CN102783769B - 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

A kind of gluing control method 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 footwear assembly technology, and be substantially all carried out spraying process by hand in China at present, the gas that glue evaporates is a kind of strong carcinogen, and serious threat is to the physical and mental health of workman.Existing automatic coating technology mainly adopts robot to spray according to shoe pattern profile traces curve, lacks the control to robot pose.And for shoemaking gluing, the attitude of spray gun center line is very large on the impact such as coating thickness, width, therefore robot end's attitude should make corresponding adjustment according to the curve of different radian.Evaluate the Primary Reference of spraying effect according to being peel strength, and the width of glued membrane and thickness are main factors affect peel strength, thus the uniformity of control glued membrane form is for particularly key coating quality.

Summary of the invention

In order to the deficiency that the turning overcoming existing glue spreading method is uneven, gluing effect is poor, the invention provides the gluing control method at the small curve turning that a kind of turning gluing is even, gluing effect is good.

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

The gluing control method at small curve turning, described gluing control method comprises the following steps:

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

2) radius of curvature at the spraying profile turning for the treatment of gluing object is measured;

3) setting up 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 formula: θ ₁for the expanded-angle of spray gun when glue spraying; θ ₂for optimization aim, namely need the angle of reconditioner mechanical arm at turning; H be standard take the air line spraying time, the distance between spray gun center and working face; R is the distance of distance spraying profile center line; υ is the speed of end effector of robot along course bearing movement; A is constant, is obtained the coefficient of accumulative model by the spraying measured data in the plane for point;

4) width required for glued membrane Accumulation Model and radius of curvature and glued membrane, is calculated angle and the speed of service thereof of the adjustment of mechanical arm needs, described mechanical arm installs spray gun by Controlling model;

5) according to the movement angle after adjustment and translational speed, controller mechanical arm sprays.

Technical conceive of the present invention is: the change in conjunction with turning curvature of curve affects glued membrane form, and as shown in Figure 2, a is width needed for glued membrane, due to inner and outer ring region S ₁, S ₂the difference of area, causes on the corner spraying film thickness uneven, thus affects the quality of product shoes.

Beneficial effect of the present invention is mainly manifested in: turning gluing is even, gluing effect is good.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of spraying profile;

Fig. 2 is the schematic diagram of the changing condition of turning glued membrane area coverage;

Fig. 3 is the schematic diagram of glued membrane cumulative speed distributed model;

Fig. 4 is the schematic diagram of corner spray gun adjustment model;

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

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

Detailed description of the invention

Below in conjunction with accompanying drawing, the invention will be further described.

With reference to Fig. 1 ~ Fig. 6, a kind of gluing control method of small curve turning, described gluing control method comprises the following steps:

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

2) radius of curvature at the spraying profile turning for the treatment of gluing object is measured;

3) setting up 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 formula: θ ₁for the expanded-angle of spray gun when glue spraying; θ ₂for optimization aim, namely need the angle of reconditioner mechanical arm at turning; H be standard take the air line spraying time, the distance between spray gun center and working face; R is the distance of distance spraying profile center line;

4) width required for glued membrane Accumulation Model and radius of curvature and glued membrane, is calculated angle and the speed of service thereof of the adjustment of mechanical arm needs, described mechanical arm installs spray gun by Controlling model;

5) according to the movement angle after adjustment and translational speed, controller mechanical arm sprays.

In the present embodiment, the sole getting high-heeled shoes, as the object of spraying viscose glue, is handled as follows:

As accompanying drawing 1,2, first by measuring the parameter such as radius of curvature, radian obtaining curve, mechanical arm is made to have basic path locus; Select neoprene conventional in rubber adhesive shoes as spraying glue; Carry out glued membrane cumulative speed mensuration to it, as shown in Figure 3, measuring at the glued membrane cumulative speed at distance center point r place is G=f (r, h)=A (R ²-r ²); According to the optimization method that the present invention puts forward, as shown in Figure 4, calculate the angle of making adjustment needed for the corner mechanical arm of correspondence, make its adjust the angle of spray gun cause glued membrane rule pockety and trajectory tortuosity to cause uneven rule to cancel each other; Coding, the technological parameter adjusted required for back, the movement velocity of controller mechanical arm at different track places and spraying attitude; Finally, use mechanical arm to carry out spraying operation as spraying carrier to geometric locus, make spraying glued membrane while reaching expected width, the uneven change that the thickness controlling glued membrane causes due to track is well solved.

Claims (1)

1. the gluing control method at small curve turning, is characterized in that: described gluing control method comprises the following steps:

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

2) radius of curvature at the spraying profile turning for the treatment of gluing object is measured;

3) setting up 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 formula: θ ₁for the expanded-angle of spray gun when glue spraying; θ ₂for optimization aim, namely need the angle of reconditioner mechanical arm at turning; H be standard take the air line spraying time, the distance between spray gun center and working face; R is the distance of distance spraying profile center line; υ is the speed of end effector of robot along course bearing movement; A is constant, is obtained the coefficient of accumulative model by the spraying measured data in the plane for point;

4) width required for glued membrane Accumulation Model and radius of curvature and glued membrane, is calculated angle and the speed of service thereof of the adjustment of mechanical arm needs, described mechanical arm installs spray gun by Controlling model;

5) according to the movement angle after adjustment and translational speed, controller mechanical arm sprays.