CN107969764A - Footwear piece vision-based detection proofreads ironing device and its launder method - Google Patents
Footwear piece vision-based detection proofreads ironing device and its launder method Download PDFInfo
- Publication number
- CN107969764A CN107969764A CN201711374349.1A CN201711374349A CN107969764A CN 107969764 A CN107969764 A CN 107969764A CN 201711374349 A CN201711374349 A CN 201711374349A CN 107969764 A CN107969764 A CN 107969764A
- Authority
- CN
- China
- Prior art keywords
- footwear piece
- manipulator
- footwear
- based detection
- vision
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D11/00—Machines for preliminary treatment or assembling of upper-parts, counters, or insoles on their lasts preparatory to the pulling-over or lasting operations; Applying or removing protective coverings
- A43D11/12—Machines for forming the toe part or heel part of shoes, with or without use of heat
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D119/00—Driving or controlling mechanisms of shoe machines; Frames for shoe machines
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- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
Abstract
A kind of footwear piece vision-based detection check and correction ironing device of present invention offer, including scald bed, be arranged on the air extractor connected below boiling hot bed and with the through hole, be arranged on the First look detector lens shot above boiling hot bed for the footwear piece being pointed in flatiron area, the first manipulator moved freely, the steam heater being arranged on first manipulator and the controller being controlled according to the output result of the First look detector lens to the air extractor, the first manipulator and steam heater above bed can scalded.Flatiron area is provided with the boiling hot bed, presses and is formed through hole in area.The present invention shoots footwear piece using vision-based detection camera lens, and footwear piece is pressed according to the image control manipulator and steam heater that photograph, and ironing efficiency is high, reduces disqualification rate, reduces the waste of material.
Description
Technical field
The present invention relates to shoe-making field, more particularly to a kind of footwear piece vision-based detection check and correction ironing device and its launder method.
Background technology
Opanken is subject to consumer to like because its gas permeability is good, good to foot's encapsulation, cost is low, market demand
It is increasing.Sizing to opanken footwear piece at present is that footwear piece is heated using steam, shrinks the thermosol silk in it fixed
Type, current method are manual operations.Worker needs to heat footwear piece with electric iron, during which needs in real time with being printed on footwear piece
Standard-sized film is contrasted, it is ensured that footwear plate shape and center pattern size meet Shoes Factory's requirement, it is therefore desirable to frequently
Footwear piece is touched with hand and footwear piece is fixed with more pieces of fixed pins.Since footwear piece is very boiling hot at this time, it is careful that operation needs,
Prevent hand from scalding.In concrete operations, it is difficult to carry out accurately control to the shape for shrinking sizing, it is necessary to be carried out with film anti-
Compound ratio is to adjustment, therefore efficiency is very low.After the completion of launder worker's launder, it is also necessary to there is special check and correction worker to carry out final school
Right, cost of labor is higher.
The content of the invention
Efficiently accurately boiling hot to the progress steam spray of footwear piece it can shape and regard in real time in view of the above-mentioned problems, the present invention provides one kind
Feel the footwear piece vision-based detection check and correction ironing device of detection check and correction.
A kind of footwear piece vision-based detection proofreads ironing device, including：For carrying the boiling hot bed of footwear piece, it is provided with the boiling hot bed
Area is pressed, presses and is formed through hole in area；It is arranged on the air extractor connected below boiling hot bed and with the through hole；It is arranged on
Scald the First look detector lens that the footwear piece above bed, for being pointed in flatiron area is shot；It can scald above bed freely
The first mobile manipulator；The steam heater being arranged on first manipulator；And examined according to the First look
Survey the controller that the output result of camera lens is controlled the air extractor, the first manipulator and steam heater.
As a kind of embodiment, the steam heater includes multiple steam jets, the multiple steam jet root
Be divided at least two groups according to jet size, according to its perpendicular to it is described flatiron area surface when distance flatiron area surface height be divided into
Few two groups.
As a kind of embodiment, the First look detector lens are fixed on the first manipulator.
As a kind of embodiment, a cavity is set under the boiling hot bed, is provided with the cavity bottom or close bottom
Discharge outlet, the through hole in the flatiron area are communicated with cavity.
As a kind of embodiment, footwear piece vision-based detection check and correction ironing device is further included for footwear piece to be sent to
Scald bed flatiron area transmission device, the transmission device include be arranged on the boiling hot bed be used for transmit and fix footwear piece
Pinch roller.
As a kind of embodiment, footwear piece vision-based detection check and correction ironing device, which further includes, to scald above bed freely
The second mobile manipulator, second manipulator is electrically connected with the controller, detachably connectable thereon to be useful for footwear
The contact pin that piece is fixed.
As a kind of embodiment, the second vision-based detection camera lens is additionally provided with second manipulator；The First look
Detector lens are fixed on the first manipulator.
A kind of launder method of above-mentioned footwear piece vision-based detection check and correction ironing device, including step：Step 1, footwear piece is put
In the flatiron area of the boiling hot bed；Step 2, negative pressure is formed using the air extractor at the through hole in the flatiron area so that
Footwear piece adsorbed, it is not easily shifted in flatiron area to be close to；Step 3, claps footwear piece using the First look detector lens
Take the photograph；
Step 4, parses the image that step 3 photographs；Step 5, the first manipulator and steaming are controlled according to analysis result
Vapour heating unit presses footwear piece；And step 6, First look detector lens pair are utilized while step 5 is performed
Footwear piece is shot, and according to the adjustment of the output image of First look detector lens to the first manipulator and steam heater
Control；When the periphery of footwear piece or the predeterminable area in it have been contracted to default size, terminate flatiron.
Preferably, in step 6, in the middle part of the footwear piece woth no need to especially shape pattern when, when the periphery of footwear piece be contracted to it is pre-
If during size, terminate flatiron；During the pattern especially shaped when footwear piece middle part is in need, step 7 is performed：At the edge of the pattern
When being contracted to default size, fixed using edge contact pin of one second manipulator in the pattern, continue with steam heating dress
Put and pressed, until the periphery of footwear piece is contracted to default size.
As a kind of embodiment, during step 5 performs, the second manipulator or one the 3rd manipulator of utilization will
Footwear piece, which is picked up and performed, gets rid of throwing work.
The present invention heats footwear piece using manipulator control steam heater, the pyrocondensation of footwear piece is shaped, while profit
Footwear piece is shot with vision-based detection camera lens, can be adjusted in real time according to detection image height and the angle of steam heater with
At least one of and in the humidity of output steam, how many and temperature, footwear piece is heated targeted specifically, is shaped into its contraction
Default shape.The degree of automation of the present invention is high, can effectively improve the efficiency of footwear piece thermal finalization, reduce manpower and time into
This, reduces disqualification rate, reduces the waste of material.
Brief description of the drawings
Fig. 1 is the structure diagram of footwear piece vision-based detection check and correction ironing device in one embodiment of the invention.
Embodiment
The technology contents of the present invention are understood for convenience of those skilled in the art, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail.
As shown in Figure 1, in an embodiment, footwear piece vision-based detection of the invention check and correction ironing device mainly includes being used to carry
The boiling hot bed 9 of footwear piece 8, the controller being fixed on boiling hot bed 9（It is not shown）, transmission device, can scald be moved freely above bed the
One manipulator 1 and the second manipulator 2.
Wherein, transmission device is used to for footwear piece to be ironed to be sent to presumptive area on boiling hot bed 9, it may include conveyer belt and matches somebody with somebody
The roller combination of set.In Fig. 1, the pinch roller 3 for being used to transmit and fix footwear piece being arranged on boiling hot bed is illustrate only, eliminates transmission
Band and other roller devices.It should be understood that transmission device is alternatively manipulator, is taken out and treated directly from hopper using manipulator
Flatiron footwear piece is placed on the presumptive area of boiling hot bed.In other embodiment, transmission device can be also omitted, will using manual type
Footwear piece is placed on the presumptive area of boiling hot bed.
Scald bed 9 to be used to carry footwear piece to be ironed, be provided with flatiron area, press multiple formed with what is arranged in length and breadth in area
Through hole 93.Scald 9 times one cavitys 91 of setting of bed and an air extractor 92.The top of cavity 91 is communicated with through hole 93, bottom or is leaned on
The side of nearly bottom has the discharge outlet of a connection drainpipe 94.Air extractor 92 is placed in cavity 91, during work can through
Negative pressure is formed at hole 93.When footwear piece is transferred into predeterminated position in flatiron area, air extractor is activated, the shape at through hole 93
Into negative pressure so that footwear piece adsorbed, it is not easily shifted in flatiron area to be close to.Meanwhile the excessive moisture of footwear on piece can be taken away, and
The excess steam in iron process is siphoned away in time, prevents steam from influencing visual detection equipment work.These unnecessary moisture and
Steam can be discharged or recycled from discharge outlet after cooling in cavity 91.
First manipulator 1 include more piece can rotate against with curved arm 10, further include and be connected to 10 end of arm
Operation portion 10 '.First manipulator 1 can move above boiling hot bed 9 on vertically and horizontally under the control of the controller,
So as to make its operation portion rest on the optional position for pressing area of boiling hot bed.The operation portion 10 ' of first manipulator 1, which is equipped with, to be used for
The steam heater 11 of heat-shaping and the First look detector lens for footwear piece implement shooting are carried out to footwear piece
12。
Steam heater 11 includes multiple steam jets, these steam jets with a not shown steam generator phase
Even.Steam generator may be provided at below boiling hot bed or be fixed on 1 side of the first manipulator, and steam is sent to steam by conduit and sprays
Mouth.These steam jets can be divided into large, medium and small three groups according to jet size, meanwhile, according to nozzle pressing perpendicular to boiling hot bed 9
The height on distance flatiron area surface can also be divided into three groups when scalding area surface.Multiple steam jets can be rotatable by a rotating mechanism
It is fixed on the first manipulator, can be also fixed on by other existing transformational structures on the first manipulator, so that controller can root
According to needing to press footwear piece using corresponding nozzle.In other embodiment, also multiple nozzles can be arranged on one together
On stationary plane, and the nozzle for setting different switch control to use.So as to during flatiron, it can be achieved that in footwear on piece
Diverse location, different height, different angle have carried out control（It is the temperature of steam, how many, or even humidity is controllable）Steam spray
Scald.In other embodiment, the number amount and type of nozzle can be selected according to the actual requirements, be not limited to the quantity and class of the present embodiment
Type.
First look detector lens 12 in real time can shoot footwear piece, and controller is shot according to First look detector lens
The image arrived, extracts footwear piece information, is compared with the pre-set image to prestore or the footwear sheet data to prestore, whether to determine footwear piece
Requirement is reached.When footwear piece also not up to requires, after controller further determines that the first manipulator and steam heater 11
Continuous ironing position and ironing parameters so that the modular shapes of footwear piece finally meet product standard, disposable to complete launder flow.
In the present embodiment, First look detector lens 12 are fixed on the first manipulator 1, are moved with steam jet, in real time
Footwear picture is transmitted to controller.In other embodiment, First look detector lens 12 can be fixed on a stent, to lower section
Shooting is fixed in region, namely the flatiron area of boiling hot bed.In other embodiment, First look detector lens can pass through guide rail and liter
Falling unit is fixed on a stent so that First look detector lens 12 can be translated or moved up and down above boiling hot bed 9.
Because many footwear on pieces knit out different flower pattern, different weaving methods with the yarn of unlike material or color
And/or material causes the dimensional stability to heating in house of footwear on piece different zones different, it is necessary to carry out contact pin to specific region during flatiron
Positioning.For this reason, employ the second manipulator 2.The structure of second manipulator 2 is similar with 1 structure of the first manipulator, also can be in boiling hot bed
Top moves freely, its end is detachably connectable one or more accessories 21.In the present embodiment, which scalds to can be inserted into
The contact pin of through hole 93 on bed 9.In specifically used, first with the steam heater 11 on the first manipulator 1 mainly to footwear piece
Specific region pressed, when the size for detecting the specific region meets pre-set dimension, using the second manipulator 2 at this
Specific region edge contact pin, then proceedes to press footwear piece, until footwear piece monnolithic case reaches desired size.So, it can be ensured that
Footwear piece each several part meets the requirements.In addition, the second manipulator 2 can also configure the fixture for having the function of folder, pinching, in the first manipulator
During 1 flatiron, the fixture for have the function of folder using this, pinching is mobile or overturns or get rid of throwing footwear piece.There is the folder for pressing from both sides, pinching
Tool and contact pin can be connected on the second manipulator by controllable rotating mechanism, and controller is matched somebody with somebody using corresponding as needed
Part.It should be understood that the accessory of other functions also can be assembled on the second manipulator.In other embodiment, different accessories can group
On the manipulator different mounted in two to three, namely employ two or more manipulators and fix different match somebody with somebody to separate
Part, is realized multi-functional.
In the present embodiment, in order to accurately identify the border of the specific region where footwear on piece center pattern, also in the second machine
The end of tool hand 2 is provided with the second vision-based detection camera lens 22, the image that controller can be exported according to the second vision-based detection camera lens 22
Or the output image of the first and second vision-based detection camera lenses 12,22 of combination identifies the border of the specific region, to realize accurate insert
Pin.In other embodiment, the second vision-based detection camera lens 22 can omit, or be fixed on the stent above boiling hot bed, not with the second machine
The movement of tool hand and move.
To ensure that contact pin can be inserted into corresponding through hole 93, scalding infrared positioning apparatus can be set or other are existing below bed
Positioner, can also prestore 93 specific location parameter of through hole in the controller, to control contact pin to be accurately positioned.
In the present embodiment, the first manipulator and the second manipulator are placed in boiling hot 9 both sides of bed.In other embodiment, the first machine
Tool hand and the second manipulator may be provided at the same side of boiling hot bed.First manipulator and the second manipulator can be directly anchored to scald bedside
Edge, could be secured on a stent, be located above boiling hot bed on suitable position.
In the present embodiment, controller is according to the output image of First look detector lens to air extractor, the first manipulator
It is controlled with steam heater, the second manipulator and accessory 21 is carried out according to the output image of the second vision-based detection camera lens
Control.In other embodiment, controller can combine the output image of the first and second vision-based detection camera lenses to air extractor, first
Manipulator, steam heater, the second manipulator and accessory 21 carry out Comprehensive Control.
Hereinafter, be discussed in detail the present embodiment footwear piece vision-based detection check and correction ironing device launder method, specifically include with
Lower step：
Step 1, footwear piece is transmitted to the flatiron area of boiling hot bed using transmission device.
Step 2, forms negative pressure so that footwear piece is adsorbed, is close to and presses using air extractor at the through hole in flatiron area
Scald not easily shifted in area.
Step 3, shoots footwear piece using First look detector lens.
Step 4, parses the image that step 4 photographs, and obtains the parameter of current footwear piece（Namely footwear piece is carried out
Detection, positioning）, include but not limited to footwear piece peripheral shape, size, internal pattern boundary dimensions etc..Wherein, current footwear piece is obtained
Parameter method can be the image clapped is compared to obtain with pre-set image, can also be obtained by pixel analysis specifically
Dimensional parameters, then compare to obtain with the parameter that prestores.Controller determines the control plan to steam heater according to analysis result
Slightly.
Step 5, controls the corresponding steam jet of the steam heater on the first manipulator to press footwear piece.
Nozzle and its steam condition of output are specifically selected, includes but not limited to vapor (steam) temperature and humidity.In other embodiment, control
Device can only select nozzle.
Step 6 is right in real time using First look detector lens and the second vision-based detection camera lens while step 5 is performed
Footwear piece is shot, controller real time parsing First look detector lens and the second vision-based detection camera lens output image, adjustment pair
The control of first manipulator and steam heater.In the middle part of the footwear piece woth no need to especially shape pattern when, when the periphery of footwear piece
When being contracted to default size, terminate flatiron.During the pattern especially shaped when footwear piece middle part is in need, specific where the pattern
When the edge in region is contracted to default size, terminate flatiron.
Step 7, is fixed in above-mentioned specific region edge contact pin using the second manipulator, continues with steam heater
Pressed, until the periphery of footwear piece is contracted to default size, and the region fixed by contact pin will not further reduce.
In the present embodiment, when the second manipulator 2 also configures the fixture for having the function of to press from both sides, pinch, in the mistake that step 5 performs
Control the second manipulator that footwear piece is picked up and performed in journey and get rid of throwing work, to realize to the cooling of footwear piece, relaxation, it is ensured that sizing is accurately
Purpose.In other embodiment, one the 3rd manipulator can also be utilized to realize and get rid of throwing work, to realize to the cooling of footwear piece, relaxation,
Ensure accurate purpose of shaping.
The present invention heats footwear piece using manipulator control steam heater, the pyrocondensation of footwear piece is shaped, while profit
Footwear piece is shot with vision-based detection camera lens, the height and angle and defeated of steam heater can be adjusted according to shooting image
Go out in the humidity of steam, how many and temperature at least one of, the heating for footwear piece be directed to, is shaped into its contraction default
Shape.The degree of automation of the present invention is high, can effectively improve the efficiency of footwear piece thermal finalization, reduces manpower, reduces disqualification rate,
Reduce the waste of material.
It is the specific implementation of the present invention above, its description is more specific and detailed, but can not therefore be interpreted as
Limitation to the scope of the claims of the present invention.It should be pointed out that for those of ordinary skill in the art, this hair is not being departed from
On the premise of bright design, various modifications and improvements can be made, these obvious alternative forms belong to the present invention's
Protection domain.
Claims (10)
1. a kind of footwear piece vision-based detection proofreads ironing device, it is characterised in that including：
For carrying the boiling hot bed of footwear piece, flatiron area is provided with the boiling hot bed, presses and is formed through hole in area；
It is arranged on the air extractor connected below boiling hot bed and with the through hole；
It is arranged on above boiling hot bed, the First look detector lens that the footwear piece for being pointed in flatiron area is shot；
The first manipulator that can be moved freely above boiling hot bed；
The steam heater being arranged on first manipulator；And
According to the output result of the First look detector lens to the air extractor, the first manipulator and steam heater
The controller being controlled.
2. according to the footwear piece vision-based detection check and correction ironing device described in claim 1, it is characterised in that：The steam heater
Including multiple steam jets, the multiple steam jet is divided at least two groups according to jet size, is pressed according to it perpendicular to described
The height on distance flatiron area surface is divided at least two groups when scalding area surface.
3. according to the footwear piece vision-based detection check and correction ironing device described in claim 2, it is characterised in that：The First look detection
Camera lens is fixed on the first manipulator.
4. according to the footwear piece vision-based detection check and correction ironing device described in claim 1, it is characterised in that：One is set under the boiling hot bed
Discharge outlet is provided with cavity, the cavity bottom or close bottom, the through hole in the flatiron area is communicated with cavity.
5. according to the footwear piece vision-based detection check and correction ironing device described in claim 1, it is characterised in that：Further include and be used for footwear piece
The transmission device in the flatiron area of boiling hot bed is sent to, the transmission device includes being arranged on to be used to transmit and fix on the boiling hot bed
The pinch roller of footwear piece.
6. according to the footwear piece vision-based detection check and correction ironing device described in claim 1, it is characterised in that：Further including can be on bed be scalded
The second manipulator just moved freely, second manipulator is electrically connected with the controller, detachably connectable useful thereon
In the contact pin that footwear piece is fixed.
7. according to the footwear piece vision-based detection check and correction ironing device described in claim 6, it is characterised in that：On second manipulator
It is additionally provided with the second vision-based detection camera lens；The First look detector lens are fixed on the first manipulator.
A kind of 8. launder method of footwear piece vision-based detection check and correction ironing device as claimed in claim 1, it is characterised in that including
Step：
Footwear piece, is placed in the flatiron area of the boiling hot bed by step 1；
Step 2, forms negative pressure so that footwear piece is adsorbed, is close to using the air extractor at the through hole in the flatiron area
It is not easily shifted in flatiron area；
Step 3, shoots footwear piece using the First look detector lens；
Step 4, parses the image that step 3 photographs；
Step 5, controls the first manipulator and steam heater to press footwear piece according to analysis result；And
Step 6, shoots footwear piece using First look detector lens while step 5 is performed, and is regarded according to first
Feel that the output image of detector lens adjusts the control to the first manipulator and steam heater；When in the periphery of footwear piece or its
When predeterminable area has been contracted to default size, terminate flatiron.
9. according to the launder method described in claim 8, it is characterised in that in step 6, woth no need to especially fixed in the middle part of footwear piece
During the pattern of type, when the periphery of footwear piece is contracted to default size, terminate flatiron；The figure in need especially shaped in the middle part of footwear piece
During case, step 7 is performed：When default size is contracted at the edge of the pattern, using one second manipulator on the side of the pattern
Edge contact pin is fixed, and is continued with steam heater and is pressed, until the periphery of footwear piece is contracted to default size.
10. according to the launder method described in claim 8 or 9, it is characterised in that during step 5 performs, the second machine
Tool hand or using one the 3rd manipulator by footwear piece pick up and perform get rid of throwing make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711374349.1A CN107969764A (en) | 2017-12-19 | 2017-12-19 | Footwear piece vision-based detection proofreads ironing device and its launder method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711374349.1A CN107969764A (en) | 2017-12-19 | 2017-12-19 | Footwear piece vision-based detection proofreads ironing device and its launder method |
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| Publication Number | Publication Date |
|---|---|
| CN107969764A true CN107969764A (en) | 2018-05-01 |
Family
ID=62007039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711374349.1A Pending CN107969764A (en) | 2017-12-19 | 2017-12-19 | Footwear piece vision-based detection proofreads ironing device and its launder method |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0123173A2 (en) * | 1983-04-22 | 1984-10-31 | Giuseppe Anzani | Assembly line, particularly suited for the production of leather and similar goods |
| CN103496253A (en) * | 2013-09-29 | 2014-01-08 | 惠州市三协精密有限公司 | Automatic typesetting printing machine |
| CN104039192A (en) * | 2011-11-18 | 2014-09-10 | 耐克国际有限公司 | Automated manufacturing of shoe parts |
| CN105200165A (en) * | 2015-10-28 | 2015-12-30 | 湖州优创科技有限公司 | Shoe material leveling apparatus |
| CN105835504A (en) * | 2015-11-28 | 2016-08-10 | 宁波舒普机电股份有限公司 | Sewing material automatic bonding device |
| CN207604573U (en) * | 2017-12-19 | 2018-07-13 | 保丽信(惠州)织造有限公司 | Shoes piece vision-based detection proofreads ironing device |
-
2017
- 2017-12-19 CN CN201711374349.1A patent/CN107969764A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0123173A2 (en) * | 1983-04-22 | 1984-10-31 | Giuseppe Anzani | Assembly line, particularly suited for the production of leather and similar goods |
| CN104039192A (en) * | 2011-11-18 | 2014-09-10 | 耐克国际有限公司 | Automated manufacturing of shoe parts |
| CN103496253A (en) * | 2013-09-29 | 2014-01-08 | 惠州市三协精密有限公司 | Automatic typesetting printing machine |
| CN105200165A (en) * | 2015-10-28 | 2015-12-30 | 湖州优创科技有限公司 | Shoe material leveling apparatus |
| CN105835504A (en) * | 2015-11-28 | 2016-08-10 | 宁波舒普机电股份有限公司 | Sewing material automatic bonding device |
| CN207604573U (en) * | 2017-12-19 | 2018-07-13 | 保丽信(惠州)织造有限公司 | Shoes piece vision-based detection proofreads ironing device |
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