摘要
针对在自动制鞋涂胶过程中只考虑喷涂轨迹的问题,提出了基于制鞋涂胶工艺的机器人喷涂速度控制方法。结合制鞋涂胶工艺,分析了胶膜厚度与剥离强度的关系及胶粘剂浓度与胶膜厚度的关系,并在此基础上构建了涂胶机器人喷涂速度控制方法,对机器人末端执行机构的移动速度、喷涂姿态进行了控制参数修正。最后以Staubli机器人为例进行了喷涂实验,实验表明,该控制方法可以更精确地反映胶膜厚度与速度的关系,提高制鞋涂胶质量。
Aiming at the problem glue, it puts forward a method of of only considering spray trajectory speed control based on robot spraying in the process of automatic shoemaking craft. It analyzes the relationships of the film thickness and peeling strength, the adhesive concentration and film thickness with shoemaking glue process, sets up the control speed of glue - robot. The parameters of moving speed and spraying posture of robot end - effecter are corrected. Finally, it takes a Staubli robot as an example to carry out for spraying experiments, and the results show that the constructed control model can more accurately reflect the relationship between film thickness and robot moving speed, improve the quality of shoemaking glue.
出处
《机械设计与制造工程》
2013年第3期62-65,共4页
Machine Design and Manufacturing Engineering
基金
浙江省重点科技创新团队资助项目(2010R50002-11)
