CN110664054A - Automatic perception discernment assists robot control system - Google Patents
Automatic perception discernment assists robot control system Download PDFInfo
- Publication number
- CN110664054A CN110664054A CN201910975831.3A CN201910975831A CN110664054A CN 110664054 A CN110664054 A CN 110664054A CN 201910975831 A CN201910975831 A CN 201910975831A CN 110664054 A CN110664054 A CN 110664054A
- Authority
- CN
- China
- Prior art keywords
- glue spraying
- signal transmission
- automatic
- control system
- conveying device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D25/00—Devices for gluing shoe parts
- A43D25/18—Devices for applying adhesives to shoe parts
- A43D25/183—Devices for applying adhesives to shoe parts by nozzles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses an automatic sensing and identifying assisting robot control system, which comprises an assisting robot system, an automatic sensing system, a glue spraying module and a conveying device, wherein the assisting robot system comprises a power supply unit, an induction module, a main control unit and a signal transmission circuit; the automatic perception system comprises a 3D imaging unit and a laser catcher; the glue spraying module comprises a glue spraying head, a glue spraying mechanical arm, a PLC servo motor, a camera and a single-machine or double-machine operation platform; the conveying device comprises a conveying belt driving motor and a conveying belt switch. Compared with the prior art, the automatic shoe sole glue spraying machine can realize manual work and robot interaction assistance production operation, realizes artificial intelligent automatic assembly line operation, has a single-machine double-track interconnection and binocular four-track multi-station operation mode, can quickly and accurately complete sole glue spraying operation, improves glue spraying quality efficiency, has a danger sensing function and glue spraying atomization structure treatment, is energy-saving and environment-friendly, is safe and efficient, and has a wide application range.
Description
Technical Field
The invention relates to the technical field of intelligent shoe making equipment production, in particular to an automatic perception recognition assisting robot control system.
Background
With the gradual development of the shoe making industry in China and the increase of the market demand, the enterprise yield demand is gradually increased, wherein the sole glue spraying process is one of the key links with the largest amount of labor and the largest time consumption in the shoe making process, the quality of the sole glue spraying process determines the bonding firmness degree of the upper and the sole, and the quality grade of the shoe is reflected. At present, the demand of the sole glue spraying process on workers is continuously increased, the environment of a shoe factory is severe, the sole glue spraying technology is generally manually operated, the production efficiency is low, certain dangerousness exists in the manual glue spraying process, toxic gas volatilized by the adhesive seriously threatens the body health of the operators, a large amount of loss of the workers is caused, and therefore the labor recruitment difficulty, namely the 'labor shortage', is caused, the employee cost is continuously increased, and the economic benefit and the competitiveness of enterprises are reduced. Therefore, it is necessary to assist the work by using the assisting robot to combine the worker and the machine, thereby reducing the cost and improving the work efficiency.
Disclosure of Invention
The present invention is directed to a robot control system assisted by automatic sensing and recognition, so as to solve the problems set forth in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic sensing and identifying assisting robot control system comprises an assisting robot system, an automatic sensing system, a glue spraying module and a conveying device; the assistant robot system comprises an assistant robot, a power supply unit, an induction module, a main control unit and a signal transmission circuit; the automatic perception system comprises a 3D imaging unit and a laser catcher; the glue spraying module comprises a glue spraying head, a glue spraying mechanical arm, a PLC servo motor, a camera and an operation platform; the conveying device comprises a conveying belt driving motor, a conveying belt switch, a protective cover and a mounting seat, wherein
The auxiliary robot is internally provided with an induction module, and the main control unit is respectively and electrically connected with the conveying device, the 3D imaging unit and the glue spraying module through a signal transmission circuit;
the laser catcher is provided with 2-8 groups, is uniformly distributed around the operating platform and emits laser beams to the sole products transported on the conveyer;
the glue spraying module is arranged on the conveying device and fixed with the outer wall of the conveying device through bolt fixing.
Further, it sets up in spouting gluey arm top to spout gluey head, it sets up in PLC servo motor top to spout gluey arm, the camera is provided with two sets ofly and is fixed in the both sides on operation platform top respectively, it is provided with collection dirt atomization processing apparatus to spout the inside of gluey head.
Further, conveyer bottom is provided with conveyer belt driving motor and conveyer belt switch, just the conveyer belt switch is located conveyer belt driving motor upper portion, conveyer is provided with the safety cover, the inside mount pad that is provided with the assistance robot of safety cover.
Further, the main control unit of the assistant robot system is a miniaturized integrated computer.
Furthermore, the signal transmission circuit is provided with three groups, and the output ends of the signal transmission circuit are respectively and electrically connected with the conveying device, the 3D imaging unit and the glue spraying module.
Furthermore, the input end of the first group of signal transmission circuits is electrically connected to the main control unit, and the output end of the first group of signal transmission circuits is electrically connected to the transmitting device.
Furthermore, the input end of the second group of signal transmission circuits is electrically connected to the main control unit, and the output end of the first group of signal transmission circuits is electrically connected to the 3D imaging unit.
Furthermore, the input end of the third group of signal transmission circuits is electrically connected to the main control unit, and the output end of the third group of signal transmission circuits is electrically connected to the glue spraying module.
Compared with the prior art, the invention has the beneficial effects that:
the utility model provides an automatic perception discernment helps robot control system utilizes the automation of robot to carry out the sole and spouts gluey operation, reduces manual work, has simultaneously and spouts gluey atomizing environmental protection processing function, through spouting the collection dirt atomization plant in the mucilage binding is put, utilizes technology atomizing collection dirt to handle, realizes pollution-free, energy-efficient, environmental protection, guarantees that the workman is healthy.
Secondly, this kind of automatic perception discernment helps robot control system to utilize 3D formation of image, can detect the sole and spout gluey quality, improves shoemaking output quality.
Thirdly, the automatic sensing recognition assisting robot control system can finish the glue spraying process of one pair of shoes within 5-6s on average, and the sole glue spraying is uniform, fast and high in working efficiency.
The automatic sensing and identifying assisting robot control system has a sensing function, and when the assisting robot is close to a person or an object in the work process in production flow and during man-machine interaction, the robot can automatically stop working when sensing danger, so that a next security mode is executed.
Drawings
FIG. 1 is a schematic structural diagram of an automatic sensing recognition assisted robot control system according to the present invention;
FIG. 2 is a schematic diagram of a conveyor of an automatic recognition-aided robot control system according to the present invention;
FIG. 3 is a system framework diagram of an automatic sensing recognition assisted robot control system of the present invention;
fig. 4 is a schematic structural diagram of an assisting robot of the automatic sensing recognition assisting robot control system according to the present invention.
In the reference symbols: 1-glue spraying head; 2-glue spraying mechanical arm; 3-a PLC servo motor; 4-a camera; 5-operating the platform; 6-a conveying device; 7-a conveyor belt drive motor; 8-a conveyor belt switch; 9-a protective cover; 10-a mounting base 10; 11-assistance robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the technical solution provided by the present invention is: a control system of an automatic perception recognition assisting robot comprises an assisting robot system, an automatic perception system, a glue spraying module and a conveying device 6; the assistant robot system comprises an assistant robot 11, a power supply unit, an induction module, a main control unit and a signal transmission circuit; the automatic perception system comprises a 3D imaging unit and a laser catcher; the glue spraying module comprises a glue spraying head 1, a glue spraying mechanical arm 2, a PLC servo motor 3, a camera 4 and an operation platform 5; the conveying device 6 comprises a belt driving motor 7, a belt switch 8, a protective cover 9 and a mounting seat 10, wherein
An induction module is arranged in the assisting robot 11, and the main control unit is electrically connected with the conveying device 6, the 3D imaging unit and the glue spraying module through a signal transmission circuit respectively;
the laser catcher is provided with 2-8 groups which are uniformly distributed around the operating platform 5 and emit laser beams to the sole products transported on the conveyer 6;
the glue spraying module is arranged on the conveying device 6 and fixed with the outer wall of the conveying device 6 through bolt fixing.
Further, it sets up in 2 tops of spouting gluey arm to spout gluey head 1, it sets up in 3 tops of PLC servo motor to spout gluey arm 2, camera 4 is provided with two sets ofly and is fixed in the both sides on 5 tops of operation platform respectively, it is provided with collection dirt atomization treatment device to spout gluey head 1 inside.
Further, conveyor 6 bottom is provided with conveyer belt driving motor 7 and conveyer belt switch 8, just conveyer belt switch 8 is located conveyer belt driving motor 7 upper portion, conveyor is provided with safety cover 9, the inside mount pad 10 that is provided with assistance robot 11 of safety cover 9.
Furthermore, the main control unit of the assistant robot system is a miniaturized integrated computer to cooperate with data processing software to operate, so that the working efficiency is improved.
Further, the signal transmission circuit is provided with three groups, and the output end is respectively and electrically connected with the conveying device, the 3D imaging unit and the glue spraying module.
Furthermore, the input end of the first group of signal transmission circuits is electrically connected to the main control unit, and the output end of the first group of signal transmission circuits is electrically connected to the transmitting device.
Furthermore, the input end of the second group of signal transmission circuits is electrically connected to the main control unit, and the output end of the first group of signal transmission circuits is electrically connected to the 3D imaging unit.
Furthermore, the input end of the third group of signal transmission circuits is electrically connected to the main control unit, and the output end of the third group of signal transmission circuits is electrically connected to the glue spraying module.
Principle of operation
(1) Selecting single-machine double-track or double-eye four-track operation according to the total amount of shoemaking operation, starting a conveying device 6 to convey soles to a glue spraying position, starting an assisting robot system, manually operating the assisting robot at the same time, starting a main control unit to control a glue spraying module through a signal transmission circuit, controlling a glue spraying mechanical arm 2 to move by a PLC (programmable logic controller) servo motor 3 in the glue spraying module, starting a glue spraying head 1 at the same time, and controlling the glue spraying head 1 to perform dust collection, atomization and glue spraying treatment;
(2) after glue spraying is finished, a monocular or binocular camera 4 is selected, images are recorded by the camera 4, a laser catcher of the automatic sensing system is started to align to the sole after glue spraying, a main control unit in the robot system is assisted to control a 3D imaging unit of the automatic sensing system through a signal transmission circuit, 3D imaging is carried out, image correction is carried out by a miniaturized integrated computer, and the glue spraying quality of the sole is detected;
(3) in the operation process, the coordination robot 11 is manually used, the surface of the coordination robot 11 is covered with a layer of soft film, and meanwhile, an induction module is arranged in the coordination robot 11, so that when the coordination robot approaches to a person or an object in the working process of the coordination robot during man-machine interaction, the induction module can sense danger and automatically cut off the power supply, and a next protection and protection mode can be executed;
(4) when the product quality is qualified, the shoes are transported, packaged and put in storage through the conveying device 6; and returning to the glue spraying module to spray glue again when the quality is unqualified.
By adopting the technical scheme, the invention has the following advantages:
(1) the invention utilizes semi-automatic sole glue spraying operation which assists the combination of the robot and the manpower, reduces the manual operation amount, solves the mainstream problem of 'manpower shortage' in a shoe factory, and also improves the working efficiency.
(2) The invention utilizes 3D imaging technology, can detect the glue spraying quality of the sole after being processed by advanced computer image software, accelerates the repair efficiency and can improve the overall quality of finished shoes.
(3) The invention can finish the glue spraying process of a pair of shoes in 5-6s on average, and the sole glue is sprayed uniformly, quickly and efficiently.
(4) The glue spraying device has the functions of glue spraying atomization and environment protection, and realizes pollution-free, efficient, energy-saving and environment-friendly treatment by using the process atomization and dust collection treatment through the dust collection atomization equipment in the glue spraying device, thereby ensuring the health of workers.
(5) The invention has a perception function, and when the robot approaches to people or objects in the production flow and during man-machine interaction, the robot can automatically stop the operation of the robot when sensing danger, thereby executing the next security mode and ensuring the safety of workers.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An automatic sensing and recognition assisting robot control system is characterized by comprising an assisting robot system, an automatic sensing system, a glue spraying module and a conveying device (6); the assistant robot system comprises an assistant robot (11), a power supply unit, an induction module, a main control unit and a signal transmission circuit; the automatic perception system comprises a 3D imaging unit and a laser catcher; the glue spraying module comprises a glue spraying head (1), a glue spraying mechanical arm (2), a PLC servo motor (3), a camera (4) and an operation platform (5); the conveying device (6) comprises a conveying belt driving motor (7), a conveying belt switch (8), a protective cover (9) and a mounting seat (10), wherein
An induction module is arranged in the assisting robot (11), and the main control unit is electrically connected with the conveying device (6), the 3D imaging unit and the glue spraying module through a signal transmission circuit respectively;
the laser catcher is provided with 2-8 groups which are uniformly distributed around the operating platform (5) and emit laser beams to the sole products transported on the conveying device (6);
the glue spraying module is arranged on the conveying device (6) and is fixed with the outer wall of the conveying device (6) through bolt fixing.
2. The automatic perception recognition assisting robot control system according to claim 1, wherein: spout gluey head (1) and set up in spouting gluey arm (2) top, spout gluey arm (2) and set up in PLC servo motor (3) top, camera (4) are provided with two sets ofly and are fixed in the both sides on operation platform (5) top respectively, spout gluey head (1) inside and be provided with collection dirt atomization treatment device.
3. The automatic perception recognition assisting robot control system according to claim 1, wherein: conveyer (6) bottom is provided with conveyer belt driving motor (7) and conveyer belt switch (8), just conveyer belt switch (8) are located conveyer belt driving motor (7) upper portion, conveyer is provided with safety cover (9), inside mount pad (10) that are provided with assistance robot (11) of safety cover (9).
4. The automatic perception recognition assisting robot control system according to claim 1, wherein: the main control unit of the assistant robot system is a miniaturized integrated computer.
5. The automatic perception recognition assisting robot control system according to claim 1, wherein: the signal transmission circuit is provided with three groups, and the output ends of the signal transmission circuit are respectively and electrically connected with the conveying device, the 3D imaging unit and the glue spraying module.
6. The automatic perception recognition assisting robot control system according to claim 5, wherein: the input end of the first group of signal transmission circuits is electrically connected to the main control unit, and the output end of the first group of signal transmission circuits is electrically connected to the transmitting device.
7. The automatic perception recognition assisting robot control system according to claim 5, wherein: the input end of the second group of signal transmission circuits is electrically connected to the main control unit, and the output end of the first group of signal transmission circuits is electrically connected to the 3D imaging unit.
8. The automatic perception recognition assisting robot control system according to claim 5, wherein: the input end of the third group of signal transmission circuits is electrically connected to the main control unit, and the output end of the third group of signal transmission circuits is electrically connected to the glue spraying module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975831.3A CN110664054A (en) | 2019-10-15 | 2019-10-15 | Automatic perception discernment assists robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975831.3A CN110664054A (en) | 2019-10-15 | 2019-10-15 | Automatic perception discernment assists robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110664054A true CN110664054A (en) | 2020-01-10 |
Family
ID=69082338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910975831.3A Pending CN110664054A (en) | 2019-10-15 | 2019-10-15 | Automatic perception discernment assists robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110664054A (en) |
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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104997242A (en) * | 2015-08-03 | 2015-10-28 | 黑金刚（福建）自动化科技股份公司 | Automatic shoe-making glue spraying system capable of realizing on-line glue spraying, detection and screening |
| CN205585449U (en) * | 2016-04-08 | 2016-09-21 | 泉州装备制造研究所 | Automatic it spouts mucilage binding and puts to change sole |
| CN206365547U (en) * | 2016-11-29 | 2017-08-01 | 泉州台鑫诚机械设备有限公司 | A kind of sole glue spraying production line |
| CN107883879A (en) * | 2016-09-29 | 2018-04-06 | 联合汽车电子有限公司 | Gluing quality 3D vision detection systems and its detection method |
| CN209281477U (en) * | 2019-01-31 | 2019-08-20 | 泉州华中科技大学智能制造研究院 | A kind of sole glue spraying equipment based on monocular vision |
-
2019
- 2019-10-15 CN CN201910975831.3A patent/CN110664054A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104997242A (en) * | 2015-08-03 | 2015-10-28 | 黑金刚（福建）自动化科技股份公司 | Automatic shoe-making glue spraying system capable of realizing on-line glue spraying, detection and screening |
| CN205585449U (en) * | 2016-04-08 | 2016-09-21 | 泉州装备制造研究所 | Automatic it spouts mucilage binding and puts to change sole |
| CN107883879A (en) * | 2016-09-29 | 2018-04-06 | 联合汽车电子有限公司 | Gluing quality 3D vision detection systems and its detection method |
| CN206365547U (en) * | 2016-11-29 | 2017-08-01 | 泉州台鑫诚机械设备有限公司 | A kind of sole glue spraying production line |
| CN209281477U (en) * | 2019-01-31 | 2019-08-20 | 泉州华中科技大学智能制造研究院 | A kind of sole glue spraying equipment based on monocular vision |
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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104785958B (en) | A kind of cryogenic tank outer member robot welding workstation | |
| CN102830641B (en) | Three-axis full-automatic high-speed dispensing robot servo control system | |
| CN105312184A (en) | Automatic production system for carrying out polishing and spraying on work-pieces and production method | |
| CN105598781B (en) | The integrated machining production line of mill and its operating method are broken in a kind of special-shaped glass remote control cutting | |
| CN106112667A (en) | A kind of peeling machine with product protection function and method of work thereof | |
| CN110664054A (en) | Automatic perception discernment assists robot control system | |
| CN101767076A (en) | Spraying production line of automobile parts | |
| CN201579168U (en) | Automobile part spraying production line | |
| CN205439357U (en) | Automatic rubberizing make -up machine of packing carton | |
| CN103753542A (en) | Pet feces cleaning service robot | |
| CN207431498U (en) | A kind of aluminum pot applies pricker butt-joint equipment automatically | |
| WO2021249580A1 (en) | Smart control method and system for fully automatic adhesive bonding of talc plates | |
| CN104942571A (en) | Operation device and assembly line for automatically assembling upper and lower covers of shielding cases on line | |
| CN113290556A (en) | Robot gluing path planning method | |
| CN211672693U (en) | A robot marking device for vamp | |
| CN204470669U (en) | Multi-station synchronous numerical control machine for processing | |
| CN109454622A (en) | A kind of mobile robot's platform and its working method | |
| CN204381405U (en) | Novel rabbeting machine automatic loading and unloading mechanism | |
| CN204994095U (en) | Full -automatic cutting machine of gluing of PCB board | |
| CN103736664A (en) | Mail distribution service robot | |
| CN103660514A (en) | Glue punching, film pasting and glue adding integration machine | |
| CN106737697A (en) | A kind of automatic setup system based on the people that puts together machines | |
| CN106275649A (en) | A kind of photovoltaic wire double paper paving machine | |
| CN209937241U (en) | Large-scale high-tonnage wet-pressure magnetic shoe array suction device | |
| CN204823176U (en) | Automatic control system of upper plate conveyer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200110 |