Research On Robot Glue Spray Operation Of Cold Adhesive Shoemaking Line

With the constant upgrading and advancement of footwear consumption,the domestic footwear industry is developing rapidly,but there is still a mismatch between the traditional footwear supply and the upgrading of consumption demand.At present,only some large shoe-making enterprises in the domestic shoe-making industry have conducted exploratory research on automatic sole gluing,while most of them still use manual gluing.In order to improve the quality and efficiency of glue application on shoe soles and enhance the competitiveness of enterprises,this project is to develop an automatic glue application system for cold gluing production lines.The robotic automatic glue application system has intelligent track processing,automatic handling of glue application tasks and other functions,which not only improves the quality of glue application and production efficiency,but also improves the degree of automation of the enterprise,bringing more economic benefits to the enterprise.In the research process,according to the technical indicators of the actual spraying operation,the preliminary design of the three-dimensional model of the system was completed,the parameters of the spraying robot were investigated,and the kinematic analysis of the spraying robot was completed;the parameters that affect the spraying model were analyzed,and a spraying model that can be modified according to different spraying environments was established to improve the adaptability of the model;the spraying model was established based on actual spraying experiments.In order to obtain the trajectory of the glue spraying robot,different motion curves were selected as the interpolation curves of the glue spraying robot,and the properties and interpolation effects of each curve were compared,finally,seven times B sample curves were selected,and continuous and smooth glue spraying trajectory was obtained by interpolating the points of the glue spraying robot with these curves.The Pareto optimal solution set is obtained by using the genetic algorithm to optimize the glue efficiency,smoothness and energy consumption of the robot;the hardware of the glue application system is selected and the experimental platform is built for the design of the automatic glue application system of the cold gluing shoe line robot;the main program modules of the glue application control system are designed and the experimental platform is built.Conduct glue application experiments to verify the glue application system.The spraying effect proves the accuracy of the spraying model and the correctness of the spraying trajectory extraction algorithm by using the spraying model to obtain accurate information about the spraying trajectory;it verifies the rationality of the interpolation curve and the superiority of the trajectory optimization algorithm.The robot gluing trajectory runs smoothly during the experiment,and the qualified glue line is obtained,which meets the actual requirements of the enterprise's gluing operation.