OBJECTIVES AND SCOPE OF
SCIENCE & TECHNOLOGY DEVELOPMENT JOURNAL
The 'Science & Technology Development' journal Is an official organ that releases scientific findings and technology transfer of Vietnam National University - Ho Chl Minh City (VNU-HCM). The journal aims to
• Boost scientific research and technology transfer among VNU-HCM scientific staff, helping to develop the scientific staff and serving education, research and implementation of technological applications for the developmenl of science, production, and life.
• Facilitate the exchange of scientific-technological information and bridge the distance between science and reality in the community of teachers, scientists, managers and businesses in and outside the country.
• Provide timely information of VNU-HCM scientific-technological activities, making It possible for VNU-HCM members and other inslitulions to exchange experience and leam from each other.
The journal involves information in VNU-HCM's fields of training: basic natural sciences, technique and technology, sciences of the earth and environment, social sciences and humanities, higher education, economic management.
The journal receives articles from teachers, researchers, students (undergraduate and graduate), and doctorate candidates, in and outside VNU-HCM.
The articles issued in the journal are mainly reports of theoretical and practical research works that also add to the scores of the authors' research projects. Article reviews will be requested by the Board of Editors. Besides, articles of scientific information and case studies in various fields will also be selected for the journal.
The Board of Editors will send the submitted articles to scientists concerned to examine and select for issuance. However, the authors must be responsible for the accuracy and possible mistakes in the data, ideas, viewpoints, and references of their articles. The Board of Editors will not be responsible for any consequence related to these issues.
Copyright In 2015 belongs to VNU-HCM "Science and Technology Development" Journal. Any copy or reprinting of any form must be permitted by the Journal.
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VNU-HCM "Science and Technology Development" J o u r n a l Room 527, VNU-HCM Administration Building
Q u a r t e r 6, Linh Trung W a r d , Thu Due District, Ho Chi Minh City Telephone: 84-8-37242I8I. ExL: 1361
Fax: 84-8-37242057
E-mail: IcptkhcnfgivnHhcm.edu.vn W e b s i t e : http://www.vnuhcm.edu.vn.
http://www.vnulib.edu.vn:80Q0/dspace/and http://www.vioI.infQ/index.php/JSTD
T»P Cii MAI TUEIt KHMMtPW, SOM-2015
t r r r r ,
Thiet ke va che tao he thong cap mu giay chinh xac cho may in lua trong cong nghiep giay " ^
Bul Trpng Hiiu
• Phung Thanh Huy
Trifdng Dui hpc Bich khoa, OHQG-HCM
(Bai nhgn ng^ 31 lliang lOnUm 2014, hoan chinh sua chUa ngay 09 ihdng 02 ndm 2015)
T 6 M TAT:
Cong dogn cdp m5 gid)' cho mdy in lua t\r dgng de in cdc vgch nhdn len mH g/o)' dang ton lgi cdc vdn de sau: thir nhdt. vi^c dinh vi ma gidy len bdng ldi ciia mdy in liia diipc thifC hi^n hdng lay, chli yeu difa vao kinh nghidm ciia cong nhdn.
H v<7v, lam gidm ndng sudt vd tdng chi phi ciia sdn phdm; thir hai. co sai i4ch vj tri ciia cdc vach nhdn tren mS gidy sau khi in (sai lech hi4n tgi Id
± / mm) nen dnh hudng din cong dogn tiep theo Id may dirdng vien trang tri len cdc vgch nhdn ndy. Hi4n nay. cdc cong ly sdn xudt gidy & Vi^t Nam mong muon gidi quyet cdc vdn de tren.
nhung cho din nay. ngodi vi('c gidi quyel thii cong thi chua co phircmg dn su dung robot khd thi ndo dirge dua ra. Bdi bdo ndy giai thieu mot phucmg dn cdp mii gidy chlnh xdc cho mdy in Itia 6 Irgm dimg robot vd ky thudt xu ly dnh. MQI camera duac sii dung de chup dnh cita mii gidy.
Tie khoa: mugidy. vgch nhdn, bdn may 'X—Y—
I . G l 6 l T H l $ U
Hi?n nay, trSn thi truong c6 nhi^u lo^i giay th^
thao dir(?c trang trf b3ng each in cac vach nhan song song len mu gi4y bai m i y in Iga tir dpng.
Anh ndy duac chuyen sang dnh nhi phdn ditng cho vi^c xu ty dnh de tinh lodn cdc sai lech vi tri theo cdc phucmg X. Y vd sai lech goc xoa}' 6 ciia mu gien'. Mgt thudt todn diing de tinh lodn cdc sai lech neu tren dugc dixudt trong bdi bdo ndy. Mit gidy dugc ddi tren bdn mdy dieu chinh vi tri X-Y-6. Bdn mdy X-Y-B co thi linh liin theo cdc phuang X. Yvd xoay goc 6. dugc dieu khien b&i ba dgng co. Nhiem vu cua bdn mdy Id dieu chinh chinh xdc vi tri cda mu gidy bdng cdch so sdnh vi tri hi^n lgi vai vi tri chudn cda no dd dugc luu trong mdy linh trudc do. Tinh hi^u qud cita thugt todn cung nhu do chinh xdc cua phdn xu ly dnh vd ciia he thong ca khi da dugc chung minh qua cac kit qud thtfc nghiem tren he thong thuc le.
Theo ket qua khao sat, hau h ^ c4c c6ng ty san xuit gi^y a Viet Nam d k sii dung hinh thiic cip mu giiy bang tay cho may in Iua Iir dong d^ in cdc vach nhan song song niy (cac v?ch nhin m i u
Traig S
SCIENCE & TEGHNOLOGY DEVELOPMENT, Vol.18, N0.K2 - 2015
trang nhu hinh I).
Co hai loai may in lua tir dong dung de in cac vach nhan song stmg len mu giay: may in lua tir dong dang xoay tron va may in iua dang 6 tram dat doc. Cong doan cap mii giay cho hai loai may in nay deu do cong nhan thuc hien bang tay.
Hinh 1. Cacvachnhansongsoi^mautiangtien mu giay the thao
Cho den nay, van chira co cong trinh nghien ciru trong va ngoai niroc nao lien quan den viec dimg robot cap mii giay chinh xac cho may in Iua tir dpng de tang do chinh xac vi tri ciia cac vach nhan tren mu giiy. Viec cap phoi do c6ng nhan thirc hien bfing tay dira vao cac dirong chuan la cac duong ke dpc va ngang tren bang tai ciia may in Iua. Vi vay dp chinh khong cao, co sir sai lech vi tri ciia cac vach nhan tren mu giay sau khi in. Sai lech hien tai la ± 1mm. Dieu niy anh hirong Ion den cong doan ke tiep la may duong vien len cac vach nhan.
Bai bao nay trinh bay viec thiet ke, che tao he thong sir dung robot cap mu giiy chinh xac cho may in lua ty dpng dang 6 tram dat dpc diing de in cac vach nhan song song len mu giay nham tang dp chinh xic vi tri ciia cac vach nhan; dong thoi giam bot nhan cong v i thai gian a cong doan cap phoi, tang hieu qua kinh te do giam phe pham. Dp chinh xac vi tri ciia cac vach nhan tren mu giay can dat ± 0,5 mm. Ket qua nghien cim cua bai bao nay la co so de thiet ke, che tao toan bp he thSng in lua tir dpng 6 tram dung de in cic vach nhan len mu giiy cung cap cho cac cong ty san xuit giiy a Viet Nam.
2. PHUONG AN CAP MU GIAY C H I N H XAC C H O MAY IN LUA
2.1. Thirc trang cong doan in cac vach nhan len mu giay
Hien Iai. a Viet Nam, mot so cong ty san xuat giiy sir dung may in Iua tir dpng dang 6 tram dat doc de in cac vach nhan len mij giiy. Cong doan dinh vi mu giiy len bang tai cua may in lua do cic cong nhan thuc hien bing tay. Cong nhan dinh vi mil giiy dira vio cac duimg chuan (dpc va ngang) da vach sin tren cac tam nhom cua bang tai nhu hinh 2. Cac tim nhom nay co quet top keo mong de ket dinh mu giay. Sai lech vi tri ciia cac vach nhan tren mQ giiy sau khi in li ± I mm.
Binh 2. Djnh vj mfi giay tr&i \:&ag tii cia miy m lya tir dong (do cdng nhan thuc hien b9ng tay) Cong doan in cac vach nhan len mu giay tai doanh nghiep tir nhan Giay A Chau (Asia Shoes Pte.) hoan toin do c&ig nhan thuc hien bing lay umg san pham mot (hinh 3).
Hinh 3. Cong doan in cac vach nhan \esi mQ giay tai doanh n ^ ^ ttr nhan Giiy A Chau 2.2. Phuong an cap mu giay chinh xac cho m i y in Iua
Dimg bin m i y X—Y—B de dieu chinh vi tri mu giay v i tay may de di chuyen mu giiy tir ban may sang bang tai cua may in lua. Trinh ty thuc hien
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T9P CHi PHAT TRI^N KHftCN, TAP 18, SOK2-2015
theo S buoc sau:
Bu-jrc 1: Dung co ciu cip mO giiy (cap tho) tir khay chCra sang bin miy dieu chinh vj triX-Y-6.
Ban miy niy co 3 b^c ty do: tjnh tien theo hai phuang X, Y vi xoay quanh true Z thing dung.
Buiec 2: Diing 01 camera treo phia trfin bin miy X-Y-9 de chyp anh mu giiy. Sir dyng ky thu|t xii ly inh xac dinh tam vi goc djnh hirong aia mu giay.
Tay ntiy i l chuyin irU ijjy t i b^dajchdhsangbinglai
C K ~Q^eiuWrnlaiy[^
Hlnh 4. Phuang an cap miJ giiy chinh xic cho miy in hia
Bwit 3: Tinh sai lech theo hai phuong X, Y va
sai l?ch goc xoay 6 ciia mu giay tir vi^c so sinh vj Iri hien t^i voi vi tri chuan ciia mii giiy dS dugc luu trong may tinh truoc do.
B u ^ 4; Di^u khien bin miy tinh lien Iheo hai phuang X, Y vi xoay goc 6 de khu cac sai I|ch vira tinh.
Bu'6r 5: Diing tay may de di chuyen mii giiy (di dupc diSu chinh chinh xic vj tri) tir ban may X-Y-6 sang bing tai cua miy in Iga ty dpng.
3. THIET Kt, cut T^O BAN MAY DIEU CHINH CHiNH XAC V! TRl IVlC GIAY
X-Y-e VA MAM HUT DINH \\ MUGIAY
3.1. Thiet kl, che lao bin miy dilu chinh chinh xic vi tri mii giiy X-Y-0
Ban may dieu chinh chinh xac vi fri mu giay gom ba bgc ty do: tjnh tiin Iheo hai phuong X, Y trong mit phing ngang va quay quanh tryc Z thing dimg.
Hai chuyen dpng tjnh tiin X, Y dugc Ihyc hien boi cac thanh trupt, chuy«i dpng quay quanh tryc Z nha bg truyfin tryc vil-banh vit. Ba dpng ca buoc dupc sii dyng de dieu khien ban miy niy. Ket cau that ciia bin may dieu chinh vj tri nhu hinh 5.
Hinh 5. Bin may dieu chinh vi tri X-Y-0 3.2. Thiet ke, che tao mam hut djnh vj mu giiy
Mam hut djnh vi mu giiy dugc dat tren bin miy dieu chinh vj tri X-Y—B. Mam hut c6 nhiem vu hiit vi giu" phing mii giiy. Vi vay can phii tinh toin, ch<Ki qu^I hiit thoa man y€u ciu dai ra.
Ap dyng cong thirc:
P = F.p (I)
trong do: P li lyc do qu^it tic dgng ISn mu giiy;
p li ip suit cua qugt hiit; F la mpt phan dien tich cua mii giiy chiu tic dpng cua quat hiit. Day chinh la di?n tich cua cac ciia hut tren m|l ciia mam hiit, di?n tich niy khoang 500^1350 mm^ chgn F=800 mm-. Cin cii vio kich thuac, hinh dgng ciia mu giiy vi de dam bao luc tic dung I6n mu giiy 6 tai moi diem dit lyc li nhu nhau; phoi luon dugc giu' chat; phang trong suot qui trinh dilu chinh vi tri thl cin phai co it nhit 10 di&n co lyc tie dyng lgn ph6i (kfit qua nhgn dupc tir thu nghiem).
Trans 7
SCIENCe i TECHBOLOtY PEVEIOFMEIIT, Vol.18, N0.K2 - 20IS
Hlnh ti. Kich thucrc mfi giay D o v ^ :
/ ' = I 0 . g . m ^ , = 2,821356 (AO Suyia:
= 3 5 2 6 , 7 (N/m^) (3) Chpn qu9t hiil c 6 p =3290AM7r^, ky hifiu VFC308A do Cong ty FUJI ciia Nh^t s ^ xuat.
hi) nho hon 0.5 mm thi chuyen mu giiy sang bing tai cua may in lua, kit thuc qua trinh; neu sai so ldn hon 0.5mm thi lien hinh tim trong tam v i goc dinh huong ciia miJ giiy dfi tinh cic sai Ifich vj tri cua mu giay. Tir do tien hanh dieu khien ban m i y X-r -6 de dira cac sai lech niy ve khong. Buoc Itep theo li kiem tra sai so vj tri cua mu giiy xem co thoa yfiu cau (< 0,5mm) khong Qui trinh sfi lip lai cac buoc nfiu trfin. Sai so dugc tinh loin bing phucmg phap chong hinh anh cua mu giay voi mu giiy chuan dfi so sanh dp triing khit.
Dc dieu khifin chinh xac vi tri cua mii giiy dimg ky thuat xir ly anh thi phai chii y dfin nhieu gSy ra bcri sy khong on dinh cua n g u ^ sing va gia trj dp xim tiiy thugc v i o vi tri ciia khung hinh Ml anh. Vi vay, khong nhimg can phan cimg dang tin cgy cho camera, nguon sang va card hinh anh m i cim phai phat Irien cic thuit toin thdi gian thyc de dim bao viec xac dinh chinh x i c cic die tnmg hinh hgc ciia tiet dien ngang (lifit difin mu giiy dugc chup trfin anh). nghia li phai difiu chinh sai lech vi iri ciia mii giay bing each difiu khien vi tri cic bin miy X-Y~6 trong thoi gian thuc. Bg difiu khifin nhgn tin hifiu tir bp dieu khien PC-based (bg dieu khifin chinh) Iai cac dgng co djch chuyen cac bin miy X-Y-9 dfi khir cac sai lech vj tri ciia mu giay.
Hinh 7. Mim hiit dtnh vi mfi giay 4. XU LY ANH MU GIAY. TINH TOAN SAI S 6 V | T R i CUA MU GIAY
4.I.Giai thugt, chuong trinh xir ly anh mu giay Luu do giai thugt nhu hinh 8. Camera chup anh mu giiy vi xir ly nhieu, sau do chuyfin sang anh nhi phan. Kifim Ira sai so ciia mii giiy hien tai, nfiu sai
Trang 8
T^P Ml PIAT THN OftCli TAP 18,ttfltt-Zlg
Hinh 8. Luu do giai thu^t
ill ff fUiiAo usib nk) m% uM neurio (Etg fjM /Big Dm EU3 ncriq ldn rinA .9 ilniH
y. 7. /. Cdc ddc tnmg hinh hpc ciia mS giay Trong Ihuat loan xic dinh sai lech vj Iri oia mu giay, muc tiai dgt ra la xac # i h dugc cic sai lech vj tri cua mii giay h i ^ tgi so vdi mii giiy chuan d i luu trong may tinh, bao gom:
- Sai tech tjnh t i ^ Ax theo phuang ngang (phuong didi chuyfin trai - phii).
- Sai lech tinh tioi Ay theo phuang tdi - lui.
- Sai Ifich goc xoay 9.
De Ihyc hien difiu do, hai dgc tnmg hinh hgc ciia tifit difin ngang dugc i p dung len anh chup Ii Tim va Goc dinh huong. Khi do, moi inh chyp dugc xic dtnh la ^=(ji;.,y(.,a)'^, irong do C(xi:yc) l i tim v i a l i goc djnh huong ciia hinh anh mii giiy dugc chup.
Tam ciia mu giiy:
w
m n h 10: Xac (bnh d$c bung hinh hoc cua tiet d i ^ phing mii giay
Tam cua tiet dien phang mu giay dugc xac dinh bcri cong thiic'']:
x^= — [xdF y,- ^jfydF
(4)
Trans
SCIEHCE & TECHHOLOBY DEVELOPMEHT, Vol.18, H0.H2 - 2015
Trong truong hop rcri rac:
(5)
trong do, F. \i di?n tich nguyen to tgi va vi tri ( x „ j . , ) ' v a f = 2 f . .
Doi voi inh nhj phin ciia mii giay dang xet, anh dugc chia nho thanh cac diem anh (pL\eI). Nhu vay, co thfi coi sy phan bo cic pixel qua him anh nhu sau''':
ff^ ) = \^ ^o^^Sround [l foreground
Hinh 11. Xic djnh d$c trung hinh hpc cia mfl giay dugc ch\9 Igi tren anh nhi phan H$ true chinh trung tam va goc dinh hirdng:
He true dugc ggi la h? tryc quin tinh chinh trung
NghTa la tgi moi vj tri difim anh (x,y), F(x.y) = / nfiu tai do li nfin den (foreground - difim thupc inh cua mil giay) v i F(x.y) = 0 nfiu do la nfin Bring (background - diem khong thupc inh cua mu giiy).
C6 thfi coi difin tich nguyen to chinh li gii tri ciia pixel. Nfiu kich thuoc inh chup la mxn thi difin tich cila loan bp phan mii giiy chup trfin anh l i
f = X F(x,y)
*''•-'•' Khi do voi moi
^ = (X(.,y(.,a)' dugc chyp, c6 thfi xac djnh:
T^(x^y)-' y^' =jll^^^^y^-y
(7)
(1) Moment quan tinh ly tam cua tiet dien ngang doi vol hfi tryc bing 0.
(2) Goc tga dp triing vcri tam cua tifit difin.
Xet he tryc tpa dg G{Oxy) , moment quin tinh ly tam ciia tifit difin phing doi vol he true Ipa do dugc xac djnh bcri''!;
J^,=jxydF (8)
Roi rge h6a v i img dyng cho inh nhj phan de xic djnh moment quin tinh ciia mu giiy chup trfin anh doi vcri hfi fruc tpa do anh:^:<>. Z ^^C^'^) (9)
l£r<n,l<_i'<m
trong do: mxn li kich thudc anh nhi phan.
Gia sir hfi true tog dp R{Ciiv) l i he tryc quin Iinh ly tim cua inh chup mu giay, vol C li tam ciia anh chup va khi do mcanen quan tinh ly tam ciia tifit difin phing d6i vdi he tryc Juv ^O.R dgt dugc khi TraiB 10
T»P cai PHAT TBEW maCH, Tgp 18, t$Kl- 2015 quay O mgt gdc a chifiu lugng giic quanh O, sau
do tinh tien tir O ve C. Liic dd a gpi la gdc djnh hudng cua tifit difin phang.
O xc X X
Hinh 12. HC" tme quan linh chinh trang lam a day, myc tieu chinh li xic djnh gdc djnh hudng
Xfit mdt difim cd tga dp (x.y)^ trong G va (u,v/
trong R, khi do moi quan he Uiifit lgp dugc:
(
x ^ r c o s a s i n a Y u ^ {^'^y) [sina cosctjl^vj l ^ ^ J fu^ fcosa -sinaV-'^"-''^! ~1
\vj [sina cosa j\y-yr)
J„ = luvdF=l[{{x-x,.)cosa-(y-y,)sma) {{x-x^ )sma + {y- y,)cosa)]dF
= lh'~y<y ~i^'^< )'sinacDsa + (jr-jt, ) ( > ' - i , )(cos'ar-sin'ar)Ji/F
(11) Do dF l i dien tich phan to nen c6 the rdi rac hoa'
-^ • ' „ . - " (13)
Sir dung cac gia tri da rui rge cr c6ng thuc tren de tim g6c djnh hirdrng cho mu giAy:
•2 Z O - v , )(A:-Jr,)f.
^ [ Z(v-v,)=f.-Z(;r-,,ff.j
(14) 4.1.2. Bieu dien dir&i dgng moment thong ke
Trong mpt khong gian hai chieu theo hai bifin x.
y CO phan [*6i rdi rge F(x.y). moment thdng kfi'-':
"^Pl= Z F(^,>')^V (15)
(:r.>M
Vol (p.q) l i bac ciia moment, *JT li toin bp khdng gian chira hai bifin.
Moment trung tam'-':
/ ^ r . - I V{x,yXx-x,Y(y-y,.r (16) Khi do, chuyen c i c cdng thirc tinh vfi dang moment nhu sau:
+ Vj Iri trpng tam:
(17)
+ Gdc hgp bdi true chinh dii nhat va true Ox:
n !i a = — a t a n
2 l/'i,.-/'..:
(18)
Trang 11
SCIEHCE & TECHHOLOBY DEVELOPMEHT, Vol.18, H0.K2 - 2015
4.2. Tinh toan sai Ifch vi tri ciia mu giay 4.2.1. Sir difng cdc dgc trttng Mnh hgc de xdc djit/i cdc sai lech vf Iri cda md gidy
Sau khi cd vi fri tam vi gdc dinh hudng ciia mu giay, so sinh vdi vi tri tam va goc djnh hirdng ciia mu giay chuan. Xet anh mii giiy chuan
^r =iX(r-,ycr>^r) ™ ^ ^ f"" g'^Y Hifin tai
f- Sai lech tinh tifin:
Hinh 13. Tinh t o ^ sai Ifich vi Iri ciia mu giay
4.2.2. Biiu khien ban mdy X-Y-6
Sau khi cd cic sai lech vj tri cua mil giiy, tien hanh dieu khien bin may X-Y-6 bing sd xung tuong img-
+ Tjnh tien theo phuong x:
. _ " i A x r /.
xung/, li budc nguyfin to cua ddng ca.
^ Tinh tifin tlieo phuang y:
| A ; . |
(21)
(22)
/,. la buoc nguyfin to ciaa dong co.
f Quay quanh tam:
xung (23)
(OH la goc quay nguyen to ciia d ^ g co.
5. T H I E T KE, C H E T A O TAY MAY CAP MO GIAY CHINH XAC TU BAN MAY t)IEU C H J N H V I T R i A ' - y - e SANG B A N G TAI CUA MAY IN LVA
Tay may su dyng tryc vit me bi dugc difiu khifin bdi dgng ca AC servo, cd nhifim vu di chuyfin mii giay da dugc dieu chinh chinh xic vj tri (trfin bin m i y ^ - 7 - ^ ) sang bing tai ciia m i y in lua.
H b h 14. Dau hiit mfi giiy Dau hut mu giiy lip trfin tay m i y c6 nhifim vu hiit v i giu' mu giiy trong qui trinh di chuy&i. Diu hiit nang-ha nhd xi lanh khi nen, cd do on djnh cao khi hogt dpng lifin tyc, cd kha ning dgp tit dugc dao dpng phat sinh trong q u i trinh Iim vific v i cd kfil ciu phil hgp dfi lap ghep cic bg phan ciia may. Tinh toan true vii me bi dua iheo tii lieu \A \.
Hinh 15. M6 hinh 3D cia h? ttiong cap mfi giay chinh xac dio may in Iva
Traag 12
TAP CHi PHAT TRIEH KHftCH, TAP 18, SO K2- 2015
1. Than may 2. Ban miy dieu chlnh vi tii 3. Dpng ca 4. D^u hut mu giay 5. Vitme 6. Camera 7. XUanhkhin^ 8. C ^ l ^ camera 6. THU* NGHIEM VA BANH Glk K £ T QUA
Hfi th6ng c^p mu giiy da dugc ch^y thit nghifim nhieu Ian vdi nhi^u miu sic ciia mil giay. S6 Iugng mil giiy ch^y thit n^fim la 450 mu giiy vdi 03 mau sic: 150 mQ giiy miu den, 150 mQ giiy miu hong vi ISO mu giiy miu niu.
Hinh 16. Hfi th6ng c^ mQ giiy chinh xic
Hinh 17. Mgch dieu khiai thuc te Ket qui sai Ifich vj tri oia m$t so mQ giay do Aigc nha bing 1. Bieu d6 phan bo sai so vj tri cua cic mQ giiy thit nghifim nbu hinh 18.
Bing 1. Sai so vi tri cQa mu gi^ thQ n ^ ^
MS giiy mau den
Saisd
<™,)
Mugiiy miu b ^ g
s«s4 (™)
Mugiiy mau nau
»
Sais^
(mn)
Ittd
^M
dx- 0,34 dy 0,37
M IH
dx- 0J6 dy. 0,35
w
dx.OM dy 0,34
M i ^ 1
dx: 0,38 dy. 0,32
M
^1
dx: 0,37 4^^033
• ^M
dx- 0,38 dy. 0,35
Trang13
SCIEIICE & TECHNOLOGY DEVELOPMENT, Vel.1l, N0.K2 - ZOIS
?0J5
is"'
1 -•
i "'' 1 '^
1
•^ ^i^Av^^V^ "V
ii3,.w.^ioii»m.m»,«.»o
Hinh 18. BiCu d6 phan bo sai so vi tri c
^hin xel kei qui Ihtir nghifim:
- ^ S a i s 6 D .
*
ua mii giay
- K ^ cau ca khi ciia he thdng cap mu giay: dim bio dg cung vQng, hoat dgng on djnh, dgt do chfnh xic theo yfiu cau.
- Mgch difiu khien, camera vi phan mem xir ly anh:
hoat dgng dn djnh.
- Sai sd vi tri do dupc cua til c i cic mu giiy thu-
nghifim: < 0,4mm (khoang0,3mm - 0,38mm).
7. KET LUAN
Bii bio trinh biy kfit qua thifit ke vi che tao he thong cap mu giiy chinh xic cho m i y in lua tir ddng dang 6 tram dat doc dimg de in cac vgch nhan song song ifin mu giiy nham Iang do chinh xac vi tri cua cic vgch nhan. Kfit qua thir nghiem cho thay dp chinh x i c vj fri ciia mii giay nhd hon ± 0.4 mm; kfit cau CO khi dim bao dp cung vung. dn djnh; mgch difiu khifin hoat dgng on dinh; dap img thdi gian thyc. Kfit q u i nghifin cim ciia bii bao la co sd dfi thifit kfi, chfi tgo toan bp he ihdng in lua ty dgng 6 tram diing de in cic vgch nhan Ifin mu giay cung c i p cho cac Cong ly san .xuat giiy o Viet Nam.
Lai cum an Nghien ci'ni nin dune tituv hifn nha ngui phi lir Sa Khoa liQc A Cong nghi Tp flo CM Minli Cdc .\in 11 tin tmng cam an.
Design and fabrication of precise shoe- upper feeder system for screen printing machine in shoe industry
Trong Hieu Bui Thanh Huy Phung
Ho Chi Minh City University of Technology, VNU-HCM hieubfBJjcmui edu.vn
ABSTRACT:
The feeding stage of sport shoe-upper for automatic screen printing machine for printing press-segments on shoe-upper exists the
following issues: Firstly, the locating shoe-tippers on the corrveyor of screen printing machine is made by hand and based on the experience of
Traai 14
TAP CHi PHAT TRIEH KHftCM, Ti^P 18, SO 112- 2815
workers. So. this reduces productivity and increases the cost of the product. Secondly, there are deviations of the press-segments on shoe- upper after printing (the current deviation Is ± / mm). So, these are affected lo the next stage of sewing contour lines on the shoe-upper Currently, the shoe manufacturing company in Vietnam wish solve these problems, but so far, in addition to resolve manually there is no feasible method has been ghen.
In this paper, a precise position control of shoe-upper for screen printing machine using image processing techniques is introduced. A camera is used lo capture Ihe image of shoe- upper. The binary image of shoe-upper is used for
image processing to recognize the position errors in directions ofX. Y and 6 coordinates. A new algorithm to calculate the position errors of shoe- upper is proposed in this paper. The shoe-upper is locating on X-Y-6 tables which can maveX. Y directions and rotating 9 angle. These tables are controlled h}' three servo motors. The mission of X-Y-9 tables are adjustable positioning accuracy of the shoes-upper by comparing the current position with its standard position that has been previously stored in the computer. The effectiveness of the calcidation algorithm of shoe- upper errors and the high accuracy of image processing and mechanical system are proven through experimental results.
Key words:shoe-upper,press-segment. X-Y-6 tables.
T A I L I E U T H A M K H A O
[ I ] Dietmar Gross el al.. Engineering Mechanics.
Vol 1-2, Springer (2009).
[3] Wilhelm Burger and Mark J. Surge, Principle of Digital Image Processing, Springer. 2009.
[2] Roy R. Craig, Mechanics of Materials, 2nd [4] Nguyin Huu Lpc. Ca sa ihiii ki mdy, NXB Edition. Wiley (1990). Dai hpc Qudc gia Tp. HCM (2013).
