Dedign And Development Of The Manipulator In The Production Line System Of Shoe Upper Reinforcement Based On Vision

With the continuous development of the footwear industry and automatic manufacturing,the automatic production of shoes products has become an inevitable trend.Shoe upper reinforcement is an important step in the process of shoe making.In order to improve the productivity,improve the quality of shoes,and enhance the competitiveness of enterprises.Based on machine vision,this paper studies the design and development of the manipulator in the production line of shoe upper reinforcement.A production line system which is used for automatic shoe mending is designed,including the design of the upper reinforcement production line system,the reinforcement position detection based on vision,the kinematics analysis of manipulator,and the robot trajectory planning.The main research contents of this paper are as follows:(1)Design of the upper reinforcement production line system: The upper reinforcement production line system which is controlled by the PC mainly includes the mechanical hand,the feed box and the feed,the visual system and the transmission system.The visual system is used to obtain the image of the feed in the feed box.After can be driven to absorb and transfer to the designated position.(2)Reinforcement position detection based on vision: By designing the visual reinforcement detection system,can we get the analysis of the imaging process of the camera,the camera calibration and design of the upper reinforcing positioning hole center detection system.After analyzing the geometric characteristics of the upper and the supplement,the background of the upper and the supplement was extracted,and the image was binary,pretreated,morphologycombination processed,and the positioning hole center coordinates of the fill was solved through the centroid algorithm.The visual inspection system of the upper reinforcing and positioning hole was designed,which was programmed and debugged in the MATLAB environment,and the center coordinates of the shoe upper and the supplement positioning hole are solved by the centroid algorithm.(3)Kinematics analysis of manipulator: According to the manipulator parameters,the mathematical model is established by using D-H method,and the formula of the forward kinematics of the manipulator is calculated and deduced.The inverse kinematics solution of the manipulator is obtained by solving the equations of forward motion.Analyze the kinematics of the manipulator by simulating the manipulator with MATLAB.Calculate the position and pose of the manipulator at the point of the path Based on MATLAB.Edit the inverse kinematic solution function,and obtain the inverse kinematics of the manipulator by MATLAB.And then according to the position parameters of the actual environment,the manipulator can get the starting point,the lifting point,the lower level,the position and attitude of the point of termination.(4)Robot trajectory planning: Combined with the positive and inverse solution model,trajectory planning of manipulator is carried out,and the position and posture of the manipulator at the path point is calculated based on MATLAB.Two polynomial interpolation methods are used to analyze and compare the MATLAB,and the method of selecting the system is selected.Simulate the reality based on the kinematic model of the trajectory algorithm.The selected planning method can be very good to solve the mechanical arm in the working process of the stability of the problem based on the results of the simulation.