Flexible Sensor Array and Newton Interpolation Algorithm for Molded Dichromatic Sole by Operating Robot

Based on the principle of system engineering and optimization method, the multi-color soles mold operation robot was constructed instead of manual operation, and the double-layer quality inspection standard of two-color soles was proposed under the conditions of high efficiency and high quality soles production process. According to the working diagram, the sole is divided into 3 areas - (1) arch area, (2) heel area and (3) palm area, and the “plum blossom” lattice is used to determine the detection feature points, so as to achieve the goal of effectively and reliably inspecting the entire sole parts with fewer measurement points. A 24-point sensor array based on 40 code shoes was formed by using the quasi-equidistant distribution design of adjacent inspection points -- the shape of plum pile hierarchy. By adopting the fusion of geometric sequence and arithmetic sequence, using the ultra-small lead/diameter ratio with double lead screw mechanisms for 6 groups of probes to move vertically and 4 groups of probes to rotate and move laterally by rotation of a arm, forming a series of new 24probes of sensor arrays with a variety of new pile measuring points on the intelligent adaptation test of 35–45 code soles. The flexible adjustment topology is drawn accordingly. At the same time, the topological diagram points out the methods, ways, regulations and practical effects of flexible adjustment corresponding to the two directions of different shoe codes. In order to further improve the accuracy and reliability of the inspection, Newton interpolation algorithm was used to realize the high reliability, high flexibility and high accuracy of the workpiece online qualification inspection. Results of simulation and experiment show that the 24-point plum blossom probe distribution test and Newton interpolation test algorithms meet the production requirements completely.