Research On Six-axis Robot Online Gluing System Based On Line Structured Light Vision Measuremen Technology

Shoe gumming is one of the main processes in shoemaking production.The traditional gumming method is inaccurate to obtain data information,and the fitting trajectory has errors,which causes defects in the quality of the sole gumming.Therefore,this topic focuses on the research of line structured light vision technology and applies it to the online gluing process of shoe soles.A line structured light vision online gluing system for soles is built.By collecting the point cloud data of the soles,it is carried out Real-time analysis,fitting of its trajectory and trajectory optimization improve the production efficiency of soles,ensure the quality of production,and realize the automation and intelligence of the online application of soles.The main work of this article is summarized as follows:(1)Firstly,based on the theory of linear structured light vision measurement technology and the application of shoe sole glue application,the overall scheme design of the online shoe sole glue application system was carried out.Determine its motion control plan,complete the selection and construction of the main parts,and introduce the control system development software(LabVIEW).(2)Secondly,the forward and reverse kinematics of the six-axis robot are calculated by the D-H method,and the running trajectory of the joint space is planned.It provides a theoretical basis for the motion control of the entire system.(3)The principle of line structured light vision,the image acquisition process and processing of the vision system,and the extraction of the center point of the light bar are introduced in detail.Then,the coordinate system conversion process between the camera,the conveyor line and the robot,and the dynamic tracking of the target object on the conveyor line are analyzed.(4)A new method of glue spray trajectory generation is proposed.Firstly,by extracting the endpoints of all scan lines to form a point set;Secondly,using B-spline fitting to convert the point cloud data into a spatial three-dimensional scan line,and the mean shrinking method be used to approximate the offset curve of the contour curve to obtain the sole Glue trajectory;Then,use Cubic Hermite interpolation optimization method for targeted trajectory optimization;finally,get a smooth glue trajectory.(5)The type of robot be selected to conduct the robot running test,and then build the software structure level of the system;Finally,build a sole online glue platform through the joint test of the line structured light vision system and the robot.The application of the line structure optical vision designed in this paper to the online application system of shoe soles has been verified.The running path of the spray gun is consistent with the spraying trajectory,and the spraying is uniform and stable,thus verifying the feasibility of this method.