CN105747384B - A kind of automated production method of footwear - Google Patents
A kind of automated production method of footwear Download PDFInfo
- Publication number
- CN105747384B CN105747384B CN201610197952.6A CN201610197952A CN105747384B CN 105747384 B CN105747384 B CN 105747384B CN 201610197952 A CN201610197952 A CN 201610197952A CN 105747384 B CN105747384 B CN 105747384B
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- China
- Prior art keywords
- vamp
- sole
- degree
- glue
- processing
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Classifications
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D25/00—Devices for gluing shoe parts
- A43D25/18—Devices for applying adhesives to shoe parts
- A43D25/183—Devices for applying adhesives to shoe parts by nozzles
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D111/00—Shoe machines with conveyors for jacked shoes or for shoes or shoe parts
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D25/00—Devices for gluing shoe parts
- A43D25/20—Arrangements for activating or for accelerating setting of adhesives, e.g. by using heat
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D2200/00—Machines or methods characterised by special features
- A43D2200/10—Fully automated machines, i.e. machines working without human intervention
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- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
A kind of automated production method of footwear is respectively completed following steps using a footwear automatic production line：A, the pairing of sole and vamp and feeding prepare；B, the glued area of sole and vamp is scanned；C, spray processing water is carried out to the glued area of sole and vamp；D, the processing water on sole and vamp is dried；E, glue spraying is carried out to the glued area of sole and vamp；F, the glue on sole and vamp is dried；G, sole and vamp are manually pressed together.The present invention is taken pictures six pictures by the camera in all directions within the same time, and it is analyzed by computer software, the production cost of 3-D scanning mechanism can thus be reduced, and it can ensure certain precision, especially under the premise of ensureing the accuracy of each position parameter of vamp spraying area, sweep time can be greatly reduced.
Description
Technical field
The present invention relates to the methods that vamp and sole are combined, and refer in particular to a kind of automated production method of footwear.
Background technology
Spray-bonding craft is that recruitment is more during shoemaking, takes more process.The quality of the quality of glue spraying determines shoes
Face and then influences the performance and quality of footwear with the bonding firmness of sole.For now, existing sole glue spraying
It usually manually operates, this manual mode of operation's production efficiency is low, unstable quality, high labor cost.Moreover, shoemaking
Adhesive contains toxic component, and worker contacts the adhesive for a long time to generate high risks to the body of operator.
In order to overcome many hazards of the artificial glue spraying to health, a kind of existing glue spraying equipment is to set on the conveyor belt
Have FE Glue Gun, glue spraying can be carried out to the sole on conveyer belt, however but since FE Glue Gun is unable to automatic adjusting position, FE Glue Gun without
The sole on conveyer belt is accurately positioned in method, and can not be directed at sole so as to cause FE Glue Gun carries out glue spraying.
In order to cope with the above problem, the applicant had submitted to State Intellectual Property Office in portion on November 13rd, 2013
State's utility model patent（Application number：201320717548.9 notification number：CN 203523958U）, the above patent notes one
The technical solution of the glue spraying equipment of view-based access control model positioning comprising supporting table, FE Glue Gun, the conveying being installed in the supporting table
Band, the supporting rack being installed in the supporting table, glue spraying equipment further include video camera, drive the X of FE Glue Gun X-direction movement
Shaft drive, the Y-axis transmission for driving the movement of FE Glue Gun Y direction, the Z-axis transmission for driving the movement of FE Glue Gun Z-direction
Device and the controller for controlling glue spraying equipment running, which is installed on supporting rack, controller respectively with video
Camera, X-axis transmission device, Y-axis transmission, the connection of Z-axis transmission device.The utility model is driven by video camera, X-axis
Device, Y-axis transmission, Z-axis transmission device and controller constitute view-based access control model information
System.The system adjusts FE Glue Gun to the suitable position above conveyer belt, and FE Glue Gun is allow accurately to carry out glue spraying to sole.On
Although stating glue spraying equipment to a certain extent and can overcome, production efficiency existing for existing artificial glue spraying mode is low, unstable quality
And the problems such as being easy to cause personal injury to worker, however there is also have following deficiency in the actual use process
Place：1, the inaccurate situation of positioning is susceptible to using video camera, and by the way of the transmission of three axis during glue spraying
The consistency that cannot achieve each position sprayed glues amount substitutes artificial glue spraying and also has considerably long distance completely to reach；
2, since video camera can only acquire two dimensional image, if it is desired to using in vamp spraying, can not be sprayed to vamp
Three-D profile be accurately positioned, so as to cause vamp glue spraying can not be suitable for；3, the not only work by the way of the transmission of three axis
Make inefficiency, and error rate is high, additionally needs the unlatching for accurately controlling spray gun and closure, control mode is considerably complicated, needs
The control device wanted is costly.
Invention content
The present invention provides a kind of automated production method of footwear, and main purpose is that existing glue spraying equipment is overcome to exist
Positioning is inaccurate, glue spraying consistency difference and the defect that can not be applied to vamp glue spraying.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of automated production method of footwear, includes the following steps：
A, the pairing of sole and vamp and feeding prepare：By vamp attachment be fixed on shoe tree, and be ready for
Sole and vamp are pre-positioned, and the positioning edge of the two draws contour line, then by sole by its sole matched
It as contact surface is positioned on the second conveyer belt using bottom, vamp and shoe tree is set in first by the pilot hole on shoe tree head
In the mounting bracket of conveyer belt；
B, the glued area of sole and vamp is scanned：Second conveyer belt drives sole to move to the infrared scan
The working region of equipment, the infrared scanning equipment is by will be seen that light, high-energy light beam guiding, ultrasonic or X rays are projected to shoes
On bottom, borrows sole and the Y direction of sole is obtained to the reflex of visible light, high-energy light beam guiding, ultrasonic or X rays
With the running fix data parameters of Z-direction and be transported on controller, second drive component provides sole X-direction
Running fix data parameters are simultaneously transported on controller；When the first conveyer belt drives vamp to move to the vamp scanning element
Working region, two first cameras are directed at the top side image of two vamps in vamp top side and corresponding acquisition；Two
The second camera is aligned on the left of vamp and the left-side images of two vamps of corresponding acquisition；Two third cameras
On the right side of alignment vamp and the image right for acquiring two vamps is corresponded to, described image processing unit is to collected two shoes
The top side image in face is corrected and is spliced into complete vamp top side image, to the left-side images of collected two vamps into
Row corrects and is spliced into complete vamp left-side images, and the image right of collected two vamps is corrected and is spliced into
Complete vamp image right；The data capture unit is using edge detection algorithm to the complete vamp top after image procossing
Side image, vamp left-side images and vamp image right carry out edge detection, and obtain vamp top side, vamp left side and vamp
The contour edge coordinate on right side is as three dimensional point cloud, and the model generation unit is according to above-mentioned three dimensional point cloud,
In conjunction with the vamp master pattern of preservation, calls profile bounding algorithm to generate vamp threedimensional model and be transferred to the controller, institute
The first drive component is stated the running fix data parameters of vamp X-direction are provided and are transported on controller；
C, spray processing water is carried out to the glued area of sole and vamp：The controller is on the one hand according to the X-axis side of vamp
To running fix data parameters, calculate vamp enter first processing watering mechanism working region time, when vamp into
Enter the working region of the first processing watering mechanism, stops the first drive component, and the controller is on the other hand according to upper
Threedimensional model is stated, the three-dimensional spatial information of vamp spraying area is calculated, and generates the movement of the second six degree of freedom manipulator
Orbital data is simultaneously transferred to the second six degree of freedom manipulator, and the second six degree of freedom manipulator is according to the tracks number
Processing hydrodynamic(al) is sprayed according to execution to vamp to make, when vamp spray processing hydrodynamic(al) is made in the second six degree of freedom manipulator execution, institute
It states the second spray gun and at the uniform velocity sprays processing water；At the same time, the controller is on the one hand according to the running fix of the X-direction of sole
Data parameters calculate the time that sole enters the working region of second processing watering mechanism, when sole enters second processing water
The working region of spraying mechanism stops the second drive component, and the controller is on the other hand according to the Y-axis side of above-mentioned sole
To the running fix data parameters with Z-direction, the two-dimensional space information of sole spraying area is calculated, and generates the described 4th 6
The tracks data of free degree manipulator are simultaneously transferred to the 4th six degree of freedom manipulator, the 4th six degree of freedom machinery
Hand is executed according to the tracks data sprays processing hydrodynamic(al) work to sole, is executed to sole in the 4th six degree of freedom manipulator
When spray processing hydrodynamic(al) is made, the 4th spray gun at the uniform velocity sprays processing water；
D, the processing water on sole and vamp is dried：Second conveyer belt drive sole moves to the right side of the second baking oven
Processing is dried in processing water dry place；First conveyer belt drive vamp moves to the left processing water dry place of the second baking oven
Processing is dried；
E, glue spraying is carried out to the glued area of sole and vamp：The controller is on the one hand according to the X-direction of vamp
Running fix data parameters calculate the time that vamp enters the working region of the first glue spraying executing agency, when vamp enters first
The working region of glue spraying executing agency stops the first drive component, and the controller is on the other hand according to above-mentioned three-dimensional mould
Type, calculates the three-dimensional spatial information of vamp spraying area, and generates the tracks data of the first six degree of freedom manipulator
And it is transferred to the first six degree of freedom manipulator, the first six degree of freedom manipulator is according to tracks data execution pair
Vamp gluing acts, and when the first six degree of freedom manipulator execution acts vamp gluing, first spray gun at the uniform velocity sprays
Go out glue；At the same time, the controller calculates sole on the one hand according to the running fix data parameters of the X-direction of sole
Into the time of the working region of the second glue spraying executing agency, when sole enters the working region of the second glue spraying executing agency, stop
Only the second drive component, and the controller is on the other hand according to the running fix of the Y direction and Z-direction of above-mentioned sole
Data parameters, calculate the two-dimensional space information of sole spraying area, and generate the movement rail of the third six degree of freedom manipulator
Track data is simultaneously transferred to the third six degree of freedom manipulator, and the third six degree of freedom manipulator is according to the tracks data
It executes and sole gluing is acted, when third six degree of freedom manipulator execution acts sole gluing, the third spray gun
At the uniform velocity spray glue；
F, the glue on sole and vamp is dried：Second conveyer belt drive sole moves to the right glue of the first baking oven
Processing is dried in water dry place；It is done in the left glue dries space that first conveyer belt drives vamp to move to the first baking oven
Dry processing；
G, to sole and vamp be manually pressed together in the exit of the first conveyer belt and the second transmission belt makes the two securely
Bonding, etc. the glue of the two junction be fully cured and the shoes of forming can be detached from from shoe tree, to complete to shoes
The making of class.
A kind of automatic production line for footwear that footwear automated production method is relied in the present invention, including a vamp are automatic
Sizer and a sole automatic gluing device, the vamp automatic gluing device includes one first conveyer belt, drive this
One conveyer belt carries out the first drive component and the first automation glue spraying control assembly of uniform motion, the first automation spray
Glue control assembly includes being located at 3-D scanning mechanism adjacent above first conveyer belt and successively, the first processing water spray
Mechanism, the first processing water drying mechanism, the first glue spraying executing agency and the first drying adhesive mechanism, first glue spraying execute
Mechanism include an Enable Pin connect with the 3-D scanning mechanism controller, one connect with the controller output end the one or six
Free degree manipulator and one it is installed on the first spray gun on the first six degree of freedom manipulator arm, freely the described 1st
When degree manipulator execution acts vamp gluing, first spray gun at the uniform velocity sprays glue.The 3-D scanning mechanism includes shoes
Surface scan unit, image processing unit, data capture unit and model generation unit, the vamp scanning element is for shooting
Vamp top side image, vamp left-side images and vamp image right comprising a vamp being set on the first conveyer belt is swept
The imperial portal trestle at position is retouched, there are two the first cameras for the top installing of the dragon portal trestle, and there are two lower left installings
Second camera, there are two third camera, two first cameras are directed at vamp top side and right for lower right installing
Top side image applied to two vamps of acquisition；Two second cameras are aligned on the left of vamp and to being applied to acquire
The left-side images of two vamps；Two third cameras are aligned on the right side of vamp and to applied to two vamps of acquisition
Image right；The Enable Pin of described image processing unit is connected to first camera, second camera and third camera shooting
The output end of head, and the image processing unit is for being corrected and being spliced into the top side image of collected two vamps
Complete vamp top side image is corrected the left-side images of collected two vamps and is spliced on the left of complete vamp
Image is corrected the image right of collected two vamps and is spliced into complete vamp image right；The data
The Enable Pin of acquiring unit is connected with the output end of described image processing unit, and the data capture unit is used to use side
Edge detection algorithm carries out side to complete vamp top side image, vamp left-side images and the vamp image right after image procossing
Edge detects, and obtains the contour edge coordinate on the right side of vamp top side, vamp left side and vamp as three dimensional point cloud；The mould
The Enable Pin of type generation unit is connected with the output end of the data capture unit, and the model generation unit is used for basis
Above-mentioned three dimensional point cloud calls profile bounding algorithm to generate vamp threedimensional model and passes in conjunction with the vamp master pattern of preservation
It is defeated by the controller, the controller is used to, according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area,
And generate the tracks data of the first six degree of freedom manipulator and be transferred to the first six degree of freedom manipulator, it is described
First six degree of freedom manipulator is executed according to the tracks data and is acted to vamp gluing.
Further, the sole automatic gluing device includes one second conveyer belt, drives second conveyer belt progress even
Second drive component of speed movement and the second automation glue spraying control assembly, the second automation glue spraying control assembly include
Adjacent infrared scanning equipment, second processing watering mechanism, second processing above second conveyer belt and successively
Water drying mechanism, the second glue spraying executing agency and the second drying adhesive mechanism, second glue spraying executing agency make including one
The controller, the third six degree of freedom machine being connect with the controller output end that energy end is connect with the infrared scanning equipment
Tool hand and one it is installed on third spray gun on the third six degree of freedom manipulator arm, in the third six degree of freedom manipulator
When execution acts sole gluing, the third spray gun at the uniform velocity sprays glue.
Further, the vamp automatic gluing device and sole automatic gluing device are elongated, and in width
Positioned adjacent on direction, the entrance of first conveyer belt and the entrance of second transmission mutually converge, first conveyer belt
Outlet and the outlet of second conveyer belt mutually converge.
Further, the first processing watering mechanism includes the two or six freedom being connect with the controller output end
Degree manipulator and one it is installed on the second spray gun on the second six degree of freedom manipulator arm, in the second six degree of freedom machine
When vamp spray processing hydrodynamic(al) is made in the execution of tool hand, second spray gun at the uniform velocity sprays processing water.
Further, the second processing watering mechanism includes the four or six freedom being connect with the controller output end
Degree manipulator and one it is installed on the 4th spray gun on the 4th six degree of freedom manipulator arm, in the 4th six degree of freedom machine
When sole spray processing hydrodynamic(al) is made in the execution of tool hand, the 4th spray gun at the uniform velocity sprays processing water.
Further, include one first baking oven and one second baking oven, which is separated by a first partition
At left glue dries space and right glue dries space, the first drying adhesive mechanism is the left glue dries space, the second glue
Drying mechanism is the right glue dries space, and the first baking oven wall surface is offered penetrates/be pierced by left glue for the first conveyer belt
The left entry of dry place/left outlet, the first baking oven wall surface is offered penetrates/is pierced by right glue dries for the second conveyer belt
The right entry in space/right outlet, second baking oven are separated into left processing water dry place and right processing by a second partition
Water dry place, the first processing water drying mechanism are the left processing water dry place, and second processing water drying mechanism is the right place
Water dry place is managed, the second baking oven wall surface offers the left side for penetrating/being pierced by left processing water dry place for the first conveyer belt
Entrance/left outlet, the second baking oven wall surface offer for the second conveyer belt penetrate/be pierced by it is right processing water dry place the right side enter
Mouth/right outlet.
Compared to the prior art, the advantageous effect that the present invention generates is:
1, the configuration of the present invention is simple, highly practical is scanned vamp, simultaneously by setting using 3-D scanning mechanism
And the operation glued to vamp is completed to control the first spray gun using the first six degree of freedom manipulator, since 3-D scanning obtains
What is taken includes not only colouring information, further includes range information, thus by the way that specific threedimensional model can be formed after processing, into
And generating has the tracks data of three-D profile curve, and the first six degree of freedom manipulator is that a kind of have along x, y, z three
The robot device of the one-movement-freedom-degree of a rectangular co-ordinate axis direction and the rotational freedom around these three reference axis, according to upper
The first spray gun of action control movement of artificial arms swing can be imitated completely by stating the tracks data of controller offer, at this moment
Time, which only needs to be set in when the progress of the first six degree of freedom manipulator is swung along movement locus, opens the first spray gun, completes movement locus
After the first spray gun is automatically closed, since the first six degree of freedom manipulator mass motion rate is consistent, and the glue of the first spray gun
It is also consistent that water, which sprays rate, thus can ensure that the glue quantity of each position spraying of vamp reaches unanimity, and can greatly reduce
The wastage of glue and vamp glue spraying same effect is improved, and then ensures to improve follow-up vamp and the secured journey of sole bonding
Degree, improves the service life and quality of footwear.
2, in the present invention, include first to carry out processing water spray, dry again, again in the glue spraying method of vamp and sole
Glue spraying, the FOUR EASY STEPS dried again are carried out, this special equipment or mechanism for completing this FOUR EASY STEPS is also accompanied by simultaneously on production line,
First carrying out spraying processing water can be conducive to improve the firmness of follow-up glue spraying, that is to say, that processing water can to vamp or
The upper glue surface of sole is surface-treated, and the being firmly combined with property of upper glue surface and glue after drying can obtain the increasing of big degree
By force.
3, in the present invention, by the way that vamp automatic gluing device and sole automatic gluing device are carried out the adjacent cloth in left and right
It sets, sole and vamp on the one hand can be made to enter simultaneously from same position, and also exported at same position, thus greatly
Ground facilitates the traffic control in production, worker that need not often distinguish the vamp and sole of pairing again, you can directly according to upper
The vamp of lower two layers of discharging and sole progress are adhesion-molded, can improve to big degree the working efficiency in the unit interval.
4, in the present invention, the quick of vamp can be met as 3-D scanning mechanism using non-contact 3-D scanner
The demand of glue spraying processing, data processing block, action judges and control is accurate, but equipment manufacturing cost is relatively high, and another
3-D scanning mechanism is using two first cameras at the top in picture sweep unit, two second camera shootings of lower left
Head, two third cameras of lower right dress, is taken pictures six pictures by above six cameras within the same time, and by
Computer software is analyzed, thus can reduce the production cost of 3-D scanning mechanism, and can ensure certain precision,
Especially under the premise of ensureing the accuracy of each position parameter of vamp spraying area, sweep time can be greatly reduced.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
The structural schematic diagram at the visual angles A that Fig. 2 is Fig. 1.
The structural schematic diagram at the visual angles B that Fig. 3 is Fig. 1.
Fig. 4 is the structural schematic diagram of vamp scanning element used by embodiment two in the present invention.
Fig. 5 is the principle schematic of 3-D scanning mechanism used by embodiment two in the present invention.
Specific implementation mode
Illustrate the specific implementation mode of the present invention with reference to the accompanying drawings.
Embodiment one
Referring to FIG. 1, FIG. 2 and FIG. 3.A kind of automatic production line of footwear, including a vamp automatic gluing device 1 and one
Sole automatic gluing device 2, the vamp automatic gluing device 1 include one first conveyer belt 10, drive first conveyer belt 10
Carry out the first drive component 11 and first automation glue spraying control assembly 13 of uniform motion, the first automation glue spraying control
Component 13 processed includes being located at first conveyer belt, 10 top and the processing water spray of 3-D scanning mechanism 14, first adjacent successively
It drenches mechanism 15, first and handles water drying mechanism 16, the first glue spraying executing agency 17 and the first drying adhesive mechanism 18, described the
One glue spraying executing agency 17 include an Enable Pin connect with the 3-D scanning mechanism 14 controller, one and the controller output
First six degree of freedom manipulator 170 and one of end connection is installed on first on 170 arm of the first six degree of freedom manipulator
Spray gun 171, when the first six degree of freedom manipulator 170 execution acts vamp gluing, first spray gun 171 at the uniform velocity sprays
Go out glue.The present embodiment is scanned vamp using 3-D scanning mechanism 14 by setting and utilization the one or six is free
Degree manipulator 170 completes the operation glued to vamp to control the first spray gun 171, since 3-D scanning obtains not only
Further include range information including colouring information, thus has by that can form specific threedimensional model after processing, and then generate
The tracks data of three-D profile curve, and the first six degree of freedom manipulator 170 be it is a kind of have sat along three right angles of x, y, z
The robot device of the one-movement-freedom-degree in parameter direction and rotational freedom around these three reference axis, according to above controller
The first spray gun of action control 171 that the tracks data of offer can imitate artificial arms swing completely moves, at this time only
It needs to be set in when the progress of the first six degree of freedom manipulator 170 is swung along movement locus and opens the first spray gun 171, complete movement rail
The first spray gun 171 is automatically closed after mark, due to 170 mass motion rate of the first six degree of freedom manipulator be it is consistent, and first
It is also consistent that the glue of spray gun 171, which sprays rate, thus can ensure that the glue quantity of each position spraying of vamp reaches unanimity, can be with
It greatly reduces the wastage of glue and improves vamp glue spraying same effect, and then ensure that improving follow-up vamp and sole glues
Firmness is closed, the service life and quality of footwear are improved.
Referring to FIG. 1, FIG. 2 and FIG. 3.The sole automatic gluing device 2 includes one second conveyer belt 20, drives second biography
The the second drive component 21 and second automation glue spraying control assembly 22 for sending band 20 to carry out uniform motion, second automation
Glue spraying control assembly 22 includes being located at second conveyer belt, 20 top and infrared scanning equipment 23, second adjacent successively
Watering mechanism 24, second processing water drying mechanism 25, the second glue spraying executing agency 26 and the second drying adhesive mechanism 27 are managed,
Second glue spraying executing agency 26 include an Enable Pin connect with the infrared scanning equipment 23 the controller, one and this
The third six degree of freedom manipulator 260 and one of controller output end connection is installed on 260 hand of third six degree of freedom manipulator
Third spray gun 261 on arm, when the third six degree of freedom manipulator 260 execution acts sole gluing, the third spray
Rifle 261 at the uniform velocity sprays glue.The vamp automatic gluing device 1 and sole automatic gluing device 2 are elongated, and in width
Positioned adjacent on direction is spent, the entrance of first conveyer belt 10 and the entrance of second transmission mutually converge, and described first passes
The outlet and the outlet of second conveyer belt 20 for sending band 10 are mutually converged.The present embodiment is by by vamp automatic gluing device and shoes
Bottom automatic gluing device carries out left and right positioned adjacent, and sole and vamp on the one hand can be made to enter simultaneously from same position, and
And also exported at same position, thus greatly facilitate the traffic control in production, worker that need not often distribute in area again
To vamp and sole, you can directly carried out according to the vamp of upper layer and lower layer discharging and sole it is adhesion-molded, can big degree
Improve the working efficiency in the unit interval.
Referring to FIG. 1, FIG. 2 and FIG. 3.What the first processing watering mechanism 15 was connect including one with the controller output end
Second six degree of freedom manipulator 150 and one is installed on the second spray gun 151 on 150 arm of the second six degree of freedom manipulator,
When vamp spray processing hydrodynamic(al) is made in the second six degree of freedom manipulator 150 execution, at the at the uniform velocity ejection of second spray gun 151
Manage water.The second processing watering mechanism 24 includes a 4th six degree of freedom manipulator being connect with the controller output end
240 and one it is installed on the 4th spray gun 241 on 240 arm of the 4th six degree of freedom manipulator, in the 4th six degree of freedom
When sole spray processing hydrodynamic(al) is made in the execution of manipulator 240, the 4th spray gun 241 at the uniform velocity sprays processing water.In the present embodiment,
Include four steps for first carrying out processing water spray, drying again, carrying out glue spraying again, dry again in the glue spraying method of vamp and sole
Operation is also accompanied by this special equipment or mechanism for completing this FOUR EASY STEPS on production line simultaneously, and first carrying out spraying processing water can be with
Be conducive to improve the firmness of follow-up glue spraying, that is to say, that processing water can carry out surface to the upper glue surface of vamp or sole
Processing, the being firmly combined with property of upper glue surface and glue after drying can obtain the enhancing of big degree.
Referring to FIG. 1, FIG. 2 and FIG. 3.As the preferable embodiment of the present invention, the present embodiment includes one first baking
Case 180 and one second baking oven 160, first baking oven 180 are separated into left glue dries space and right glue by a first partition
Water dry place, the first drying adhesive mechanism 18 are the left glue dries space, and the second drying adhesive mechanism 27 is the right glue
Dry place, 180 wall surface of the first baking oven, which is offered, to be penetrated/is pierced by the left side in left glue dries space for the first conveyer belt 10 and enter
Mouth/left outlet, 180 wall surface of the first baking oven offer the right side for penetrating/being pierced by right glue dries space for the second conveyer belt 20
Entrance/right outlet, second baking oven 160 is separated into left processing water dry place by a second partition and right processing water is dried
Space, the first processing water drying mechanism 16 are the left processing water dry place, and second processing water drying mechanism is the right processing water
Dry place, 160 wall surface of the second baking oven offer the left side for penetrating/being pierced by left processing water dry place for the first conveyer belt 10
Entrance/left outlet, 160 wall surface of the second baking oven is offered penetrates/is pierced by right processing water dry place for the second conveyer belt 20
Right entry/right outlet.The length of first baking oven 180 is 2 meters, and the length of second baking oven 160 is 1.5 meters.
Referring to FIG. 1, FIG. 2 and FIG. 3.The 3-D scanning mechanism 14 is non-contact 3-D scanner, this contactless three
Dimension scanner for it will be seen that light, high-energy light beam guiding, ultrasonic or X rays are projected to vamp, borrow vamp to visible light,
The reflex of high-energy light beam guiding, ultrasonic or X rays generates three-dimensional in turn to create the point cloud data of vamp geometric jacquard patterning unit surface
Model is simultaneously transferred to the controller, and the controller is used to, according to above-mentioned threedimensional model, calculate the three-dimensional of vamp spraying area
Spatial information, and generate the tracks data of the first six degree of freedom manipulator 170 and be transferred to the described 1st freely
Manipulator 170 is spent, the first six degree of freedom manipulator 170 is executed according to the tracks data and acted to vamp gluing.This
Implement the demand that can meet the quick glue spraying processing of vamp as 3-D scanning mechanism using non-contact 3-D scanner,
Data processing block, action judges and control is accurate, is conducive to further increase efficiency of the present invention in footwear production.
The present embodiment is a kind of automated production method of footwear using process, thus below by this is discussed in detail
The automated production method of footwear is planted to be furtherd elucidate to the present embodiment.
Referring to FIG. 1, FIG. 2 and FIG. 3.A kind of automated production method of footwear using above-mentioned automatic production line, including
Following steps：
The pairing of the first step, sole and vamp and feeding prepare：Vamp attachment is fixed on shoe tree, and is prepared handy
The sole of Yu Yuqi pairings, sole and vamp is pre-positioned, and the positioning edge of the two draws contour line, then will
Sole as contact surface is positioned over using bottom on the second conveyer belt 20, and vamp and shoe tree are arranged by the pilot hole on shoe tree head
In the mounting bracket of the first conveyer belt 10；
Second step is scanned the glued area of sole and vamp：It is described that second conveyer belt 20 drives sole to move to
The working region of infrared scanning equipment 23, the infrared scanning equipment 23 is by will be seen that light, high-energy light beam guiding, ultrasonic or X
Ray is projected on sole, is borrowed sole and is obtained to the reflex of visible light, high-energy light beam guiding, ultrasonic or X rays
The Y direction of sole and the running fix data parameters of Z-direction are simultaneously transported on controller, and second drive component 21 carries
Running fix data parameters for sole X-direction are simultaneously transported on controller；First conveyer belt 10 drives vamp to move to institute
The working region of non-contact 3-D scanner is stated, the non-contact 3-D scanner is by will be seen that light, high-energy light beam guiding, Supersonic
Either X rays are projected to the reflection work that vamp is borrowed on vamp to visible light, high-energy light beam guiding, ultrasonic or X rays to wave
It threedimensional model and is transported on controller, first driving group for creating the point cloud data of vamp geometric jacquard patterning unit surface and then generating
Part 11 provides the running fix data parameters of vamp X-direction and is transported on controller；
Third walks, and spray processing water is carried out to the glued area of sole and vamp：The controller is on the one hand according to the X of vamp
The running fix data parameters of axis direction calculate the time that vamp enters the working region of the first processing watering mechanism 15, when
Vamp enters the working region of the first processing watering mechanism 15, stops the first drive component 11, and the controller is another
Aspect calculates the three-dimensional spatial information of vamp spraying area according to above-mentioned threedimensional model, and generates the second six degree of freedom machine
The tracks data of tool hand 150 are simultaneously transferred to the second six degree of freedom manipulator 150, the second six degree of freedom manipulator
150 execute according to the tracks data to vamp spray processing hydrodynamic(al) work, in the second six degree of freedom manipulator 150 execution pair
When vamp spray processing hydrodynamic(al) is made, second spray gun 151 at the uniform velocity sprays processing water；At the same time, the controller one side root
According to the running fix data parameters of the X-direction of sole, the working region that sole enters second processing watering mechanism 24 is calculated
Time stop the second drive component 21, and the control when sole enters the working region of second processing watering mechanism 24
On the other hand device processed according to the Y direction of above-mentioned sole and the running fix data parameters of Z-direction, calculates sole spraying area
Two-dimensional space information, and generate the tracks data of the 4th six degree of freedom manipulator 240 and be transferred to the described 4th
Six degree of freedom manipulator 240, the 4th six degree of freedom manipulator 240 are executed according to the tracks data and are handled sole spray
Hydrodynamic(al) is made, and when sole spray processing hydrodynamic(al) is made in the 4th six degree of freedom manipulator 240 execution, the 4th spray gun 241 is even
Speed sprays processing water；
4th step dries the processing water on sole and vamp：Second conveyer belt 20 drives sole to move to second
Processing is dried in the right processing water dry place of baking oven 160；First conveyer belt 10 drives vamp to move to the second baking oven 160
Processing is dried in left processing water dry place；
5th step carries out glue spraying to the glued area of sole and vamp：The controller is on the one hand according to the X-axis side of vamp
To running fix data parameters, calculate vamp enter the first glue spraying executing agency 17 working region time, when vamp into
Enter the working region of the first glue spraying executing agency 17, stop the first drive component 11, and the controller another aspect according to
Above-mentioned threedimensional model, calculates the three-dimensional spatial information of vamp spraying area, and generates the first six degree of freedom manipulator 170
Tracks data are simultaneously transferred to the first six degree of freedom manipulator 170, and the first six degree of freedom manipulator 170 is according to this
Tracks data, which execute, acts vamp gluing, executes in the first six degree of freedom manipulator 170 and is acted to vamp gluing
When, first spray gun 171 at the uniform velocity sprays glue；At the same time, the controller is on the one hand according to the shifting of the X-direction of sole
Dynamic location data parameter calculates the time that sole enters the working region of the second glue spraying executing agency 26, when sole enters second
The working region of glue spraying executing agency 26 stops the second drive component 21, and the controller is on the other hand according to above-mentioned shoes
The Y direction at bottom and the running fix data parameters of Z-direction, calculate the two-dimensional space information of sole spraying area, and generate
The tracks data of the third six degree of freedom manipulator 260 are simultaneously transferred to the third six degree of freedom manipulator 260, described
Third six degree of freedom manipulator 260 is executed according to the tracks data and is acted to sole gluing, in the third six degree of freedom
When the execution of manipulator 260 acts sole gluing, the third spray gun 261 at the uniform velocity sprays glue；
6th step dries the glue on sole and vamp：Second conveyer belt 20 drives sole to move to the first baking
Processing is dried in the right glue dries space of case 180；First conveyer belt 10 drive vamp moves to the left glue of the first baking oven 180
Processing is dried in water dry place；
7th step be manually pressed together making two in the exit of the first conveyer belt 10 and the second transmission belt to sole and vamp
Person's good bond, etc. the glue of the two junction be fully cured and the shoes of forming can be detached from from shoe tree, to complete
The making of pairs of footwear.
Embodiment two
With reference to Fig. 4 and Fig. 5.The present embodiment and the embodiment of embodiment one are substantially the same, the difference is that：This reality
It includes vamp scanning element 140, image processing unit 141, data capture unit 142 to apply the 3-D scanning mechanism 14 in example
And model generation unit 143, the vamp scanning element 140 for shoot vamp top side image, vamp left-side images and
Vamp image right comprising one is set to the imperial portal trestle 144 at the vamp scan position on the first conveyer belt 10, the dragon
There are two the first cameras 145 for the top installing of portal trestle 144, and there are two second camera 146, lower rights for lower left installing
There are two third camera 147, two first cameras 145 to be directed at vamp top side and to being applied to acquisition two for installing
The top side image of a vamp；Two second cameras 146 are aligned on the left of vamp and to being applied to acquire two vamps
Left-side images；Two third cameras 147 are aligned on the right side of vamp and to the right side applied to two vamps of acquisition
Image；The Enable Pin of described image processing unit 141 is connected to first camera 145, second camera 146 and third
The output end of camera 147, and the image processing unit 141 to the top side image of collected two vamps for carrying out school
Just and it is spliced into complete vamp top side image, the left-side images of collected two vamps are corrected and be spliced into and is complete
Vamp left-side images, the image right of collected two vamps is corrected and is spliced into complete vamp right part of flg
Picture；The Enable Pin of the data capture unit 142 is connected with the output end of described image processing unit 141, and the data
Acquiring unit 142 is used for using edge detection algorithm to the complete vamp top side image after image procossing, vamp left-side images
And vamp image right carries out edge detection, and obtain the contour edge coordinate on the right side of vamp top side, vamp left side and vamp
As three dimensional point cloud；The Enable Pin of the model generation unit 143 is connected with the output end of the data capture unit 142
It connects, and the model generation unit 143 is used to, according to above-mentioned three dimensional point cloud, in conjunction with the vamp master pattern of preservation, call
Profile bounding algorithm generates vamp threedimensional model and is transferred to the controller, and the controller is used for according to above-mentioned three-dimensional mould
Type, calculates the three-dimensional spatial information of vamp spraying area, and generates the tracks number of the first six degree of freedom manipulator 170
According to and be transferred to the first six degree of freedom manipulator 170, the first six degree of freedom manipulator 170 is according to the tracks number
Vamp gluing is acted according to executing.
The present embodiment is a kind of automated production method of footwear using process, thus below by this is discussed in detail
The automated production method of footwear is planted to be furtherd elucidate to the present embodiment.
Referring to Fig.1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5.A kind of automated production side of footwear using above-mentioned automatic production line
Method includes the following steps：
The pairing of the first step, sole and vamp and feeding prepare：Vamp attachment is fixed on shoe tree, and is prepared handy
The sole of Yu Yuqi pairings, sole and vamp is pre-positioned, and the positioning edge of the two draws contour line, then will
Sole as contact surface is positioned over using bottom on the second conveyer belt 20, and vamp and shoe tree are arranged by the pilot hole on shoe tree head
In the mounting bracket of the first conveyer belt 10；
Second step is scanned the glued area of sole and vamp：It is described that second conveyer belt 20 drives sole to move to
The working region of infrared scanning equipment, the infrared scanning equipment is by will be seen that light, high-energy light beam guiding, ultrasonic or X rays
It is projected on sole, borrows sole and sole is obtained to the reflex of visible light, high-energy light beam guiding, ultrasonic or X rays
Y direction and Z-direction running fix data parameters and be transported on controller, second drive component 21 provides shoes
The running fix data parameters of bottom X-direction are simultaneously transported on controller；Described in being moved to when the first conveyer belt 10 drive vamp
The working region of vamp scanning element, two first cameras 145 are directed at two shoes in vamp top side and corresponding acquisition
The top side image in face；Two second cameras 146 are aligned on the left of vamp and the left hand view of two vamps of corresponding acquisition
Picture；Two third cameras 147 are aligned on the right side of vamp and the image right of two vamps of corresponding acquisition, described image
Processing unit 141 is corrected the top side image of collected two vamps and is spliced into complete vamp top side image, right
The left-side images of collected two vamps are corrected and are spliced into complete vamp left-side images, to collected two shoes
The image right in face is corrected and is spliced into complete vamp image right；The data capture unit 142 is examined using edge
Method of determining and calculating carries out edge inspection to complete vamp top side image, vamp left-side images and the vamp image right after image procossing
Survey, and obtain vamp top side, the contour edge coordinate on the left of vamp and on the right side of vamp is as three dimensional point cloud, and the mould
Type generation unit 143 calls profile bounding algorithm to generate according to above-mentioned three dimensional point cloud in conjunction with the vamp master pattern of preservation
Vamp threedimensional model is simultaneously transferred to the controller, and first drive component 11 provides the running fix number of vamp X-direction
According to parameter and it is transported on controller；
Third walks, and spray processing water is carried out to the glued area of sole and vamp：The controller is on the one hand according to the X of vamp
The running fix data parameters of axis direction calculate the time that vamp enters the working region of the first processing watering mechanism 15, when
Vamp enters the working region of the first processing watering mechanism 15, stops the first drive component 11, and the controller is another
Aspect calculates the three-dimensional spatial information of vamp spraying area according to above-mentioned threedimensional model, and generates the second six degree of freedom machine
The tracks data of tool hand 150 are simultaneously transferred to the second six degree of freedom manipulator 150, the second six degree of freedom manipulator
150 execute according to the tracks data to vamp spray processing hydrodynamic(al) work, in the second six degree of freedom manipulator 150 execution pair
When vamp spray processing hydrodynamic(al) is made, second spray gun 151 at the uniform velocity sprays processing water；At the same time, the controller one side root
According to the running fix data parameters of the X-direction of sole, the working region that sole enters second processing watering mechanism 24 is calculated
Time stop the second drive component 21, and the control when sole enters the working region of second processing watering mechanism 24
On the other hand device processed according to the Y direction of above-mentioned sole and the running fix data parameters of Z-direction, calculates sole spraying area
Two-dimensional space information, and generate the tracks data of the 4th six degree of freedom manipulator 240 and be transferred to the described 4th
Six degree of freedom manipulator 240, the 4th six degree of freedom manipulator 240 are executed according to the tracks data and are handled sole spray
Hydrodynamic(al) is made, and when sole spray processing hydrodynamic(al) is made in the 4th six degree of freedom manipulator 240 execution, the 4th spray gun 241 is even
Speed sprays processing water；
4th step dries the processing water on sole and vamp：Second conveyer belt 20 drives sole to move to second
Processing is dried in the right processing water dry place of baking oven 160；First conveyer belt 10 drives vamp to move to the second baking oven 160
Processing is dried in left processing water dry place；
5th step carries out glue spraying to the glued area of sole and vamp：The controller is on the one hand according to the X-axis side of vamp
To running fix data parameters, calculate vamp enter the first glue spraying executing agency 17 working region time, when vamp into
Enter the working region of the first glue spraying executing agency 17, stop the first drive component 11, and the controller another aspect according to
Above-mentioned threedimensional model, calculates the three-dimensional spatial information of vamp spraying area, and generates the first six degree of freedom manipulator 170
Tracks data are simultaneously transferred to the first six degree of freedom manipulator 170, and the first six degree of freedom manipulator 170 is according to this
Tracks data, which execute, acts vamp gluing, executes in the first six degree of freedom manipulator 170 and is acted to vamp gluing
When, first spray gun 171 at the uniform velocity sprays glue；At the same time, the controller is on the one hand according to the shifting of the X-direction of sole
Dynamic location data parameter calculates the time that sole enters the working region of the second glue spraying executing agency 26, when sole enters second
The working region of glue spraying executing agency 26 stops the second drive component 21, and the controller is on the other hand according to above-mentioned shoes
The Y direction at bottom and the running fix data parameters of Z-direction, calculate the two-dimensional space information of sole spraying area, and generate
The tracks data of the third six degree of freedom manipulator 260 are simultaneously transferred to the third six degree of freedom manipulator 260, described
Third six degree of freedom manipulator 260 is executed according to the tracks data and is acted to sole gluing, in the third six degree of freedom
When the execution of manipulator 260 acts sole gluing, the third spray gun 261 at the uniform velocity sprays glue；
6th step dries the glue on sole and vamp：Second conveyer belt 20 drives sole to move to the first baking
Processing is dried in the right glue dries space of case 180；First conveyer belt 10 drive vamp moves to the left glue of the first baking oven 180
Processing is dried in water dry place；
7th step be manually pressed together making two in the exit of the first conveyer belt 10 and the second transmission belt to sole and vamp
Person's good bond, etc. the glue of the two junction be fully cured and the shoes of forming can be detached from from shoe tree, to complete
The making of pairs of footwear.
In the present invention, can be met as 3-D scanning mechanism 14 using non-contact 3-D scanner in embodiment one
The demand of the quick glue spraying processing of vamp, data processing block, action judges and control is accurate, but equipment manufacturing cost is relatively
It is high.And the 3-D scanning mechanism 14 in the present embodiment is two the first cameras using the top in vamp scanning element 140
145, two second cameras 146 of lower left, two third cameras 147 of lower right dress pass through above six cameras
It takes pictures within the same time six pictures, and is analyzed by computer software, thus 3-D scanning mechanism 14 can be reduced
Production cost, and can ensure certain precision, especially ensure the accurate of each position parameter of vamp spraying area
Under the premise of degree, sweep time can be greatly reduced.
Image processing unit 141, data capture unit 142 and model generation unit 143 in the present embodiment pass through it
Between interaction six pictures that each camera in picture sweep unit 140 obtains are handled after produce three-dimensional point cloud number
According to principle can use for reference Chinese invention patent（Application number：201010298713.2 Authorization Notice No.：CN102034264B）Institute
The mode of " profile bounding algorithm is called to generate the threedimensional model when front foot portion " for disclosing or the mode of other data processings,
It may be implemented to generate vamp threedimensional model completely with upper type, thus no longer it described in detail herein.
The specific implementation mode of the present invention is above are only, but the design concept of the present invention is not limited thereto, it is all to utilize this
Conceive the change for carrying out unsubstantiality to the present invention, the behavior for invading the scope of the present invention should all be belonged to.
Claims (6)
1. a kind of automated production method of footwear, which is characterized in that be respectively completed using a footwear automatic production line following
Step：A, the pairing of sole and vamp and feeding prepare；B, the glued area of sole and vamp is scanned；C, to sole and
The glued area of vamp carries out spray processing water；D, the processing water on sole and vamp is dried；E, to sole and vamp
Glued area carries out glue spraying；F, the glue on sole and vamp is dried；G, sole and vamp are manually pressed together；
The footwear automatic production line includes a vamp automatic gluing device and a sole automatic gluing device, the vamp
Automatic gluing device includes one first conveyer belt, first conveyer belt is driven to carry out the first drive component and the of uniform motion
One automation glue spraying control assembly, it is described first automation glue spraying control assembly include be located at first conveyer belt above and
Adjacent 3-D scanning mechanism, the first processing watering mechanism, the first processing water drying mechanism, the first glue spraying executing agency successively
And the first drying adhesive mechanism, first glue spraying executing agency includes that an Enable Pin is connect with the 3-D scanning mechanism
The the first six degree of freedom manipulator and one that controller, one connect with the controller output end are installed on the first six degree of freedom machine
The first spray gun on tool hand arm, when the first six degree of freedom manipulator execution acts vamp gluing, first spray
Rifle at the uniform velocity sprays glue；
The 3-D scanning mechanism includes that vamp scanning element, image processing unit, data capture unit and model generate list
Member, the vamp scanning element is for shooting vamp top side image, vamp left-side images and vamp image right comprising one
The imperial portal trestle being set at the vamp scan position on the first conveyer belt, there are two for the top installing of the dragon portal trestle
One camera, there are two second cameras for lower left installing, and there are two third cameras for lower right installing, and two described first are taken the photograph
As head is directed at vamp top side and to the top side image applied to two vamps of acquisition；Two second cameras are aligned
On the left of vamp and to the left-side images applied to two vamps of acquisition；Two third cameras are aligned on the right side of vamp simultaneously
And to the image right applied to two vamps of acquisition；The Enable Pin of described image processing unit is connected to first camera shooting
The output end of head, second camera and third camera, and the image processing unit is used for collected two vamps
Top side image be corrected and be spliced into complete vamp top side image, the left-side images of collected two vamps are carried out
Complete vamp left-side images are corrected and be spliced into, the image right of collected two vamps is corrected and has been spliced into
Whole vamp image right；The Enable Pin of the data capture unit is connected with the output end of described image processing unit, and
And the data capture unit is used for using edge detection algorithm to the complete vamp top side image after image procossing, vamp left side
Image and vamp image right carry out edge detection, and obtain the contour edge on the right side of vamp top side, vamp left side and vamp
Coordinate is as three dimensional point cloud；The Enable Pin of the model generation unit is connected with the output end of the data capture unit
It connects, and the model generation unit is used to, according to above-mentioned three dimensional point cloud, in conjunction with the vamp master pattern of preservation, call profile
Bounding algorithm generates vamp threedimensional model and is transferred to the controller, and the controller is used for according to above-mentioned threedimensional model, meter
The three-dimensional spatial information of vamp spraying area is calculated, and generates the tracks data of the first six degree of freedom manipulator and transmits
To the first six degree of freedom manipulator, the first six degree of freedom manipulator is executed according to the tracks data on vamp
Glue acts；
The sole automatic gluing device includes one second conveyer belt, drives the second of second conveyer belt progress uniform motion to drive
Dynamic component and the second automation glue spraying control assembly, the second automation glue spraying control assembly include being located at described second to pass
Send infrared scanning equipment adjacent with top and successively, second processing watering mechanism, second processing water drying mechanism, second
Glue spraying executing agency and the second drying adhesive mechanism, second glue spraying executing agency include that an Enable Pin infrared is swept with described
It retouches the controller of equipment connection, a third six degree of freedom manipulator being connect with the controller output end and one is installed on
Third spray gun on the third six degree of freedom manipulator arm is executed to glue sole and be moved in the third six degree of freedom manipulator
When making, the third spray gun at the uniform velocity sprays glue；
The vamp automatic gluing device and sole automatic gluing device are elongated, and abut cloth in the direction of the width
Set, the entrance of first conveyer belt and it is described second transmission entrance mutually converge, the outlet of first conveyer belt with it is described
It mutually converges the outlet of second conveyer belt；
It is described first processing watering mechanism include a second six degree of freedom manipulator being connect with the controller output end and
One is installed on the second spray gun on the second six degree of freedom manipulator arm, is executed to shoes in the second six degree of freedom manipulator
When face spray processing hydrodynamic(al) is made, second spray gun at the uniform velocity sprays processing water；
The second processing watering mechanism include a 4th six degree of freedom manipulator being connect with the controller output end and
One is installed on the 4th spray gun on the 4th six degree of freedom manipulator arm, is executed to shoes in the 4th six degree of freedom manipulator
When bottom spray processing hydrodynamic(al) is made, the 4th spray gun at the uniform velocity sprays processing water；
The step b includes, and the second conveyer belt drives sole to move to the working region of the infrared scanning equipment, this is infrared to sweep
Equipment being retouched by will be seen that light, high-energy light beam guiding, ultrasonic or X-ray are projected on sole, borrowing sole to visible light, high energy
The reflex of light beam, ultrasonic or X-ray obtains the Y direction of sole and the running fix data parameters of Z-direction
And be transported on controller, second drive component provides the running fix data parameters of sole X-direction and is transported to control
On device processed；When the first conveyer belt drives vamp to move to the working region of the vamp scanning element, two described first image
Head is directed at the top side image of two vamps in vamp top side and corresponding acquisition；Two second cameras are directed at a vamp left side
The left-side images of two vamps in side and corresponding acquisition；Two third cameras are aligned on the right side of vamp and corresponding acquisition
The image right of two vamps, described image processing unit are corrected and splice to the top side image of collected two vamps
At complete vamp top side image, the left-side images of collected two vamps are corrected and are spliced into a complete vamp left side
Side image is corrected the image right of collected two vamps and is spliced into complete vamp image right；The number
According to acquiring unit using edge detection algorithm to complete vamp top side image, vamp left-side images and the shoes after image procossing
Right side of face image carries out edge detection, and obtains the contour edge coordinate on the right side of vamp top side, vamp left side and vamp as three
Point cloud data is tieed up, and the model generation unit is adjusted according to above-mentioned three dimensional point cloud in conjunction with the vamp master pattern of preservation
Vamp threedimensional model is generated with profile bounding algorithm and is transferred to the controller, and first drive component provides vamp X-axis
The running fix data parameters in direction are simultaneously transported on controller；
The step c includes on the one hand the controller according to the running fix data parameters of the X-direction of vamp, calculates shoes
Face enters the time of the working region of the first processing watering mechanism, when vamp enters the workspace of the first processing watering mechanism
Domain stops the first drive component, and the controller calculates vamp spraying area on the other hand according to above-mentioned threedimensional model
Three-dimensional spatial information, and generate the tracks data of the second six degree of freedom manipulator and be transferred to the described 2nd 6 freely
Manipulator is spent, the second six degree of freedom manipulator is executed according to the tracks data sprays processing hydrodynamic(al) work to vamp, in institute
State the second six degree of freedom manipulator execute to vamp spray processing hydrodynamic(al) make when, second spray gun at the uniform velocity sprays handles water；With this
Meanwhile the controller calculates sole and enters second processing on the one hand according to the running fix data parameters of the X-direction of sole
The time of the working region of watering mechanism, when sole enters the working region of second processing watering mechanism, stopping second being driven
Dynamic component, and on the other hand the controller is joined according to the running fix data of the Y direction of above-mentioned sole and Z-direction
Number, calculates the two-dimensional space information of sole spraying area, and generates the tracks data of the 4th six degree of freedom manipulator
And it is transferred to the 4th six degree of freedom manipulator, the 4th six degree of freedom manipulator is according to tracks data execution pair
Sole spray processing hydrodynamic(al) is made, when sole spray processing hydrodynamic(al) is made in the 4th six degree of freedom manipulator execution, the 4th spray
Rifle at the uniform velocity sprays processing water；
The step e includes on the one hand the controller according to the running fix data parameters of the X-direction of vamp, calculates shoes
Face enter the first glue spraying executing agency working region time, when vamp enter the first glue spraying executing agency working region,
Stop the first drive component, and the controller calculates the three of vamp spraying area on the other hand according to above-mentioned threedimensional model
Dimension space information, and generate the tracks data of the first six degree of freedom manipulator and be transferred to first six degree of freedom
Manipulator, the first six degree of freedom manipulator is executed according to the tracks data and is acted to vamp gluing, described first
When the execution of six degree of freedom manipulator acts vamp gluing, first spray gun at the uniform velocity sprays glue；At the same time, the control
On the one hand device according to the running fix data parameters of the X-direction of sole, calculates the work that sole enters the second glue spraying executing agency
The time for making region, when sole enters the working region of the second glue spraying executing agency, the second drive component of stopping, and the control
On the other hand device processed according to the Y direction of above-mentioned sole and the running fix data parameters of Z-direction, calculates sole spraying area
Two-dimensional space information, and generate the tracks data of the third six degree of freedom manipulator and be transferred to the described 3rd 6 from
By degree manipulator, the third six degree of freedom manipulator is executed according to the tracks data and is acted to sole gluing, described
When the execution of third six degree of freedom manipulator acts sole gluing, the third spray gun at the uniform velocity sprays glue.
2. a kind of automated production method of footwear as described in claim 1, which is characterized in that the step a includes：By vamp
Attachment is fixed on shoe tree, and is ready for the sole matched with it, and sole and vamp are pre-positioned, and secondly
The positioning edge of person draws contour line, then as contact surface is positioned over sole on the second conveyer belt using bottom, by vamp and
Shoe tree is set in by the pilot hole on shoe tree head in the mounting bracket of the first conveyer belt.
3. a kind of automated production method of footwear as described in claim 1, which is characterized in that the step d includes：Second passes
It send and processing is dried with the right processing water dry place for driving sole to move to the second baking oven；First conveyer belt drives vamp fortune
Processing is dried in the left processing water dry place moved to the second baking oven.
4. a kind of automated production method of footwear as described in claim 1, which is characterized in that the step f includes：Second passes
It send and processing is dried with the right glue dries space for driving sole to move to the first baking oven；First conveyer belt drives vamp movement
Processing is dried to the left glue dries space of the first baking oven.
5. a kind of automated production method of footwear as described in claim 1, which is characterized in that the step g includes：First
The exit of conveyer belt and the second transmission belt, which to sole and vamp be manually pressed together, both makes good bond, etc. the two combine
The glue at place, which is fully cured, to be detached from the shoes of forming from shoe tree, to complete the making to footwear.
6. a kind of automated production method of footwear as described in claim 1, it is characterised in that：Include one first baking oven and
One second baking oven, first baking oven are separated into left glue dries space and right glue dries space by a first partition, and first
Drying adhesive mechanism is the left glue dries space, and the second drying adhesive mechanism is the right glue dries space, and described first dries
Tank wall face offers the left entry/left outlet for penetrating/being pierced by left glue dries space for the first conveyer belt, the first baking oven wall
Face offers the right entry/right outlet for penetrating/being pierced by right glue dries space for the second conveyer belt, and second baking oven passes through one
Second partition is separated into left processing water dry place and right processing water dry place, and the first processing water drying mechanism is the left processing
Water dry place, second processing water drying mechanism are the right processing water dry place, and the second baking oven wall surface is offered for the
One conveyer belt penetrates/is pierced by left entry/left outlet of left processing water dry place, and the second baking oven wall surface is offered for second
Conveyer belt penetrates/is pierced by right entry/right outlet of right processing water dry place.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610197952.6A CN105747384B (en) | 2014-07-31 | 2014-07-31 | A kind of automated production method of footwear |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410372067.8A CN104161355A (en) | 2014-07-31 | 2014-07-31 | Automatic manufacturing method and automatic production line for shoes |
| CN201610197952.6A CN105747384B (en) | 2014-07-31 | 2014-07-31 | A kind of automated production method of footwear |
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| CN201410372067.8A Division CN104161355A (en) | 2014-07-31 | 2014-07-31 | Automatic manufacturing method and automatic production line for shoes |
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| CN105747384B true CN105747384B (en) | 2018-10-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106142829B (en) * | 2016-08-31 | 2018-08-10 | 黑金刚（福建）自动化科技股份公司 | A kind of improved vamp printing equipment |
| CN106183391B (en) * | 2016-08-31 | 2018-08-14 | 黑金刚（福建）自动化科技股份公司 | A kind of energy-efficient vamp printing equipment |
| CN106183375B (en) * | 2016-08-31 | 2019-10-01 | 黑金刚（福建）自动化科技股份公司 | A kind of vamp printing equipment of stereo circulating |
| CN107432527A (en) * | 2017-08-30 | 2017-12-05 | 成都南红鞋业有限公司 | A kind of manufacturing method of shoes |
| CN107822269B (en) * | 2017-11-22 | 2023-09-05 | 广东意华鞋业科技研究院有限公司 | Shoemaking production line |
| CN108185584B (en) * | 2017-12-28 | 2020-03-06 | 重庆市惠美实业有限公司 | Automatic rubber coating device of sole |
| CN113095337A (en) * | 2021-04-23 | 2021-07-09 | 知守科技(杭州)有限公司 | Multicolor sole target extraction method, device and system and electronic device |
| DE102021205536A1 (en) | 2021-05-31 | 2022-12-01 | Adidas Ag | Process for applying materials to shoes |
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|---|---|---|---|---|
| CN101161151A (en) * | 2007-11-08 | 2008-04-16 | 浙江理工大学 | Method and system for automatic generating shoe sole photopolymer coating track based on linear structure optical sensor |
| CN102920112A (en) * | 2012-10-29 | 2013-02-13 | 东莞市意利自动化科技有限公司 | Glue-spraying track generation system for shoe outsole |
| CN202907979U (en) * | 2012-10-29 | 2013-05-01 | 东莞市意利自动化科技有限公司 | Visual scanning system for shoe outsole |
| CN203341116U (en) * | 2013-06-17 | 2013-12-18 | 廖瑞平 | Cement shoe automatic production line structure |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101161151A (en) * | 2007-11-08 | 2008-04-16 | 浙江理工大学 | Method and system for automatic generating shoe sole photopolymer coating track based on linear structure optical sensor |
| CN102920112A (en) * | 2012-10-29 | 2013-02-13 | 东莞市意利自动化科技有限公司 | Glue-spraying track generation system for shoe outsole |
| CN202907979U (en) * | 2012-10-29 | 2013-05-01 | 东莞市意利自动化科技有限公司 | Visual scanning system for shoe outsole |
| CN203341116U (en) * | 2013-06-17 | 2013-12-18 | 廖瑞平 | Cement shoe automatic production line structure |
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