CN212280189U - Vamp robot spouts mucilage binding to be put - Google Patents
Vamp robot spouts mucilage binding to be put Download PDFInfo
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- CN212280189U CN212280189U CN202022068225.4U CN202022068225U CN212280189U CN 212280189 U CN212280189 U CN 212280189U CN 202022068225 U CN202022068225 U CN 202022068225U CN 212280189 U CN212280189 U CN 212280189U
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Abstract
The utility model discloses a vamp robot spouts mucilage binding and puts belongs to intelligent shoemaking production facility technical field. The device is characterized in that a glue spraying tool is arranged at the arm end of an intelligent system control robot, and the glue spraying tool consists of a positioning glue gun and a position-adjustable laser contrast sensor; an atomization loop and a glue spraying loop which are connected in parallel are arranged between a spray head of the glue gun and an air source, an atomization pressure regulating valve and an atomization on-off solenoid valve which are connected in series are arranged in the atomization loop, and a glue spraying pressure regulating valve, a glue spraying on-off solenoid valve, a glue barrel and an ultrasonic flowmeter which are connected in series are arranged in the glue spraying loop; the signal output ends of the laser contrast sensor and the ultrasonic flowmeter are connected with the corresponding input ends of the intelligent system, and the glue spraying monitoring output end of the intelligent system is connected with the alarm. The vamp glue spraying quality is comprehensively monitored by combining the ultrasonic flowmeter and the laser contrast sensor, and a reliable result of vamp glue spraying monitoring is provided, so that a foundation is laid for carrying out subsequent debugging and ensuring the qualified rate as appropriate.
Description
Technical Field
The utility model relates to a vamp robot spouts mucilage binding and puts belongs to intelligent shoemaking production facility technical field.
Background
The method is characterized in that the vamp and the sole (commonly called as the outsole) are bonded through vamp glue spraying, which is one of key process links in the shoe manufacturing process, and the reasonable control of glue spraying quality is necessary guarantee for firm bonding, and the quality of the shoe is directly influenced. In the existing automatic shoe production, although the glue gun is automatically sprayed along the preset track of the vamp by using a robot, the glue gun is not controlled enough by the robot because the glue spraying quality is influenced by various factors such as glue property, glue spraying track, bending of a rubber pipe and the like. For example, when the glue gun head is blocked due to the bending of the rubber hose, if the vamp glue spraying monitoring is not carried out, the vamp glue spraying coverage is not uniform, and the shoe making quality cannot be ensured.
As a result of the search, patent document CN201510479498.9 discloses a monitoring method in which a fluorescent liquid is mixed in a glue solution, a fluorescent track is completely displayed by means of camera collection, and then the whole track is compared with a predetermined standard track for judgment; in addition, patent document No. cn201910976744.x discloses a monitoring method of taking a rubberized sole by means of 3D vision, measuring the track of the length, width and thickness of the rubberized sole, generating a data graph of the glue amount and uniformity after glue spraying, and finally correcting the quality and flatness of the rubberized sole on the data graph. The applicant concluded, through trial and error, that: the two methods can be used for monitoring the glue spraying of the outsole, but are not suitable for monitoring the glue spraying of the vamp. Analysis shows that the outsole is usually monochromatic, especially white, and the vamp is changeable in color, so that glue spraying monitoring cannot be carried out by photographing and collecting a fluorescent track; and the outsole is of a plane structure, so that the positioning is easy, and the three-dimensional vamp is difficult to carry out image processing, analysis and comparison on the vamp glue spraying and the non-glue spraying by establishing a uniform 3D model, so that the 3D visual photographing method is not suitable for monitoring the vamp glue spraying.
Disclosure of Invention
An object of the utility model is to solve the problem that exists among the prior art, provide the vamp robot that properly solves the vamp and spout gluey monitoring problem and spout mucilage binding and put, give simultaneously that vamp robot automatic monitoring spouts gluey monitoring method to give the vamp and spout gluey scientific inspection means, for follow-up debugging provide accurate foundation, ensure the quality when vamp high-efficient production.
In order to achieve the purpose, the utility model discloses vamp robot spouts mucilage binding and puts's basic technical scheme is:
installing a glue spraying tool at the arm end of the intelligent system control robot, wherein the glue spraying tool consists of a positioning glue gun and a position-adjustable laser contrast sensor;
an atomization loop and a glue spraying loop which are connected in parallel are arranged between a spray head of the glue gun and an air source, an atomization pressure regulating valve and an atomization on-off solenoid valve which are connected in series are arranged in the atomization loop, and a glue spraying pressure regulating valve, a glue spraying on-off solenoid valve, a glue barrel and an ultrasonic flowmeter which are connected in series are arranged in the glue spraying loop;
the signal output ends of the laser contrast sensor and the ultrasonic flowmeter are connected with the corresponding input ends of the intelligent system, and the glue spraying monitoring output end of the intelligent system is connected with the alarm;
the intelligent system comprises:
the glue spraying monitoring module is used for controlling the robot to drive the glue gun to spray glue according to the stored glue spraying track, starting monitoring, receiving monitoring signals of ultrasonic flow in real time and monitoring signals of the laser contrast sensor at preset time intervals, and acquiring a preset glue spraying amount range and a preset gray value range;
the circulation judging module is used for judging whether the glue spraying of the vamp is finished according to whether the glue spraying track is finished or not; if yes, starting the monitoring operation module, and if not, starting the glue spraying monitoring module;
the monitoring operation module is used for obtaining the average gray value of one vamp according to the laser contrast sensor signals received at preset time intervals; calculating the actual glue spraying amount of the vamp glue spraying according to the received real-time ultrasonic flowmeter signal; starting a monitoring and judging module;
a monitoring and judging step, namely judging whether the actual glue spraying amount falls within a preset glue spraying amount range or not and judging whether the average gray value falls within a preset gray value range or not; when one of the two judgment results is negative, judging that the product is unqualified, and outputting an alarm signal; otherwise, judging to be qualified, and performing the next glue spraying circulation or ending as appropriate.
The utility model discloses a further perfection is, intelligent system comprises DNC (Distributed Numerical Control) unit and PLC of being connected with it communication; the DNC unit stores a preset glue spraying amount range and a preset gray value range; the signal output ends of the laser contrast sensor and the ultrasonic flowmeter are connected with the corresponding input ends of the PLC, and the glue spraying monitoring output end of the PLC is connected with the alarm.
The utility model discloses it is still further perfect that laser contrast sensor links firmly with the gluey rifle of fixing at the arm support front end that hangs down through the rocking arm support that can adjust the position. During operation, the laser contrast sensor monitors the reflection intensity of the vamp at the glue spraying position along with the glue gun, and the glue is semitransparent, so that the light intensity reflected to the sensor at the positions where the glue is not sprayed and the glue is sprayed is different, and the reflection intensity at the positions with different glue spraying amounts is different, so that the reflection intensity of a preset position can be accurately measured by means of the laser contrast sensor, and a digital signal judged by a gray value is transmitted to the PLC. The utility model discloses a laser contrast sensor is through spouting the vamp around gluing the change of the reflection of light gray level of vamp change monitoring vamp spout gluey state, can effectively get rid of the interference of vamp colour change to need not to establish unified 3D model, consequently properly solved the vamp and spouted the difficult problem of gluey monitoring, can obtain the vamp through the monitoring and spout the degree of consistency of gluey volume and gluey line, and then judge qualified or not.
The utility model discloses further perfect is, ultrasonic flowmeter is by launching the guided wave device and receiving the guided wave device to rubber tube internal transmission and constitutes, the utility model discloses obtain the gluey volume of spouting of every vamp with the help of ultrasonic flowmeter monitoring, not only can in time discover to glue whether the rifle blocks up, and combine together with the monitoring of laser contrast sensor, judge through the comprehensive analysis whether the vamp spouts to glue qualified, can effectively will spout gluey volume inhomogeneous, spout gluey line inhomogeneous, spout gluey volume too much or the unqualified reflection of gluing that leads to of various factors such as too little of glue volume, realize spouting the comprehensive monitoring of gluey quality to the vamp to for follow-up debugging, guarantee that the qualification rate provides accurate foundation.
Drawings
The present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a three-dimensional structure schematic diagram of the vamp robot glue spraying device of the utility model.
Fig. 2 is a schematic perspective view of the glue spraying tool in fig. 1.
Fig. 3 is a schematic view of the glue gun piping of fig. 2.
Fig. 4 is a block diagram of the intelligent system in fig. 1.
Fig. 5 is a flowchart of a control process of the smart system of fig. 4.
Detailed Description
As shown in fig. 1, the vamp robot glue spraying device of the present embodiment is configured such that a glue spraying tool 7 is installed at an arm end of an intelligent system controlled six-axis robot (IRB-2600 model by ABB), and as shown in fig. 2, the glue spraying tool 7 is composed of a glue gun (C34510 model by zhu trade limited) 6 fixed at a front end of a vertical arm support 7-1 and a laser contrast sensor 9 installed at an end of an adjustable rotating arm support 10. Specifically, the rotating arm support 10 comprises a cross frame 10-1, one end of which is fixed on the vertical arm support 7-1, the other end of the cross frame 10-1 is hinged with one end of a lockable stay bar 10-2, the other end of the stay bar 10-2 is provided with the upper end of a lockable inclined frame 10-3, and the lower end of the inclined frame 10-3 is fixed with a laser contrast sensor 9. The laser contrast sensor 9 emits a laser beam and receives the emitted light. Because the color of the vamp is different from that of the glue, and the glue is semitransparent, the reflected light intensity of the vamp with less glue spraying and more glue spraying is the same as that of the vamp without glue spraying. As a result, the laser contrast sensor 9 can measure the glue spraying condition of the set part of the vamp in the process of following the glue gun 6.
The pipeline of the glue gun 6 is shown in figure 3, an atomization loop and a glue spraying loop which are connected in parallel are arranged between a spray head 6-1 of the glue gun 6 and an air source 1, an atomization pressure regulating valve 2-1 and an atomization on-off solenoid valve 3-1 which are connected in series are arranged in the atomization loop, and a glue spraying pressure regulating valve 2-2, a glue spraying on-off solenoid valve 3-2, a glue barrel 4, an ultrasonic flowmeter 5 and a master control solenoid valve 3-3 which are connected in series are arranged in the glue spraying loop. The ultrasonic flowmeter 5 is composed of a wave guide device for transmitting and receiving in a rubber pipe, and can monitor the glue spraying flow in real time by transmitting and receiving guided waves.
As shown in FIG. 4, the intelligent system of the present embodiment is actually composed of a DNC unit and a PLC (Siemens S7-1500 CPU 1511-1 PN) in communication connection therewith; the DNC unit stores a preset glue spraying amount range and a preset gray value range; the signal output ends of the laser contrast sensor and the ultrasonic flowmeter are connected with the corresponding input ends of the PLC, and the glue spraying monitoring output end of the PLC is connected with an alarm (not shown in the figure).
When glue spraying operation is carried out, the DNC of the intelligent system realizes glue spraying monitoring through the following steps through the PLC (see figure 5):
the method comprises the steps that firstly, a glue spraying monitoring step, namely a PLC controls a robot to drive a glue gun to spray glue according to a glue spraying track stored by a DNC, starts monitoring, receives monitoring signals of ultrasonic flow in real time and monitoring signals of a laser contrast sensor at preset time intervals, and obtains a preset glue spraying amount range and a preset gray value range from the DNC;
secondly, circularly judging whether the glue spraying of one vamp is finished or not according to whether the glue spraying track is finished or not; if so, performing the following steps, otherwise, returning to the previous step;
thirdly, a monitoring operation step, namely obtaining an average gray value of a vamp according to a laser contrast sensor signal (generally, a vamp receives gray value signals corresponding to 40 times of reflection intensity) received at a preset time interval; integrating the received real-time ultrasonic flowmeter signal with time to obtain the actual glue spraying amount of the vamp glue spraying; carrying out the next step;
step four, monitoring and judging, namely judging whether the actual glue spraying amount falls within a preset glue spraying amount range, namely whether the difference between the actual glue spraying amount and the preset glue spraying amount is within +/-5% of the preset glue spraying amount, and judging whether the average gray value falls within a preset gray value range, namely whether the difference between the average gray value and the preset gray value is within +/-8% of the preset gray value; when one of the two judgment results is negative, judging that the product is unqualified, and outputting an alarm signal; otherwise, judging to be qualified, and performing the next glue spraying circulation or ending as appropriate.
The vamp robot of this embodiment spouts mucilage binding and puts through PLC control and combines ultrasonic flowmeter, laser contrast sensor comprehensive monitoring vamp to spout gluey quality, has realized that the vamp spouts gluey automatic monitoring, provides the vamp and spouts gluey reliable result of monitoring to follow-up debugging, assurance qualification rate have laid the foundation for the condition of being appropriate. Meanwhile, the DNC real-time monitoring PLC control system facilitates real-time viewing and is more beneficial to production management.
In addition to the above embodiments, the present invention may have other embodiments. All the technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope claimed by the present invention.
Claims (5)
1. Vamp robot spouts mucilage binding and puts, spouts gluey frock, its characterized in that in the arm end installation of intelligent system control robot: the glue spraying tool is composed of a positioning glue gun and a position-adjustable laser contrast sensor;
an atomization loop and a glue spraying loop which are connected in parallel are arranged between a spray head of the glue gun and an air source, an atomization pressure regulating valve and an atomization on-off solenoid valve which are connected in series are arranged in the atomization loop, and a glue spraying pressure regulating valve, a glue spraying on-off solenoid valve, a glue barrel and an ultrasonic flowmeter which are connected in series are arranged in the glue spraying loop;
the signal output ends of the laser contrast sensor and the ultrasonic flowmeter are connected with the corresponding input ends of the intelligent system, and the glue spraying monitoring output end of the intelligent system is connected with the alarm.
2. The upper robot glue spraying device according to claim 1, characterized in that: the intelligent system consists of a DNC unit and a PLC in communication connection with the DNC unit; the signal output ends of the laser contrast sensor and the ultrasonic flowmeter are connected with the corresponding input ends of the PLC, and the glue spraying monitoring output end of the PLC is connected with the alarm.
3. The vamp robot glue-spraying device of claim 2, wherein: the laser contrast sensor is fixedly connected with a glue gun fixed at the front end of the vertical arm support through an adjustable rotary arm support.
4. The vamp robot glue-spraying device of claim 3, wherein: the ultrasonic flowmeter is composed of a wave guide device for transmitting and receiving in a rubber pipe.
5. The upper robot glue spraying device according to claim 4, characterized in that: the laser contrast sensor is characterized in that the rotating arm support comprises a cross frame, one end of the cross frame is fixed on the vertical arm support, the other end of the cross frame is hinged with one end of a lockable supporting rod, the other end of the supporting rod is installed at the upper end of a lockable inclined frame, and the lower end of the inclined frame is fixed with the laser contrast sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022068225.4U CN212280189U (en) | 2020-09-21 | 2020-09-21 | Vamp robot spouts mucilage binding to be put |
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| CN202022068225.4U CN212280189U (en) | 2020-09-21 | 2020-09-21 | Vamp robot spouts mucilage binding to be put |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112056699A (en) * | 2020-09-21 | 2020-12-11 | 航天晨光股份有限公司 | Vamp robot glue spraying device and glue spraying monitoring method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112056699A (en) * | 2020-09-21 | 2020-12-11 | 航天晨光股份有限公司 | Vamp robot glue spraying device and glue spraying monitoring method |
| CN112056699B (en) * | 2020-09-21 | 2024-06-11 | 航天晨光股份有限公司 | Vamp robot glue spraying device and glue spraying monitoring method |
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