CN209281477U - A kind of sole glue spraying equipment based on monocular vision - Google Patents
A kind of sole glue spraying equipment based on monocular vision Download PDFInfo
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- CN209281477U CN209281477U CN201920178266.3U CN201920178266U CN209281477U CN 209281477 U CN209281477 U CN 209281477U CN 201920178266 U CN201920178266 U CN 201920178266U CN 209281477 U CN209281477 U CN 209281477U
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Abstract
The utility model provides a kind of sole glue spraying equipment based on monocular vision, including conveyor-belt apparatus, sighting device, robot device and control system；The sighting device includes bracket and monocular camera and laser line generator, and it is all definite value that the light beam that the monocular camera and the laser line generator issue is formed by the spacing between lines and the robot device in the spacing that the light beam of projected position and laser line generator sending on the transmission plane of the conveyor-belt apparatus is formed by between lines on the transmission plane of the conveyor-belt apparatus on the transmission plane of the conveyor-belt apparatus.Existing two-sided vision system is replaced using monocular camera, advantage of lower cost, combine the advantage that dimensional visual measurement detection speed is fast and robot glue spraying is high-efficient, versatile, to any shoes yardstick cun, shoe-shaped profile, sizing work can be rapidly completed, it saves manually, reduces labor intensity of workers and chemical bonding agent to the issuable damage of human body.
Description
Technical field
The utility model relates to a kind of glue spraying equipment, especially a kind of sole glue spraying equipment based on monocular vision.
Background technique
In shoe-making process, the quality for being glued operation always is an important factor for determining shoes quality.With shoemaking work
The degree of automation of industry improves, and shoemaking sizing operation just gradually replaces originally artificial by automation equipment.It is set using automation
Standby to be glued work to carry out shoemaking, working method is broadly divided into sizing track according to the difference of sizing track generating mode
With generation and on-line automatic generation two types, the former is matched by feature calls existing sizing track, due to present shoes
The diversification of increment formula and material takes this mode to compare consuming time and efforts；The latter is given birth to automatically by on-line measurement
At sizing track, it is widely used in the fields such as shoemaking industry automated production.
Sole glue spraying equipment currently on the market generallys use binocular vision system and produces sizing track, cost phase automatically
To higher；Meanwhile sole glue spraying equipment currently on the market usually has that part glue is fog-like to disperse when carrying out glue spraying, this
A little glues easily adhere on the camera lens of vision system, influence the quality of taking pictures of vision system, and then influence glue spraying quality；This
Outside, preceding sole glue spraying equipment in the market is usually provided only with a spray gun, is easy to appear leak adhesive phenomenon, and then influence glue spraying matter
Amount, or need to carry out same sole multiple glue spraying, it is relatively inefficient.
In view of this, the applicant conducts in-depth research sole glue spraying equipment, there is this case generation then.
Utility model content
The purpose of this utility model is to provide a kind of sole glue spraying equipments based on monocular vision of advantage of lower cost.
To achieve the goals above, the utility model adopts the following technical solution:
A kind of sole glue spraying equipment based on monocular vision, including conveyor-belt apparatus, setting are on the conveyor-belt apparatus
Sighting device, the robot device by the conveyor-belt apparatus and respectively with the conveyor-belt apparatus, the vision
The control system of device and the robot device communication connection is provided with encoder on the motor of the conveyor-belt apparatus, institute
State the list that sighting device includes the bracket being arranged in the rack of the conveyor-belt apparatus and is separately mounted on the bracket
Transmission plane of the light beam that mesh camera and laser line generator, the monocular camera and the laser line generator issue in the conveyor-belt apparatus
On be formed by the projection position of the spacing between lines and the robot device on the transmission plane of the conveyor-belt apparatus
It sets the light beam issued with the laser line generator and is formed by spacing between lines on the transmission plane of the conveyor-belt apparatus all
For definite value, glue spraying component is installed on the robot device.
As a kind of improvement of the utility model, the monocular camera and the laser line generator are along the conveyor-belt apparatus
Direction of transfer be sequentially arranged, the monocular camera relative to the laser line generator close to the robot device, and the list
The camera lens of mesh camera is located at the side that the monocular camera deviates from the robot device.
As a kind of improvement of the utility model, the conveyor-belt apparatus is linear conveyor-belt apparatus, the manipulator
Device is six joint Serial manipulator devices.
As a kind of improvement of the utility model, the glue spraying component includes attachment base and is respectively fixedly connected with described
Facade spray gun and central lance on attachment base are arranged between the facade spray gun and the central lance in splayed.
By adopting the above technical scheme, the utility model has the following beneficial effects:
1, the device and method of the utility model replace existing two-sided vision system using monocular camera, and cost is relatively
It is low.
2, since the camera lens of monocular camera is located at the side that monocular camera deviates from robot device, the camera lens of monocular camera is not
Easily adherency glue, glue spraying quality are relatively high.
It 3, can be equal to the glue spraying molding in sizing position, glue spraying on the inside of sole by setting facade spray gun and central lance
Even and leak adhesive amount is few, glue spraying precision is high and production efficiency is also relatively high.
4, the utility model combines dimensional visual measurement detection speed fastly and robot glue spraying is high-efficient, versatile
Sizing work can be rapidly completed to any shoes yardstick cun, shoe-shaped profile in advantage, and sizing quality meets shoe-making process
It is required that saving manually, labor intensity of workers and chemical bonding agent are reduced to the issuable damage of human body.
5, for according to simply require to be placed on conveyor-belt apparatus sole (sole placement location on a moving belt and
Angle, it is only necessary to meet the direction of motion, sole left-right position on a moving belt of the toe cap heel along conveyer belt, to be no more than
Subject to conveyor width), special positioning, clamping device are not needed, only by 3 D visual scanning survey and coordinate transform,
Robot can be accurately controlled and reach ideal glue spraying point.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of sole glue spraying equipment of the utility model based on monocular vision；
Fig. 2 is calibrating block calibration process schematic diagram in the utility model；
Fig. 3 is that image process schematic diagram is obtained in the utility model.
It is as follows that correspondence is indicated in figure:
10- conveyor-belt apparatus；The scribing line of 11- benchmark；
20- sighting device；21- bracket；
22- monocular camera；23- laser line generator；
30- robot device；40- control system；
50- glue spraying component；51- attachment base；
52- facade spray gun；53- central lance；
60- calibrating block；61- datum level；
62- baseline trough.
Specific embodiment
Utility model is described further combined with specific embodiments below:
As shown in Figure 1, present embodiments providing a kind of sole glue spraying equipment based on monocular vision, including conveyor-belt apparatus
10, the sighting device 20 on conveyor-belt apparatus 10, robot device 30 and difference positioned at 10 side of conveyor-belt apparatus are set
With the control system 40 of 30 communication connection of conveyor-belt apparatus 10, sighting device 20 and robot device, wherein conveyor-belt apparatus 10
Motor on be provided with the encoder connecting with control system 40, and conveyor-belt apparatus 10 is conventional linear transmission device,
Robot device 30 is six joint Serial manipulator devices.Conveyor-belt apparatus 10, robot device 30 and control in the present embodiment
System 40 processed can directly buy acquisition from the market, to the not reinflated description herein of its specific structure.
Sighting device 20 includes the bracket 21 being arranged in the rack of conveyor-belt apparatus 10 and is separately mounted to bracket 21
On monocular camera 22 and laser line generator 23, wherein the light beam that monocular camera 22 and laser line generator 23 issue is in conveyor-belt apparatus
The biography of the spacing that is formed by 10 transmission plane between lines (project) and robot device 30 in conveyor-belt apparatus 10
The light beam for sending projected position on face and laser line generator 23 to issue be formed by the transmission plane of conveyor-belt apparatus 10 lines it
Between spacing be all definite value, i.e., monocular camera 22 is separately set with laser line generator 23 and monocular camera 22 and robot device 30
It sets, the camera lens of such monocular camera is not easy to adhere to glue, and glue spraying quality is relatively high.Specifically, monocular camera 22 and line laser
Device 23 is sequentially arranged along the direction of transfer of conveyor-belt apparatus 10, and monocular camera 22 is filled relative to laser line generator 23 close to manipulator
30 are set, and the camera lens of monocular camera 22 is located at the side that monocular camera 22 deviates from robot device 10.Preferably, in the present embodiment
In, monocular camera 22 is inclined relative to horizontal arrangement, and laser line generator 23 is arranged vertically, and the light that laser line generator 23 issues
The direction of transfer that lines and conveyor-belt apparatus 10 are formed by conveyor-belt apparatus 10 is arranged vertically.
Glue spraying component 50 is installed, glue spraying component 50 includes attachment base 51 and difference in the actuating station of robot device 30
The facade spray gun 52 and central lance 53 being fixedly connected on attachment base 51 are in eight words between facade spray gun 52 and central lance 53
Shape arrangement, and facade spray gun 52 and central lance 53 have the spacing between one end of spray head relative between the other end
Away from small, in this way, the successively glue spraying movement of robot device 30 can be achieved at the same time and spray to sole side elevation and central area
Glue, glue spraying efficiency is relatively high and is less prone to leak adhesive phenomenon, specifically, in 52 responsible soles of facade spray gun side elevation and its
The sizing of adjacent area, the sizing in the central lance 53 responsible longitudinally asymmetric line regions of sole inner bottom surface, facade spray gun 52 is in
The relative positional relationship of heart spray gun 53 is fixed, that is, the motion profile having the same during glue spraying.It is sprayed as facade
Relative positional relationship between rifle 52 and central lance 53, the three-dimensional that robot kinematics can be passed through according to the theoretical profile of sole
Emulation determines.Although in addition, the three-dimensional scanning measurement of sole profile, the motion profile of facade spray gun 52 mainly in decision sole
And nozzle is opened, terminates point, but the sizing of central lance opens point, terminates point, then it is longitudinally right according to sole to need
The intersection point of line and sole edge is claimed to be determined.
When sole moves on conveyor-belt apparatus 10, a series of sole edge can be collected by monocular camera 22
Point cloud, then the three-dimensional point cloud dimensionality reduction of sole edge projected on the two-dimensional surface where the transmission plane of conveyor-belt apparatus 10,
Obtain sole edge belting 10 transmission plane a series of orderly two-dimentional point sets in the plane, and by the two dimension
For point set according to the direction of motion, distance and timing of conveyor-belt apparatus 10, sequencingsegmenting is multistage geometric locus section, suitable according to measuring
Sequence and based on monocular camera 22 measurement coordinate system under coordinate, two-dimentional sole edge track is connected as sole profile track；
Then by coordinate transform by sole profile track point set, from measurement coordinate system transformation to the coordinate system based on robot device 30
Under；The cone angle and glue spraying distance of bullet are finally scattered according to the glue spraying of the spray head of spray gun, determine glue spraying inside contracts offset or dish,
Sole profile track is inside contracted into certain distance (specifically inside contract distance reference will hereafter refer to glue spraying method), shoes can be acquired
The control point of bottom glue spraying track；Above-mentioned control point is generated as to the glue spraying trajectory motion control generation of the robot device 30
Code can be realized and carry out automatic glue-spraying to sole.It should be noted that when sole carries out three-dimensional scanning measurement, conveyer belt dress
It sets 10 to move according to given direction and speed, but robot device 30 is without glue spraying；When carrying out glue spraying, conveyor-belt apparatus
10 do not move, and also without the three-dimensional scanning measurement of sole, i.e. glue spraying movement carries out TRAJECTORY CONTROL by robot device 30 completely.
The present embodiment additionally provides a kind of sole glue spraying method based on monocular vision, which can be used mentions above
And glue spraying equipment realize.Specifically, the sole glue spraying method provided in this embodiment based on monocular vision includes following step
It is rapid:
S1, equipment debugging, refering to what is shown in Fig. 1, by laser line generator 23, monocular camera 22 and robot device 30 along transmission
Direction of transfer with device 10 is set gradually, wherein encoder, and conveyor-belt apparatus are provided on the motor of conveyor-belt apparatus 10
10 transmission plane is horizontally disposed；Monocular camera 22 and the opereating specification of take pictures range and robot device 30 are preferably mutually independent,
I.e. the two does not have lap.Certainly, it is not required that laser line generator 23, monocular camera 22 and robot device 30 are located at always
On line.It should be noted that angle is formed between laser line generator 23 and the lens axis of monocular camera 22, specific angle
Angle needs to be configured according to the actual situation.
The intrinsic parameter of laser plane and monocular camera 22 to laser line generator 23 and outer parameter are demarcated, while with list
Measurement coordinate system is established on the basis of mesh camera 22, glue spraying coordinate system is established on the basis of robot device 30, obtains calibration result
The laser of transformation matrix of coordinates and laser line generator 23 between data and the measurement coordinate system and the glue spraying coordinate system
Plane equation, to carry out three-dimensional measurement to the sole being placed on conveyor-belt apparatus 10 according to triangulation principle.Wherein,
Each change in coordinate axis direction measured in each reference axis and glue spraying coordinate system in coordinate system corresponds.
Specific scaling method can be conventional method, it is preferred that in the present embodiment, to the laser of laser line generator 23
The intrinsic parameter and outer parameter of plane and monocular camera 22 demarcated the following steps are included:
S1.1, monocular camera calibration are marked using Zhang Zhengyou calibration method and matlab calibration tool case toolbox_calib
Make monocular camera 22 intrinsic parameter and outer parameter.Wherein, Zhang Zhengyou calibration method is conventional scaling method, calibration tool case
Toolbox_calib is the tool box built in conventional matlab software, the specific intrinsic parameter of monocular camera 22 and outer parameter
Identical as conventional camera, these are not the emphasis of the present embodiment, and and will not be described here in detail yet.
S1.2, calibrating block calibration, as shown in Figure 2 and refering to what is shown in Fig. 1, being delineated on the transmission plane of conveyor-belt apparatus 10
The benchmark scribing line 11 being arranged in parallel with the direction of transfer of conveyor-belt apparatus 10, is then placed on conveyor-belt apparatus 10 for calibrating block 60
Transmission plane on, the horizontal cross-section of the calibrating block 60 is in L-shaped, have the datum level 61 being aligned with benchmark scribing line 11 and with
The baseline trough 62 that laser line generator 22 cooperates, wherein datum level 61 and baseline trough 62 are arranged vertically, since datum level 61 and benchmark are drawn
Line 11 is aligned, and this makes it possible to guarantee a certain change in coordinate axis direction of measurement coordinate system when follow-up calibration measures coordinate system and pass
Send benchmark scribing line direction consistent.
S1.3, laser line generator calibration, opens laser line generator 23 and monocular camera 22, then adjusts laser line generator 23 and makes it
Laser plane is overlapped with baseline trough 62 and makes the laser rays of the sending of laser line generator 23 is horizontal in the visual field of monocular camera 22 to occupy
Middle arrangement.
S1.4, hand and eye calibrating, by allow calibrating block 60 carried out on conveyor-belt apparatus 10 fixed length it is mobile (move away from
From for a distance from preset, which is pre-entered in control system), make calibrating block 60 from monocular camera 22 and range of taking pictures
With the opereating specification of robot device 30 (being moved to glue spraying coordinate system from measurement coordinate system), so as to establish measurement coordinate system with
Motion transform relationship (only translation relation) between glue spraying coordinate system, to calibrate measurement coordinate system and the glue spraying coordinate
Transformation matrix of coordinates between system, that is, measure coordinate system and glue spraying coordinate system is demarcated by the same calibrating block 60
, since calibrating block 60 only translates, so two coordinate systems only exist translation transformation, that is, the transmission of conveyor-belt apparatus 10
Distance.
Specifically, in the present embodiment, first respectively with the base of datum level 61 upper sideline and calibrating block 60 of calibrating block 60
The upper sideline of the one of side of quasi- slot 62 be X-axis and Y-axis setting measurement coordinate system, when laser line generator 23 issue lasing area with
When baseline trough 62 is aligned, monocular camera 22 carries out shooting to calibrating block 60 and obtains image, records measurement coordinate by control system
The pixel coordinate (nx0, ny0) of the origin of system in the images；Then allow calibrating block 60 on conveyor-belt apparatus 10 known to movement
Length is to glue spraying station (opereating specification that glue spraying station is located at robot device 30), respectively with the datum level 61 of calibrating block 60
Upper sideline and the upper sideline of the one of side of the baseline trough of calibrating block 60 62 are that X axis and Y-axis set glue spraying coordinate system；Finally
The transformation matrix of coordinates obtained between measurement coordinate system and the glue spraying coordinate system is calculated according to above-mentioned known length.
In addition, also establishing in the controls to glue spraying queue in this step.It should be noted that this step only needs
It to be executed before starting glue spraying primary.
S2 obtains image, as shown in Figure 3 and refering to what is shown in Fig. 1, successively places sole when belting 10 works
On the transmission plane of conveyor-belt apparatus 10, and each sole towards identical, in the present embodiment with the toe-cap of sole towards transmission
It is illustrated for output end with device 10；The light beam and conveyor-belt apparatus 10 that monocular camera 22 issues laser line generator 23
Boundary position between transmission plane is continuously taken pictures (when sole when the delivery position by monocular camera 22 by that can be taken),
Obtain image, while according to encoder obtain continuously take pictures twice during conveyor-belt apparatus 10 coded data, according to the volume
Code data, control system can calculate know time continuously take pictures during conveyor-belt apparatus 10 transmitting range.
S3, image procossing carry out the laser stripe in processing acquisition image to the image obtained in step S2, specifically,
According to the interesting image regions obtained in measured zone size setting steps S2, then successively to the image obtained in step S2
Carry out capable filtering processing, closing operation of mathematical morphology processing, threshold values processing (i.e. threshold processing), morphology opening operation handle and
Grey scale centre of gravity micronization processes, wherein grey scale centre of gravity micronization processes are the grey scale centre of gravity pixel for finding out gray level image each column, and handle
Grey scale centre of gravity pixel gray value is set as 255, other pixel gray levels of same column are set as 0, and treated laser stripe is in the picture
For single pixel striped；Threshold values processing refers specifically to set gray value and is less than the image slices vegetarian refreshments gray value of threshold value as 0, and gray value is greater than
Or it is constant equal to the image slices vegetarian refreshments gray value of threshold value, certainly, threshold values be it is preset, be with threshold value setting in the present embodiment
For 128, light intensity depending on the site environment is needed to be set in actual use.
Judge in image whether to be that there are the shoeprints of sole image, while judging sole figure according to laser stripe later
Seem no for sole head frame image or sole tail frame image, and fills label, in the next steps, label on corresponding image
Image can be followed to carry out judgement operation.Specifically, when sole is not passed through from the lasing area of laser line generator, the image for acquisition of taking pictures
On laser stripe be straight line, when sole is sent to lasing area position, laser stripe can be in sole corresponding position upper table
Facial contour shape, similar " Qian " font of the shape have apparent difference with straight line, may determine that in image whether be to deposit accordingly
In the shoeprints of sole image；In the image that two frames are continuously taken pictures, former frame is not shoeprints, and a later frame is sole figure
Picture may determine that a later frame image is sole head frame image accordingly；Likewise, in the image that two frames are continuously taken pictures, former frame
It is shoeprints, a later frame is not shoeprints, may determine that previous frame image is sole head frame image accordingly；Certainly, when putting
When setting the output end of shoes tail in the sole on conveyor-belt apparatus 10 towards conveyor-belt apparatus 10, sole head frame image and sole tail
The judgment method needs of frame image are replaced mutually.
S4 obtains measurement coordinate, and the highest point that laser stripe two sides are extracted on shoeprints is target pixel points, according to
Above-mentioned calibration result data will obtain measurement coordinate on target pixel points Mapping and Converting to measurement coordinate system.Specifically, in sole
Left and right traversal image zooming-out laser stripe or so highest point is target pixel points (as sole edge target point) respectively on image,
Target pixel points carry out two-dimensional projection after carrying out coordinate transformation according to calibration result data, in the present embodiment, to measure coordinate
System is the direction of advance of conveyor-belt apparatus with glue spraying coordinate system X-axis positive direction, and Y direction is laser rays extending direction, the axis side Z
To for vertical conveyors device upwardly direction, Versatile two-dimension projection process is defaulted as all target pixel points in three-dimensional system of coordinate
The coordinate value of middle Z axis is zero (point three-dimensional in measurement coordinate system is projected to XOY plane).Preferably, in the present embodiment,
The concrete operations of traversal image are to take first 255 gray-value pixel point to be by column traversal to the right from shoeprints left side first row
Left target pixel points, taking first 255 gray-value pixel point by column traversal to the left from last column of shoeprints the right is right mesh
Mark pixel.
Three-dimensional coordinate calculation formula of the target pixel points (u, v) in measurement coordinate system is as follows:
M1=(A*u*fy)+(B*v*fx)+(C*fx*fy)；
Wherein, fx is the X-component of the monocular camera intrinsic parameter focal length in calibration result data, and fy is in calibration result data
Monocular camera intrinsic parameter focal length X-component, A, B, C be calibration structure data in laser plane demarcate plane equation coefficient.
S5, extracts track point, the sole head frame image adjacent to photo opporunity and sole tail frame image and when taking pictures
Between the corresponding measurement coordinate of each shoeprints between above-mentioned sole head frame image and above-mentioned sole tail frame image sat
Mark offset obtains the measurement track point of sole, and sole is in motion process when due to scanning, and it is fixed for measuring coordinate system
Motionless, three-dimensional reconstruction to go out point (sole movement in X direction in measurement coordinate system that sole needs to obtain to every frame image
Direction) offset, every frame image shift distance needs that (namely conveyor-belt apparatus is upper by the move distance of belting
Encoder provide encoder values) be calculated, i.e., the offset of coordinate shift according to coded data calculate obtain.It is preferred that
, in the present embodiment, the offset of the corresponding measurement coordinate of sole head frame image is zero, other measurements on same sole are sat
Mark is then deviated on the basis of sole head frame image.
The target pixel points (ui, vi) that the i-th frame (i is greater than or equal to 1) shoeprints of scanning sole obtain are sat in measurement
Three-dimensional coordinate calculation formula in mark system are as follows:
Mi=(A*ui*fy)+(B*vi*fx)+(C*fx*fy)；
Wherein, V0For visual scanning sole the 1st width image when coded data；ViFor the i-th width figure of visual scanning sole
As when coded data；I is the pulse equivalency of conveyor-belt apparatus movement；Fx is the monocular camera intrinsic parameter in calibration result data
The X-component of focal length, fy are the X-component of the monocular camera intrinsic parameter focal length in calibration result data, and A, B, C are calibration structure data
In laser plane demarcate plane equation coefficient.
In this step, it is also necessary to track point will be measured and input the tail portion to glue spraying queue (if being to glue spraying queue
Empty queue then inputs and also corresponds to directly input to glue spraying queue to the tail portion of glue spraying queue).
S6, coordinate transform, after sole corresponding with track point is transported to predetermined position (i.e. glue spraying station), transmission
Band device stops transmission, while will measure tracing point bit map according to transformation matrix of coordinates is the glue spraying rail based on glue spraying coordinate system
Mark point.
Specifically, in the present embodiment, by single sole glue spraying track point coordinate transform after the completion of single sole scanning
Following steps can be further divided into:
S6.1 is ordered as list by scanning sequency after the left target pixel points coordinate transform of single sole single image of visual scanning
Left section of glue spraying of sole, is ordered as single sole by scanning sequency after the left target pixel points coordinate transform of single sole single image
Left section of glue spraying.
S6.2, single sole of control move fixed length distance to glue spraying station on a moving belt, then stop transmission.
Single sole or so is segmented the point coordinate transform of glue spraying track to glue spraying coordinate system, wherein left and right segmentation by S6.3
Glue spraying track point coordinate transform formula are as follows:
Wherein, XC、YC、ZCFor the three-dimensional coordinate of point in measurement coordinate system；XW、YW、ZWFor point in glue spraying coordinate system
Three-dimensional coordinate；LWThe distance moved on conveyor-belt apparatus for single sole； LCIt is moved on conveyor-belt apparatus for calibrating block
Distance.
Later, sole is segmented glue spraying point track and realizes that track inside contracts by sectional translation and length ratio scaling,
Then two sections of left and right track point head and the tail are coupled and obtain whole section of sequence track point.
It is left to be segmented the three-dimensional coordinate calculation formula after glue spraying track point inside contracts are as follows:
Wherein, XS,YS,ZSThree-dimensional coordinate after being inside contracted for glue spraying track point；XW,YW,ZWIt is inside contracted for glue spraying track point
Preceding three-dimensional coordinate；K is sole glue spraying point path length zoom factor；B is sole glue spraying point path length shift factor.
Right segmentation glue spraying track point inside contracts the three-dimensional coordinate calculation formula in stage are as follows:
Wherein, XS,YS,ZSThree-dimensional coordinate after being inside contracted for glue spraying track point；XW,YW,ZWIt is inside contracted for glue spraying track point
Preceding three-dimensional coordinate；K is sole glue spraying point path length zoom factor；B is sole glue spraying point path length shift factor.
S7, glue spraying movement, robot device are executed according to glue spraying track point and are acted to the glue spraying of sole.Glue spraying has acted
Cheng Hou deletes above-mentioned track point to glue spraying queue.
Preferably, according to the posture of the facade spray gun of the end of practical glue spraying demand calculating machine arm device, facade spray gun
Posture in the method arrow of each glue spraying point along three reference axis fractional decompositions of glue spraying coordinate system be that three methods arrow divides vector point
It does not find out, in the present embodiment, indicates that the initial method arrow of robot device is displaced to glue spraying method from (n) and swears after (n') with nz, glue spraying
Method swears that (n') swears that projection components, left segmentation glue spraying track point method swear projection components (nz) and X-axis angle in the method for XOY plane
(thetaL) calculation formula are as follows: thetaL=arctan [(XS-XS+1)/(YS-YS+1)]；Wherein, XS,YS,ZSFor adjacent glue spraying rail
The three-dimensional coordinate of the previous point of mark point；XS+1,YS+1,ZS+1For the three-dimensional coordinate of adjacent glue spraying track point latter point position；
thetaLFor the projection components nz and X-axis angle of left section of glue spraying track point method arrow.By controlling the posture of facade spray gun glue spraying,
So that central lance follows, is realized with this and worked sole disk glue spraying.
The utility model is described in detail above in conjunction with attached drawing, but the embodiments of the present invention and not only
It is limited to above embodiment, those skilled in the art can make various modifications to the utility model according to the prior art, such as
Six joint Serial manipulator devices in above-described embodiment are changed to multi-joint parallel manipulator arm device etc., these belong to this
The protection scope of utility model.
Claims (4)
1. a kind of sole glue spraying equipment based on monocular vision, which is characterized in that including conveyor-belt apparatus, be arranged in the transmission
With the sighting device on device, the robot device by the conveyor-belt apparatus and respectively with the conveyor-belt apparatus,
The control system of the sighting device and the robot device communication connection is provided with volume on the motor of the conveyor-belt apparatus
Code device, the sighting device include the bracket being arranged in the rack of the conveyor-belt apparatus and are separately mounted to the bracket
On monocular camera and laser line generator, the light beam that the monocular camera and the laser line generator issue is in the conveyor-belt apparatus
The spacing being formed by between lines on transmission plane and the robot device are on the transmission plane of the conveyor-belt apparatus
The light beam that projected position and the laser line generator issue is formed by between lines on the transmission plane of the conveyor-belt apparatus
Spacing is all definite value, and glue spraying component is equipped on the robot device.
2. the sole glue spraying equipment based on monocular vision as described in claim 1, which is characterized in that the monocular camera and institute
It states laser line generator to be sequentially arranged along the direction of transfer of the conveyor-belt apparatus, the monocular camera is relative to the laser line generator
Close to the robot device, and the camera lens of the monocular camera is located at one that the monocular camera deviates from the robot device
Side.
3. the sole glue spraying equipment based on monocular vision as described in claim 1, which is characterized in that the conveyor-belt apparatus is
Linear conveyor-belt apparatus, the robot device are six joint Serial manipulator devices.
4. the sole glue spraying equipment based on monocular vision as described in claim 1, which is characterized in that the glue spraying component includes
Attachment base and the facade spray gun and central lance being respectively fixedly connected on the attachment base, the facade spray gun and it is described in
It is arranged between heart spray gun in splayed.
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| CN201920178266.3U CN209281477U (en) | 2019-01-31 | 2019-01-31 | A kind of sole glue spraying equipment based on monocular vision |
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| CN201920178266.3U CN209281477U (en) | 2019-01-31 | 2019-01-31 | A kind of sole glue spraying equipment based on monocular vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110664054A (en) * | 2019-10-15 | 2020-01-10 | 广州库卡实业有限公司 | Automatic perception discernment assists robot control system |
| CN116138548A (en) * | 2022-12-28 | 2023-05-23 | 福建省泉州市忠兴鞋材有限公司 | Filling type rebound sole and manufacturing process thereof |
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2019
- 2019-01-31 CN CN201920178266.3U patent/CN209281477U/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110664054A (en) * | 2019-10-15 | 2020-01-10 | 广州库卡实业有限公司 | Automatic perception discernment assists robot control system |
| CN116138548A (en) * | 2022-12-28 | 2023-05-23 | 福建省泉州市忠兴鞋材有限公司 | Filling type rebound sole and manufacturing process thereof |
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