CN102783769A - Glue coating control method at small-curvature turning part - Google Patents

Abstract

The invention provides a glue coating control method at a small-curvature turning part. The method comprises the following steps that 1) the gluewater type is selected, and the glue film accumulation speed in a position with a distance r from the center point is measured according to a formula that G=f(r, h)=A(R2-r2); 2) the curvature radius of a spray coating track turning part of an object to be subjected to glue coating is measured; 3) a glue film accumulation model is built; 4) the angle of a mechanical arm to be regulated and the operation speed of the mechanical arm are calculated through a control model according to the glue film accumulation model, the curvature radius and the required width of the glue film, and a spray gun is arranged on the mechanical arm; and 5) the mechanical arm is controlled to carry out spray coating according to the regulated moving angle and the moving speed. The glue coating control method has the advantages that the glue coating at the turning part is uniform, and the glue coating effect is good.

Description

The gluing control method at a kind of small curve turning

Technical field

The present invention relates to spraying coating process, especially a kind of method of mechanical arm gluing.

Background technology

China is footwear big producing countries, and gluing is one of most important link in the footwear assembly technology, basically all is to accomplish spraying process by craft in China at present, and the gas that glue evaporates is a kind of strong carcinogen, and serious threat is to workman's physical and mental health.Existing automatic spraying technology mainly adopts robot to spray according to shoe pattern profile traces curve, lacks the control to robot pose.And for the shoemaking gluing, the attitude of spray gun center line is very big to influences such as coating thickness, width, so robot end's attitude should be made corresponding adjustment according to the curve of different radians.The main reference foundation of estimating spraying effect is a peel strength, and the width of glued membrane and thickness are the main factors that influences peel strength, thereby the uniformity of control glued membrane form is particularly crucial for coating quality.

Summary of the invention

In order to overcome the deficiency that the turning is inhomogeneous, the gluing effect is relatively poor of existing glue spreading method, the present invention provides the gluing control method at the small curve turning that a kind of turning gluing is even, gluing is respond well.

The technical solution adopted for the present invention to solve the technical problems is:

The gluing control method at a kind of small curve turning, said gluing control method may further comprise the steps:

1) choose the glue model, measure glued membrane cumulative speed and be at distance center point r place G=f (r, h)=A (R ²-r ²);

2) measure the radius of curvature at the spraying profile turning of treating the gluing object;

3) setting up the glued membrane Accumulation Model is:

h _y=(1+tanθ ₁tanθ ₂)×(cosθ ₂-sinθ ₂×tanθ ₁)×h+r×tanθ ₂

$q(r_x,h_y)=4A[\frac{2}{3}{(h_y\·\tan {\mathrm{\θ}}_1)}^3-{(h_y\·\tan {\mathrm{\θ}}_1)}^{2}r+\frac{1}{3}{r}^3]\frac{\sqrt{{(h_y\·\tan {\mathrm{\θ}}_1)}^2-r^2}}{\mathrm{\υ}}$

In the formula: θ ₁Be the expanded-angle of spray gun when spraying glue; θ ₂Be optimization aim, promptly need adjust the angle of mechanical arm at the turning; H is that standard takes the air line when spraying the distance between spray gun center and the working face; R is the distance apart from the spraying profile center line; υ is the speed that end effector of robot moves along course bearing; A is a constant, through obtain the coefficient of accumulative total model in the plane to the spraying measuring data of point;

4) according to glued membrane Accumulation Model and radius of curvature and the needed width of glued membrane, go out the angle and the speed of service thereof that mechanical arm need be adjusted through the control Model Calculation, on the said mechanical arm spray gun is installed;

5) according to adjusted movement angle and translational speed, the control mechanical arm sprays.

Technical conceive of the present invention is: the variation that combines the turning curvature of curve is to the influence of glued membrane form, and shown in accompanying drawing 2, a is the required width of glued membrane, because the inner and outer ring region S ₁, S ₂The difference of area, it is inhomogeneous to cause on the corner spraying film thickness, thereby influences the quality of product shoes.

Beneficial effect of the present invention mainly shows: the turning gluing is even, gluing is respond well.

Description of drawings

Fig. 1 is the sketch map of spraying profile;

Fig. 2 is the sketch map of the changing condition of turning glued membrane area coverage;

Fig. 3 is the sketch map of glued membrane cumulative speed distributed model;

Fig. 4 is the sketch map of corner spray gun adjustment model;

Fig. 5 is a spraying method schematic flow sheet of the present invention;

Fig. 6 is the flow chart that spraying method of the present invention combines with instantiation.

The specific embodiment

Below in conjunction with accompanying drawing the present invention is further described.

With reference to Fig. 1～Fig. 6, the gluing control method at a kind of small curve turning, said gluing control method may further comprise the steps:

1) choose the glue model, measure glued membrane cumulative speed and be at distance center point r place G=f (r, h)=A (R ²-r ²);

2) measure the radius of curvature at the spraying profile turning of treating the gluing object;

3) setting up the glued membrane Accumulation Model is:

h _y=(1+tanθ ₁tanθ ₂)×(cosθ ₂-sinθ ₂×tanθ ₁)×h+r×tanθ ₂

$q(r_x,h_y)=4A[\frac{2}{3}{(h_y\·\tan {\mathrm{\θ}}_1)}^3-{(h_y\·\tan {\mathrm{\θ}}_1)}^{2}r+\frac{1}{3}{r}^3]\frac{\sqrt{{(h_y\·\tan {\mathrm{\θ}}_1)}^2-r^2}}{\mathrm{\υ}}$

In the formula: θ ₁Be the expanded-angle of spray gun when spraying glue; θ ₂Be optimization aim, promptly need adjust the angle of mechanical arm at the turning; H is that standard takes the air line when spraying the distance between spray gun center and the working face; R is the distance apart from the spraying profile center line;

4) according to glued membrane Accumulation Model and radius of curvature and the needed width of glued membrane, go out the angle and the speed of service thereof that mechanical arm need be adjusted through the control Model Calculation, on the said mechanical arm spray gun is installed;

5) according to adjusted movement angle and translational speed, the control mechanical arm sprays.

In the present embodiment, get the object of the sole of high-heeled shoes, handle as follows as the spraying viscose glue:

Like accompanying drawing 1,2, at first parameters such as the radius of curvature through measure obtaining curve, radian make mechanical arm have basic path locus; Select neoprene commonly used in the rubber adhesive shoes as spraying glue; It is carried out the glued membrane cumulative speed measures, shown in accompanying drawing 3, measure glued membrane cumulative speed and be at distance center point r place G=f (r, h)=A (R ²-r ²); The optimization method that puts forward according to the present invention; Shown in accompanying drawing 4; Calculate the required angle of making adjustment of mechanical arm, make glued membrane that angle the causes rule pockety and the track curvature of its adjustment spray gun cause uneven rule to cancel each other in the corner of correspondence; Coding, according to the technological parameter of the required adjustment of back, the control mechanical arm is in the movement velocity and spraying attitude at different track places; At last, use mechanical arm as the spraying carrier geometric locus to be sprayed operation, make the spraying glued membrane when reaching expected width, the thickness of control glued membrane is owing to the uneven variation that track causes is well solved.

Claims (1)

1. the gluing control method at a small curve turning, it is characterized in that: said gluing control method may further comprise the steps:

1) choose the glue model, measure glued membrane cumulative speed and be at distance center point r place G=f (r, h)=A (R ²-r ²);

2) measure the radius of curvature at the spraying profile turning of treating the gluing object;

3) setting up the glued membrane Accumulation Model is:

h _y=(1+tanθ ₁tanθ ₂)×(cosθ ₂-sinθ ₂×tanθ ₁)×h+r×tanθ ₂

$q(r_x,h_y)=4A[\frac{2}{3}{(h_y\·\tan {\mathrm{\θ}}_1)}^3-{(h_y\·\tan {\mathrm{\θ}}_1)}^{2}r+\frac{1}{3}{r}^3]\frac{\sqrt{{(h_y\·\tan {\mathrm{\θ}}_1)}^2-r^2}}{\mathrm{\υ}}$

In the formula: θ ₁Be the expanded-angle of spray gun when spraying glue; θ ₂Be optimization aim, promptly need adjust the angle of mechanical arm at the turning; H is that standard takes the air line when spraying the distance between spray gun center and the working face; R is the distance apart from the spraying profile center line;

4) according to glued membrane Accumulation Model and radius of curvature and the needed width of glued membrane, go out the angle and the speed of service thereof that mechanical arm need be adjusted through the control Model Calculation, on the said mechanical arm spray gun is installed;

5) according to adjusted movement angle and translational speed, the control mechanical arm sprays.

Images