Coating Robot Motion Control And System Development For Shoe-Making Craft

With the fierce competition from footwear industry and the increasingly quality requirements of shoes, the enterprises are facing great challenges in shoe-making technology. Some of them must face surival crisis because of the poor manufacturing equipment and the scurviness economic environment. Towards the problems of the instability of coating quality in the manual coating process, low productivity and serious threat to workers body, this paper does the research on them supported by the major scientific and technolory project of zhejiang province. The method is proposed which uses industrial coating robot instead of manual coating. It can save the production costs and improve coating quality.That has an important significance for realizing the shoe-making automation. Results of this study are as follow:1. This paper studied the coating technology of shoemaking, and on the basis of research and analysis the relation, between coating thickness and peel strength, then study the relation with adhesive concentration infiltration and other factors, ultimately set up the model between coating robots speed and coating thickness, and conduct the coating test model’s validity.2. This paper put forward a method that generating path based on shoe design sample and aimed at the path of glue movement. At the same time, we researched the integrating of coordinate system between sample and robot. Meanwhile, we study the bizarre point appeared the robot in the task space of Cartesian. This paper presented that the problem of point three-dimensional can conversion one-dimensional.and proposed a solution strategy. Then, the robot motion has been determined by arranging movement posture. Finally the planning path was tested and verified by means of move simulation.3. At first, this paper analyzed the speed of glue entrance because of it will move accompany with real time tangential motion. Then tangential angle was generated on the basis of different move curves. The paper panned the speed at velocity switch node, avoiding low productivity and the glue film is too thin or uniform when the speed decelerate to zero.4. Firstly, the paper designed the control system overall, then developed the client communication controller combined the robot language VAL3and C#language that is convenient for the service of network communication, and packed it as DLL bank. Finally, we developed the system program based on Visual C++2008MFC and realized the control of robot by packing DLL bank.