Research On Robot Motion Control And Its System Development For Glue Spraying In Shoemaking

Shoemaking is a large scale industry, it plays an important role in our national economy and links to our daily life closely. With the improvement of consumers’ personalized requirements of shoes, also the competition between the enterprises were getting worse. Meanwhile, the production technology meets sever challenges. Especially the spraying in the shoemaking-step, the enterprises were confronted with dilemma such as equipment backward, costs rising, bad production environment, profit reduced and hire shortage. Combined with the shoe gluing process, the dissertation presented the idea that it was necessary to use industry robot instead of traditional methods to making shoes. It improved the quality and reliability of spraying, also saved the production cost and improved the producers’working environment, also the change would make a great contribution to the development of the shoemaking’s automation. The dissertation was funded by the project-facing the prototype researching and control system development of shoe mold CNC maching with complex surface, which was leaded by the advanced mold technology innovation team subproject, concentrated on the research and system development of the motioji control of the shoemaking and spraying robot.The main research results are as follows:(1). Constructed a cumulative model of robot spraying for shoe gluing. Firstly, analysed the progress and requirement of show gluing. Secondly, got the relationship of the glue film’s form and the glue qulity. Then According to the robot’s track and motion attitude, which influence the form of the film, built a cumulative model of the spraying robot to eliminate the bad effects of the film qulity which made by the gradient and curvature of the spraying track.(2). Put forward a method about how to control the attitude in robot spraying based on Shoe track which is integrated into CAD and CAM. According to the characteristics, built the shoe’s model by CAD, then got the processing information with CAM technology, inrougn analysed the information, eliminated redundant part of the G code and got the related information of the show track. Got the necessary position and posture parameters for the robot mnotion.(3). Developed the robot motion control system for shoemaking. Made a secondary development of the robot motion control system based on the visual studio2008and VAL3language, which can achieve the functions of track generation, coordinate transformation, the control and transmission of parameters.(4). Built robot control experimental platform for show spraying, and used the number235female prime head shoe do the spraying experiment. The result showed that the method and system have achieve good effects.