阅读说明：本技术 一种制鞋成型机器人自动涂胶方法 (Automatic gluing method of shoemaking forming robot ) 是由 苏惠阳 何钊滨 李文亮 吴梓鸿 陈海亮 洪东方 王平江 许烈 于 2020-12-25 设计创作，主要内容包括：本发明涉及自动制鞋成型技术领域,特别涉及一种制鞋成型机器人自动涂胶方法。该方法包括工艺生成部分、喷胶实时补偿部分。通过对机器人运动路径的仿真模拟,得出变化的路径补偿压力值,以保证在鞋材的各涂胶面所施加的胶量一致,保证涂胶质量；实际工作过程中,通过流量监测可及时少量多次的增加压力补偿,保证喷头长时间保持稳定出料量的状态,进而实现在减少清胶作业次数的情况下,提升产品质量、提高生产效率。(The invention relates to the technical field of automatic shoemaking and forming, in particular to an automatic gluing method for a shoemaking and forming robot. The method comprises a process generation part and a glue spraying real-time compensation part. The method comprises the following steps of obtaining a variable path compensation pressure value through simulation of a robot motion path so as to ensure that glue applied to each glue coating surface of a shoe material is consistent and glue coating quality is ensured; in the actual work process, through the increase pressure compensation that flow monitoring can be in time a small amount of many times, guarantee that the shower nozzle remains the state of stable load for a long time, and then realize promoting product quality, improving production efficiency under the condition that reduces the clear operation number of times of gluing.)

1. The automatic gluing method of the shoemaking forming robot is characterized by comprising the following steps: comprises that

A. The process generation part specifically comprises the following steps:

an information acquisition step, namely acquiring the outline information of the shoe material gluing surface and the material information of the shoe material gluing surface;

planning a robot action path, namely automatically generating a robot action path which enables a spray head on the robot to face and sweep the shoe material gluing surface according to the outline information of the shoe material gluing surface;

a basic glue spraying pressure setting step, namely determining the basic glue spraying pressure according to the material information of the shoe material gluing surface, and forming a changed basic glue spraying pressure value corresponding to time according to the time of the robot nozzle sweeping the shoe material gluing surface if the shoe material gluing surface has multiple materials;

a step of setting path glue spraying compensation pressure, which is to perform simulation on the action path of the robot to obtain the speed of the nozzle sweeping the glue coating surface of the shoe material, and calculate a changed path glue spraying compensation pressure value which enables the nozzle to spray glue at each position of the glue coating surface of the shoe material to be consistent according to the swept speed;

and generating preset automatic glue spraying process parameters, superposing the basic glue spraying pressure value and the path glue spraying compensation pressure value to obtain a changed preset glue spraying pressure value, and integrating the preset glue spraying pressure value and the robot action path to form the preset automatic glue spraying process parameters.

2. The automatic gluing method of the shoemaking forming robot according to claim 1, characterized in that: the path glue spraying compensation pressure value can be a positive value or a negative value.

3. The automatic gluing method of the shoemaking forming robot according to claim 1, characterized in that: further comprising:

B. the glue spraying real-time compensation part specifically comprises the following steps:

an initial setting step, wherein the preset automatic glue spraying process parameters comprise a preset glue spraying pressure value P1, a corresponding preset glue spraying flow value Q1 can be calculated according to P1, a single pressure compensation value Pb, a compensation upper limit pressure value Pbmax, a glue cleaning operation pressure value P2 and a flow compensation error value S are set, the real-time glue spraying pressure value is P, and the initial P value is a preset glue spraying pressure value P1;

spraying glue, wherein the real-time glue spraying pressure value is P;

a flow monitoring and judging step, namely monitoring a real-time glue spraying flow value Q sprayed by a spray head by a flow monitoring meter in real time, calculating and judging the real-time glue spraying flow value Q and a preset glue spraying flow value Q1, executing a pressure compensation step if Q1-Q is not less than S, and continuously returning to the glue spraying operation step by the current setting to perform glue spraying operation if the Q1-Q is not less than S;

a pressure compensation step, namely adjusting a real-time glue spraying pressure value P, adding a single pressure compensation value Pb on the basis of the existing real-time glue spraying pressure value P, namely P is P + Pb, obtaining a new real-time glue spraying pressure value P, then judging that P-P1 is not more than Pbmax, returning to the flow monitoring and judging step if the new real-time glue spraying pressure value P is obtained, and executing a glue cleaning operation step if the new real-time glue spraying pressure value P is not obtained;

and a glue cleaning operation step, namely adjusting the real-time glue spraying pressure value P to be a glue cleaning operation pressure value P2, executing glue cleaning operation, adjusting the real-time glue spraying pressure value P to be a preset glue spraying pressure value P1 after the glue cleaning operation is finished, and returning to the glue spraying operation step.

Technical Field

The invention relates to the technical field of automatic shoemaking and forming, in particular to an automatic gluing method for a shoemaking and forming robot.

Background

With the improvement of automation technology, the automatic working mode of the robot gradually replaces the manual operation mode. In the field of shoe making, the gluing process has high repeatability and high labor intensity, so that a plurality of shoe making manufacturers gradually adopt a robot automatic gluing mode, the action of the robot depends on the execution of a set program, because the shoe material is irregular, the gluing surface of the shoe material has a large number of curved surfaces with different curvatures, when the robot winds and glues, limited by the performance of the robot, the speed of the spray head sweeping all the gluing surfaces of the shoe material can not be consistent, for example, the corner of the shoe head of the shoe material is larger, although the glue spreading surface distance is short, the robot needs to perform a large motion to enable the spray head to sweep the glue spreading surface, the robot limit speed is limited, therefore, the sweeping speed of the spray head at the position becomes slow, the speed of the spray head sweeping all the glue coating surfaces of the shoe material is inconsistent, the glue amount on each glue coating surface is uneven, and the quality of the final product is affected; meanwhile, in the actual glue spraying work, the spray head can generate the unavoidable residual glue and viscose condition, so that the glue outlet amount of the spray head can be gradually reduced along with the extension of the working time, glue cleaning operation is required to be performed at intervals to recover the original glue outlet amount of the spray head, the glue spraying quality of products in the same batch can be uneven in the process of reducing the glue outlet amount of the spray head, and the working efficiency can be influenced if the glue cleaning operation is performed too frequently.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides an automatic gluing method for a shoemaking forming robot.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the automatic gluing method of the shoemaking forming robot is characterized by comprising the following steps: comprises that

A. The process generation part specifically comprises the following steps:

an information acquisition step, namely acquiring the outline information of the shoe material gluing surface and the material information of the shoe material gluing surface;

planning a robot action path, namely automatically generating a robot action path which enables a spray head on the robot to face and sweep the shoe material gluing surface according to the outline information of the shoe material gluing surface;

a basic glue spraying pressure setting step, namely determining the basic glue spraying pressure according to the material information of the shoe material gluing surface, and forming a changed basic glue spraying pressure value corresponding to time according to the time of the robot nozzle sweeping the shoe material gluing surface if the shoe material gluing surface has multiple materials;

a step of setting path glue spraying compensation pressure, which is to perform simulation on the action path of the robot to obtain the speed of the nozzle sweeping the glue coating surface of the shoe material, and calculate a changed path glue spraying compensation pressure value which enables the nozzle to spray glue at each position of the glue coating surface of the shoe material to be consistent according to the swept speed;

and generating preset automatic glue spraying process parameters, superposing the basic glue spraying pressure value and the path glue spraying compensation pressure value to obtain a changed preset glue spraying pressure value, and integrating the preset glue spraying pressure value and the robot action path to form the preset automatic glue spraying process parameters.

Further, the path glue spraying compensation pressure value can be a positive value or a negative value.

Further, the method also comprises the following steps:

B. the glue spraying real-time compensation part specifically comprises the following steps:

an initial setting step, wherein the preset automatic glue spraying process parameters comprise a preset glue spraying pressure value P1, a corresponding preset glue spraying flow value Q1 can be calculated according to P1, a single pressure compensation value Pb, a compensation upper limit pressure value Pbmax, a glue cleaning operation pressure value P2 and a flow compensation error value S are set, the real-time glue spraying pressure value is P, and the initial P value is a preset glue spraying pressure value P1;

spraying glue, wherein the real-time glue spraying pressure value is P;

a flow monitoring and judging step, namely monitoring a real-time glue spraying flow value Q sprayed by a spray head by a flow monitoring meter in real time, calculating and judging the real-time glue spraying flow value Q and a preset glue spraying flow value Q1, executing a pressure compensation step if Q1-Q is not less than S, and continuously returning to the glue spraying operation step by the current setting to perform glue spraying operation if the Q1-Q is not less than S;

a pressure compensation step, namely adjusting a real-time glue spraying pressure value P, adding a single pressure compensation value Pb on the basis of the existing real-time glue spraying pressure value P, namely P is P + Pb, obtaining a new real-time glue spraying pressure value P, then judging that P-P1 is not more than Pbmax, returning to the flow monitoring and judging step if the new real-time glue spraying pressure value P is obtained, and executing a glue cleaning operation step if the new real-time glue spraying pressure value P is not obtained;

and a glue cleaning operation step, namely adjusting the real-time glue spraying pressure value P to be a glue cleaning operation pressure value P2, executing glue cleaning operation, adjusting the real-time glue spraying pressure value P to be a preset glue spraying pressure value P1 after the glue cleaning operation is finished, and returning to the glue spraying operation step.

According to the description of the invention, compared with the prior art, the automatic gluing method of the shoemaking forming robot provided by the invention has the advantages that the speed of the nozzle sweeping the gluing surface of the shoe material is obtained through the simulation of the motion path of the robot, the glue spraying amount is changed through the changed path compensation pressure value according to the speed difference, the glue applying amount on each gluing surface of the shoe material is ensured to be consistent, and the quality of the final product is ensured; in the actual work process, increase pressure compensation through flow monitoring a small amount of many times in time guarantees that the shower nozzle remains the state of stable load for a long time, and then realizes having guaranteed the play of spouting gluey volume degree of accuracy in real time under the condition that reduces the clear operation number of times of gluing, promotes product quality, improvement production efficiency.

Drawings

FIG. 1 is a block diagram of a portion of the process of the present invention.

FIG. 2 is a block diagram of a portion of the process of the real-time compensation of glue spraying according to the present invention.

Detailed Description

The invention is further described below by means of specific embodiments.

Referring to fig. 1 to 2, an automatic gluing method of a shoe making and forming robot comprises a process generation part and a glue spraying real-time compensation part.

A. The process generation part specifically comprises the following steps:

an information acquisition step, namely acquiring the outline information of the shoe material gluing surface and the material information of the shoe material gluing surface; the process may employ a vision workstation to automatically scan and produce relevant information parameters.

Planning a robot action path, namely automatically generating a robot action path which enables a spray head on the robot to face and sweep the shoe material gluing surface according to the outline information of the shoe material gluing surface; the robot motion path is a multi-axis motion parameter with a time rail.

A basic glue spraying pressure setting step, namely determining the basic glue spraying pressure according to the material information of the shoe material gluing surface, and forming a changed basic glue spraying pressure value corresponding to time according to the time of the robot nozzle sweeping the shoe material gluing surface if the shoe material gluing surface has multiple materials; the glue amount required by different materials is different, and the required basic glue spraying pressure value can be correspondingly calculated through the glue amount and the equipment per se.

A step of setting path glue spraying compensation pressure, which is to perform simulation on the action path of the robot to obtain the speed of the nozzle sweeping the glue coating surface of the shoe material, and calculate a changed path glue spraying compensation pressure value which enables the nozzle to spray glue at each position of the glue coating surface of the shoe material to be consistent according to the swept speed; the robot action simulation is carried out through a computer, the linear velocity of glue sprayed by a spray head at each position of the gluing surface of the shoe material can be obtained, the changed path glue spraying compensation pressure value can be calculated according to the corresponding relation between pressure and flow and the linear velocity change, the path glue spraying compensation pressure value can be a positive value or a negative value, the pressure value is increased when the sweeping speed of the spray head is high, and the pressure value is reduced when the sweeping speed of the spray is low.

And generating preset automatic glue spraying process parameters, superposing the basic glue spraying pressure value and the path glue spraying compensation pressure value to obtain a changed preset glue spraying pressure value, and integrating the preset glue spraying pressure value and the robot action path to form the preset automatic glue spraying process parameters.

B. The glue spraying real-time compensation part specifically comprises the following steps:

an initial setting step, wherein the preset automatic glue spraying process parameters comprise a preset glue spraying pressure value P1, a corresponding preset glue spraying flow value Q1 can be calculated according to P1, a single pressure compensation value Pb, a compensation upper limit pressure value Pbmax, a glue cleaning operation pressure value P2 and a flow compensation error value S are set, the real-time glue spraying pressure value is P, and the initial P value is a preset glue spraying pressure value P1;

spraying glue, wherein the real-time glue spraying pressure value is P;

a flow monitoring and judging step, wherein a flow monitoring meter monitors a real-time glue spraying flow value Q sprayed by a spray head in real time, wherein Q is an actual value, Q1 is a calculated value, the actual value and the calculated value are possibly inconsistent due to the condition of residual glue adhesion in actual work, and Q is not more than Q1, so that the real-time glue spraying flow value Q and the preset glue spraying flow value Q1 are calculated and judged, if Q1-Q is not less than S, the pressure compensation step is executed, and if not, glue spraying operation is continuously carried out by returning to the glue spraying operation step according to the current setting;

a pressure compensation step, namely adjusting a real-time glue spraying pressure value P, adding a single pressure compensation value Pb on the basis of the existing real-time glue spraying pressure value P, namely P is P + Pb, obtaining a new real-time glue spraying pressure value P, then judging that P-P1 is not more than Pbmax, returning to the flow monitoring and judging step if the new real-time glue spraying pressure value P is obtained, and executing a glue cleaning operation step if the new real-time glue spraying pressure value P is not obtained; the glue discharging amount of the spray head is correspondingly increased when the glue spraying pressure value is increased, and the Pb value can be reasonably set according to the actual situation.

A glue cleaning operation step, namely adjusting the real-time glue spraying pressure value to be P to be a glue cleaning operation pressure value P2, executing glue cleaning operation, wherein P2 is a larger pressure value, the glue cleaning operation is that the spray head is moved away from the shoe material by the robot and faces to a waste glue cylinder, when the glue spraying pressure value P is adjusted to be P2, the larger glue spraying pressure can flush residual glue and glue, and the spray head is ensured to return to a normal working state; and after the glue cleaning operation is finished, adjusting the real-time glue spraying pressure value P to be a preset glue spraying pressure value P1, and returning to the glue spraying operation step.

The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.