device, and an R-axis rotating device. The X-axis moving device includes a first slide rail 320, a first slider 321, a first rack 323, and a first moving motor 322. The first slide rail 320 is perpendicular to the conveying direction of the conveyor belt device 200. The first slider 321 is slidably connected to the first slide rail 320. The first rack 323 is installed on the side of the first slide rail 320 and does not affect the sliding of the first slider 321. The first moving motor 322 is installed on the first slider 321. A first driving gear is installed on the output shaft of the first moving motor 322, and the first driving gear meshes with the first rack 323.

[0035] The Y-axis moving device is installed on the first slider 321. The Y-axis moving device includes a second slide rail 330, a second slider 331, a second rack 333, and a second moving motor 332. The second slide rail 330 is parallel to the conveying direction of the conveyor belt device 200. The second slider 331 is slidably connected to the second slide rail 330. The second rack 333 is installed on the side of the second slide rail 330 and does not affect the sliding of the second slider 331. The second moving motor 332 is installed on the second slider 331. A second driving gear is installed on the output shaft of the second moving motor 332, and the second driving gear meshes with the second rack 333.

[0036] The Z-axis moving device is installed on the second slider 331. The Z-axis moving device includes a third slide rail 340, a third slider 341, a third rack 343, and a third moving motor 342. The third slide rail 340 is vertically arranged. The third slider 341 is slidably connected to the third slide rail 340. The third rack 343 is installed on the side of the third slide rail 340 and does not affect the sliding of the third slider 341. The third moving motor 342 is installed on the third slider 341. A third driving gear is installed on the output shaft of the third moving motor 342, and the third driving gear meshes with the third rack 343.

[0037] The R-axis rotating device is installed on the third slider 341. The R-axis rotating device includes a rotating motor 350, and the rotating motor 350 is installed on the third slider 341 Encoders are provided on each of the motors of the X-axis moving device, Y-axis moving device, Z-axis moving device, and R-axis rotating device of the four-axis motion device 300.

[0038] The glue spraying device is arranged on the four-axis motion device 300. The four-axis motion device 300 drives the glue spraying device to move. The glue spraying device includes an angle adjustment mechanism and a glue spraying gun 500. The angle adjustment mechanism includes an angle adjustment bracket 301. An arc-shaped groove 304 is formed on the angle adjustment bracket 301. The glue spraying gun 500 is arranged within the range of the arc-shaped groove 304. The glue spraying gun 500 can be installed on the arc-shaped groove 304 through a slider. The glue spraying gun 500 moves along the arc-shaped groove 304 with the slider. The position of the glue spraying gun 500 on the arc-shaped groove 304 is fixed through a locking mechanism, thereby adjusting the angle of the glue spraying gun. Bolt holes can be formed at the edge of the slider, and bolts are threadedly connected in the bolt holes to form a locking mechanism. After the bolts are tightened, they abut against the angle adjustment bracket 301, and the position of the glue spraying gun 500 is fixed through the frictional force between the bolts and the angle adjustment bracket 301. According to different sole contours, the inclination angle α of the glue spraying gun 500 relative to the Z-axis is manually adjusted to make the glue spraying on the sole more uniform and comprehensive.

[0039] The output shaft of the rotating motor 350 is connected to the angle adjustment bracket 301. The rotating motor 350 drives the angle adjustment bracket 301 to rotate around the R-axis, and then drives the glue spraying gun 500 to rotate around the R-axis.

[0040] The control system is electrically connected to at least the vision device, the four-axis motion device, and the glue spraying device. The control system is used to collect the feedback signals of the sensors and encoders, and issue commands to control the actions of the four-axis motion device and the glue spraying device.

[0041] The specific working principle of the present invention is as follows: Before the mechanism works, the inclination angle α of the glue spraying gun 500 relative to the Z-axis is manually adjusted according to different sole contours; then, after the sole is placed on the conveyor belt device 200, the conveyor belt is started and passes under the CCD camera 400. The head area and tail area of the sole contour are identified through the edge detection algorithm to complete the sole contour recognition; finally, the control system 310 controls the four-axis motion module 300 to drive the glue spraying device to execute the glue spraying path. The sensor 210 detects the speed of the conveyor belt device 200 in real time to ensure that the glue spraying device controlled by the four-axis motion device 300 follows the conveyor belt device 200. According to the path planning (such as linear and circular interpolation), the appropriate distance and angle between the nozzle and the sole surface are ensured.

[0042] The present invention also discloses a glue spraying method for a four-axis sole glue spraying mechanism based on vision positioning, including the following steps: S1, Debugging device. The vision device and the four-axis motion device 300 are arranged in sequence along the direction of the conveyor belt device 200. The gantry 420 is used to support and fix devices such as the camera 400 to ensure its stability. The ring light source 410 provides uniform illumination to reduce the influence of the reflection on the sole surface on the imaging of the camera 400, ensuring that the camera 400 can obtain clear sole images. The camera 400 is used to capture sole images and provide data for subsequent vision positioning and processing. The four-axis motion device 300 drives the glue spraying device to perform glue spraying operations according to the planned trajectory. The conveyor belt device 200 is used to convey the soles. Calibrate the four-axis motion device 300 and the camera 400. At the same time, establish a measurement coordinate system based on the camera 400 and a glue spraying coordinate system based on the four-axis motion device 300 to obtain the calibration result data and the coordinate transformation matrix between the measurement coordinate system and the glue spraying coordinate system.

[0043] In step S1, calibrating the four-axis motion device 300 and the camera 400 includes the following steps: S1.1 Camera 400 calibration. Take a calibration rod and install the calibration rod on the angle adjustment bracket 301 through bolts and nuts. The overall height of the calibration rod is equal to the highest point when the sole product is placed flat, which is to ensure that when the camera 400 takes pictures, the contour information of the sole can be completely captured. Install the calibration rod on the four-axis motion device 300, operate the four-axis motion device 300 to move the calibration rod under the camera 400, and the bottom of the calibration rod is close to the conveyor belt device 200, so that after the camera 400 takes a picture, the calibration rod is located in the upper left corner of the image, and mark the position of the top of the calibration rod; move the calibration rod again, so that after the camera 400 takes a picture, the calibration rod is located in the lower right corner of the image, and mark the position of the top of the calibration rod. Through the marks at these two different positions, the field of view of the camera 400 and the conversion relationship between the image coordinates and the actual space coordinates can be determined, and the calibration of the camera 400 is completed. Complete the calibration of the camera 400.

[0044] S1.2 Conveyor belt calibration. Operate the four-axis motion device 300 to make the calibration rod close to the belt, measure the distance between the bottom of the calibration rod and the conveyor belt, and use this to calibrate the position of the assembly line in the Z-axis direction. Take another marker and place the marker on the conveyor belt and under the nozzle of the glue spraying device, and turn on the assembly line following to complete the calibration of the conveyor belt. In this way, the position information of the conveyor belt during operation can be determined to ensure that the position of the subsequent sole on the conveyor belt can be accurately obtained.

[0045] S1.3 Z+R Axis Calibration: Operate the four-axis motion device 300, control the Z axis to make the tip of the glue spraying device touch the conveyor belt, set this position as 0, thus completing the zero calibration of the Z axis; Place the marker directly below the Z axis, rotate the R axis to 0 degrees, where the 0-degree direction is defined as the conveyor belt conveying direction, record the encoder data, then rotate the R axis 180 degrees, and then move the tip of the glue spraying device above the marker, record the encoder data. By reading the change in the encoder data, the angle information of the R axis can be accurately calculated, thus completing the R axis calibration.

[0046] S1.4 XYZR Compensation Calibration: Set the Z axis height to the height of the marker, place the marker under the camera 400, take a picture, select a point on the marker and set it as the point to be compensated. Move the tip of the glue gun 500 above the marked point, and then record the marked position and the data of the sensor 210. Start the conveyor belt for a period of time, stop and record the data of the sensor 210 again, and then move the tip of the nozzle above the marked point and record the marked position to complete the XY calibration. By comparing the data of the sensor 210 before and after starting and the positional relationship between the nozzle and the marked point, the motion in the XY direction can be compensated and calibrated to improve the accuracy of glue spraying.

[0047] S2, Obtain Images: Place the soles on the conveyor belt of the conveyor belt device 200 in the same posture in sequence, and the orientations of the soles are the same. This is to ensure that when the camera 400 takes pictures of the sole images, it can be processed based on a unified standard. Then reset the four-axis motion device 300 so as not to block the camera 400. The conveyor belt drives the sole to move. When the sole passes under the camera 400, the camera 400 takes pictures of the sole to obtain images; at the same time, obtain the data of the sensor 210 during the photographing process. The data of the sensor 210 can reflect the speed information of the sole on the conveyor belt. By combining the speed information with the time when the camera 400 takes pictures, the position information of the sole on the conveyor belt can be obtained through calculation, providing accurate data support for subsequent sole feature extraction and trajectory planning.

[0048] S3, Generate Sole Feature Templates: Process the images obtained in step S2. First, perform histogram equalization. By redistributing the gray values of the images, the contrast of the images is enhanced, making the contour features of the soles more obvious. Then perform denoising processing to remove the noise interference in the images and improve the clarity of the images. Then perform contrast stretching to further highlight the edge and detail features of the soles. Extract product features in the sole head area and sole tail area of the processed images through the ORB algorithm. The ORB algorithm is an efficient feature extraction algorithm with advantages such as fast speed and good stability, and can accurately extract the unique features of the soles for subsequent product identification and matching.

[0049] S4. Generate a trajectory. Extract the contour of the sole through an edge detection algorithm, which can accurately identify the edge information of the sole. Then, generate a scaled-down sole planning trajectory that is exactly the same as the curvature and shape of the sole through a contour fitting method. Generating a scaled-down trajectory is to improve the motion efficiency of the four-axis motion device 300 while ensuring the glue spraying effect. And define that the signal direction of the R axis of the glue spraying device for the point trajectory is also tangent to the curvature circle of that point in the planning trajectory. This can ensure that during the glue spraying process, the angle of the glue spraying gun 500 is always adapted to the contour curvature of the sole, guaranteeing the uniformity and accuracy of the glue spraying.

[0050] S5. Enter product information. Enter the sole planning trajectory generated in step S4 and its corresponding product model into the database. The database is used to store a large amount of product information for quick retrieval during subsequent production. When it is necessary to perform glue spraying on a sole of a certain model, the corresponding planning trajectory can be directly obtained from the database to improve production efficiency.

[0051] S6. Identify the product. After placing the product on the conveyor belt device 200, start the conveyor belt device 200. The product passes under the camera 400, and the head and tail regions of the sole contour in S3 are identified through an edge detection algorithm to complete product identification. Specifically, match the product on the conveyor belt with a pre-stored sole feature template and calculate a similarity score. Here, various similarity calculation methods can be used, such as Euclidean distance, cosine similarity, etc. If the similarity score exceeds the set threshold, it is considered that the product matches the sole feature template successfully. In this way, the product model on the conveyor belt can be accurately identified to prepare for the subsequent glue spraying operation.

[0052] S7. Adjust the angle of the glue spraying gun 500. The angle adjustment bracket 301 adjusts the angle between the glue spraying gun 500 and the Z axis according to the sole type of the next batch. For different types of soles, their contour shapes and curvatures may be different. Therefore, it is necessary to adjust the angle of the glue spraying gun 500 to ensure that the glue spraying gun 500 can spray glue on the sole at the best angle, guaranteeing the quality and effect of the glue spraying.

[0053] S8. Execute the glue spraying action. After identifying the product in step S6, call the sole planning trajectory corresponding to the product from the database. The four-axis motion device 300 drives the glue spraying device to execute the sole planning trajectory and glue spraying action of the corresponding product. The four-axis motion device 300 precisely controls the motion of the glue spraying device in the four directions of XYZR according to the planning trajectory, so that the glue spraying gun 500 sprays glue along the contour of the sole, realizing an efficient and accurate glue spraying operation.

[0054] As described above, it is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A four-axis glue spraying mechanism for soles based on visual positioning, characterized in that: include: A conveyor belt device (200), a visual device, a four-axis motion device (300), a glue spraying device and a control system (310); The conveyor belt device (200) is used to convey the soles of shoes, and a sensor (210) for real-time monitoring of the conveyor belt speed is installed on the conveyor belt device (200); The visual device and the four-axis motion device are sequentially arranged on the conveyor belt device (200) along the conveying direction of the conveyor belt; The visual device is used to identify the contour of the sole; The glue spraying device is mounted on a four-axis motion device (300), the four-axis motion device (300) drives the glue spraying device to move, and an encoder is provided on the motor of the four-axis motion device (300); The glue spraying device comprises an angle adjustment mechanism and a glue spraying gun (500), the vertical direction is set as the Z-axis direction, and the angle adjustment mechanism is used to adjust the inclination angle of the glue spraying gun (500) relative to the Z-axis; The control system (310) is electrically connected to at least the visual device, the four-axis motion device (300) and the glue spraying device, and the control system (310) is used to collect feedback signals from the sensor (210) and the encoder, and to issue instructions to control the actions of the four-axis motion device (300) and the glue spraying device.

2. According to claim 1, a four-axis glue spraying mechanism for soles based on visual positioning is characterized in that: The visual device comprises a camera (400) and a light source (410); the camera (400) and the light source (410) are arranged above the conveyor belt device (200); and the light source (410) is used to illuminate the soles of shoes on the conveyor belt device (200).

3. The four-axis glue spraying mechanism for soles based on visual positioning according to claim 2 is characterized in that: The light source (410) is a red light source (410).

4. The four-axis glue spraying mechanism for soles based on visual positioning according to claim 1 is characterized in that: The angle adjustment mechanism comprises an angle adjustment bracket (301), an arc-shaped groove (304) is provided on the angle adjustment bracket (301), and the glue spray gun (500) is arranged within the range of the arc-shaped groove (304).

5. The four-axis glue spraying mechanism for soles based on visual positioning according to claim 1, characterized in that: The four-axis motion device (300) comprises an X-axis motion device, a Y-axis motion device, a Z-axis motion device and an R-axis rotation device; The X-axis moving device comprises a first slide rail (320), a first slider (321), a first rack (323) and a first moving motor (322); the first slide rail (320) is perpendicular to the conveying direction of the conveyor belt device (200); the first slider (321) is slidably connected to the first slide rail (320); the first rack (323) is mounted on a side of the first slide rail (320) and does not affect the sliding of the first slider (321); the first moving motor (322) is mounted on the first slider (321); the output shaft of the first moving motor (322) is mounted with a first driving gear, and the first driving gear is meshed with the first rack (323); The Y-axis moving device is mounted on the first slider (321), and comprises a second slide rail (330), a second slider (331), a second rack (333) and a second moving motor (332); the second slide rail (330) is parallel to the conveying direction of the conveyor belt device (200); the second slider (331) is slidably connected to the second slide rail (330); the second rack (333) is mounted on the side of the second slide rail (330) and does not affect the sliding of the second slider (331); the second moving motor (332) is mounted on the second slider (331); the output shaft of the second moving motor (332) is mounted with a second driving gear, and the second driving gear is meshed with the second rack (333); The Z-axis moving device is mounted on the second slider (331), and comprises a third slide rail (340), a third slider (341), a third rack (343) and a third moving motor (342); the third slide rail (340) is vertically arranged, the third slider (341) is slidably connected to the third slide rail (340), the third rack (343) is mounted on the side of the third slide rail (340) and does not affect the sliding of the third slider (341); the third moving motor (342) is mounted on the third slider (341), and the output shaft of the third moving motor (342) is mounted with a third driving gear, and the third driving gear is meshed with the third rack (343); The R-axis rotating device is mounted on the third slider (341), and comprises a rotating motor (350). The rotating motor (350) is mounted on the third slider (341), and an output shaft of the rotating motor (350) is connected to the angle adjustment bracket (301).

6. A method for spraying glue on the sole based on visual positioning, characterized in that: The four-axis glue spraying mechanism for soles based on visual positioning according to any one of claims 1 to 5 is used to spray glue by the following steps: S1, calibrating the four-axis motion device (300) and the camera (400), establishing a measurement coordinate system based on the camera (400) and establishing a glue spraying coordinate system based on the four-axis motion device (300), and obtaining calibration result data and a coordinate transformation matrix between the measurement coordinate system and the glue spraying coordinate system; S2, acquiring an image, placing the soles of the shoes in the same posture on the conveyor belt of the conveyor belt device (200) in sequence, and the conveyor belt drives the soles to move; when the soles of the shoes pass under the camera (400), the camera (400) takes a picture of the soles of the shoes to acquire an image; and simultaneously acquiring data of the sensor (210) during the photographing process; S3, generating a sole feature template, processing the image obtained in step S2 to obtain the sole contour features in the image; S4, generating a trajectory, generating a sole planning trajectory with the same curvature and shape according to the sole contour trajectory, and the R-axis direction of the point trajectory is also tangent to the curvature circle of the point in the planning trajectory; S5, input product information, and input the sole planning trajectory generated in step S4 and its corresponding product model into the database; S6, identifying the product, placing the product on the conveyor device (200), turning on the conveyor device (200), passing under the camera (400), identifying the head area and the tail area of ​​the sole contour in S3 through an edge detection algorithm, and completing product identification; S7, adjusting the angle of the glue gun (500), the angle adjustment bracket (301) adjusts the angle between the glue gun (500) and the Z axis according to the type of the next batch of soles; S8, executing the glue spraying action. After the product is identified in step S6, the shoe sole planning trajectory corresponding to the product is called from the database, and the four-axis motion device (300) drives the glue spraying device to execute the shoe sole planning trajectory and glue spraying action corresponding to the product.

7. The method for using the four-axis glue spraying mechanism for soles based on visual positioning according to claim 6 is characterized in that: In step S1, calibrating the four-axis motion device (300) and the camera (400) comprises the following steps: S1.1 Calibration of the camera (400): taking a calibration rod, the overall height of which is equal to the highest point of the sole product when it is laid flat, installing the calibration rod on the four-axis motion device (300), operating the four-axis motion device (300) to move the calibration rod to below the camera (400), with the bottom of the calibration rod close to the conveyor belt, so that after the camera (400) takes a picture, the calibration rod is located at the upper left of the image, and the top position of the calibration rod is marked; moving the calibration rod again, so that after the camera (400) takes a picture, the calibration rod is located at the lower right of the image, and the top position of the calibration rod is marked, and the calibration of the camera (400) is completed; S1.2 conveyor belt calibration, operate the four-axis motion device (300) to make the calibration rod approach the belt, measure the distance between the bottom of the calibration rod and the conveyor belt, and calibrate the Z-axis direction of the assembly line; take another marker, place the marker on the conveyor belt and below the nozzle of the glue spraying device, start the assembly line following, and complete the assembly line belt calibration; S1.3 Z+R axis calibration, operate the four-axis motion device (300), control the Z axis so that the tip of the nozzle of the glue spraying device contacts the conveyor belt, set the position to 0, and complete the Z axis calibration; place the marker directly below the Z axis, rotate the R axis to 0 degrees, record the encoder data, then rotate the R axis 180 degrees, and then move the nozzle of the glue spraying device to directly above the marker, record the encoder data, and obtain the angle information of the R axis by reading the encoder data, and complete the R axis calibration; S1.4XYZR compensation calibration, the Z-axis height is set to the height of the marker, the marker is placed under the camera (400), a picture is taken, the position of the marker and the sensor (210) data are recorded, the transmission belt is started for a period of time, and the sensor (210) data is recorded again after it stops, the nozzle of the glue spraying device is moved to the top of the marker, the position is recorded, and the XY calibration is completed.

8. The method for using the four-axis glue spraying mechanism for soles based on visual positioning according to claim 6 is characterized by: In step S3, the image is processed including histogram equalization, denoising and contrast stretching.

9. The method for using the four-axis glue spraying mechanism for soles based on visual positioning according to claim 6 is characterized in that: In step S3, product features are extracted from the sole head region and the sole tail region in the processed image using the ORB algorithm.

10. The method for using the four-axis glue spraying mechanism for soles based on vision positioning according to claim 6, characterized in that: In step S6, the product on the conveyor belt is matched with the pre-stored sole feature template, and a similarity score is calculated. If the similarity score exceeds a set threshold, it is considered that the product is successfully matched with the sole feature template.

11. The method for using the four-axis glue spraying mechanism for soles based on visual positioning according to claim 6, characterized in that: In step S4, the contour of the sole is extracted by an edge detection algorithm, and then a reduced version of the sole planning trajectory with exactly the same curvature and shape as the sole is generated by a contour fitting method, and the R-axis signal direction of the glue spraying device that defines the point trajectory is also tangent to the curvature circle of the point in the planning trajectory.

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