CN108078077A - The automatic production line of footwear - Google Patents
The automatic production line of footwear Download PDFInfo
- Publication number
- CN108078077A CN108078077A CN201711336988.9A CN201711336988A CN108078077A CN 108078077 A CN108078077 A CN 108078077A CN 201711336988 A CN201711336988 A CN 201711336988A CN 108078077 A CN108078077 A CN 108078077A
- Authority
- CN
- China
- Prior art keywords
- vamp
- degree
- freedom manipulator
- conveyer belt
- glue
- Prior art date
- 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.)
- Pending
Links
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
- A43D25/00—Devices for gluing shoe parts
- A43D25/20—Arrangements for activating or for accelerating setting of adhesives, e.g. by using heat
Landscapes
- Manipulator (AREA)
Abstract
The automatic production line of footwear, including a vamp automatic gluing device and a sole automatic gluing device, vamp automatic gluing device includes the first conveyer belt, first drive component and the first automation glue spraying control assembly, the first automation glue spraying control assembly includes being located at 3-D scanning mechanism adjacent above first conveyer belt and successively, first processing watering mechanism, first processing water drying mechanism, first glue spraying executing agency and the first drying adhesive mechanism, the first glue spraying executing agency includes the controller that Enable Pin is connected with the 3-D scanning mechanism, first six degree of freedom manipulator and the first spray gun being installed on the first six degree of freedom manipulator arm.The invention further relates to a kind of footwear automated production methods.The present invention can greatly reduce the wastage of glue and improve vamp glue spraying same effect, and then ensure to improve follow-up vamp and sole bonding firmness, improve the service life and quality of footwear.
Description
Technical field
The present invention relates to the special equipment that vamp and sole are combined, the automatic production line of footwear is referred in particular to.
Background technology
Spray-bonding craft is that recruitment is more during shoemaking, takes more process.The quality of the quality of glue spraying determines footwear
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, quality is unstable, 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 tackle more than problem, the applicant was had submitted to State Intellectual Property Office in portion on November 13rd, 2013
State's patent of invention (application number：201320717548.9 notification number：CN203523958U), more than patent notes one are based on
The technical solution of the glue spraying equipment of vision positioning, including supporting table, FE Glue Gun, the conveyer belt being installed in the supporting table, dress
Supporting rack in the supporting table, glue spraying equipment further include video camera, the X-axis of FE Glue Gun X-direction movement are driven to pass
Dynamic device, the Y-axis transmission for driving the movement of FE Glue Gun Y direction, the Z-axis transmission device for driving the movement of FE Glue Gun Z-direction
With the controller for controlling glue spraying equipment running, which is installed on supporting rack, controller respectively with video camera
Head, the connection of X-axis transmission device, Y-axis transmission, Z-axis transmission device.The present invention is by video camera, X-axis transmission device, Y-axis
Transmission device, Z-axis transmission device and controller constitute view-based access control model information to adjust the system of FE Glue Gun position.The system
FE Glue Gun is adjusted to the suitable position above conveyer belt, FE Glue Gun is allow accurately to carry out glue spraying to sole.Above-mentioned glue spraying is set
It can overcome that production efficiency existing for existing artificial glue spraying mode is low, quality is unstable and easy to a certain extent although standby
The problems such as personal injury is caused to worker, however also there are following shortcomings in the actual use process：1st, adopt
The inaccurate situation of positioning is susceptible to video camera, and can not be realized during glue spraying by the way of the transmission of three axis
The uniformity of each position sprayed glues amount substitutes artificial glue spraying and also has considerably long distance completely to reach；2nd, due to regarding
Frequency camera can only gather two dimensional image, if it is desired to utilize the three-dimensional wheel that in vamp spraying, can not be sprayed to vamp
Exterior feature is accurately positioned, so as to cause that can not be suitable for vamp glue spraying；3rd, not only work efficiency is low by the way of the transmission of three axis
Under, and error rate is high, additionally needs the unlatching for accurately controlling spray gun and closure, control mode it is considerably complicated, it is necessary to control
Equipment is costly.
The content of the invention
The present invention provides the automatic production line of footwear, and its main purpose is to overcome the existing positioning of existing glue spraying equipment
Inaccurate, glue spraying uniformity difference and the defects of vamp glue spraying can not be applied to.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
The automatic production line of footwear, it is described including a vamp automatic gluing device and a sole automatic gluing device
Vamp automatic gluing device include one first conveyer belt, drive first conveyer belt carry out uniform motion the first drive component with
And the first automation glue spraying control assembly, the first automation glue spraying control assembly include being located above first conveyer belt
And adjacent 3-D scanning mechanism, the first processing watering mechanism, the first processing water drying mechanism, the first glue spraying perform successively
Mechanism and the first drying adhesive mechanism, the first glue spraying executing agency include an Enable Pin and connect with the 3-D scanning mechanism
The controller that connects, a first six degree of freedom manipulator being connected with the controller output end and one are installed on the one or six freely
The first spray gun on manipulator arm is spent, when the first six degree of freedom manipulator execution acts vamp gluing, described the
One spray gun at the uniform velocity sprays glue.
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, the second glue spraying executing agency, which includes one, to be made
The controller, the 3rd six degree of freedom machine being connected with the controller output end that energy end is connected with the infrared scanning equipment
Tool hand and one the 3rd spray gun on the 3rd six degree of freedom manipulator arm is installed on, in the 3rd six degree of freedom manipulator
When execution acts sole gluing, the 3rd 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 the described 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 connected with the controller output end
Degree manipulator and one the second spray gun on the second six degree of freedom manipulator arm is installed on, 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 connected with the controller output end
Degree manipulator and one the 4th spray gun on the 4th six degree of freedom manipulator arm is installed on, 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, one first baking oven and one second baking oven are included, which is separated by a first partition
Into left glue dries space and right glue dries space, the first drying adhesive mechanism be 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.
Further, the 3-D scanning mechanism is non-contact 3-D scanner, which uses
In will be seen that light, high-energy light beam guiding, ultrasonic or X-ray be projected on vamp, vamp is borrowed to visible ray, high-energy light beam guiding, super
The reflex of sound wave or X-ray creates the cloud data of vamp geometric jacquard patterning unit surface and then generates threedimensional model and be transferred to institute
Controller is stated, the controller is used to, according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generates
The tracks data of the first six degree of freedom manipulator are simultaneously transferred to the first six degree of freedom manipulator, and the described 1st
Free degree manipulator performs according to the tracks data and vamp gluing is acted.
Further, the 3-D scanning mechanism include vamp scanning element, image processing unit, data capture unit with
And model generation unit, the vamp scanning element are used to shoot on the right side of vamp top side image, vamp left-side images and vamp
Image, the imperial portal trestle being arranged at including one at the vamp scan position on first conveyer belt, the top of the dragon portal trestle
Portion's installing is there are two the first camera, and there are two second camera, lower right is installed there are two the 3rd camera for lower left installing,
Two first cameras are directed at vamp top side and the top side image to being applied to gather two vamps；Two described
Two cameras are aligned on the left of vamp and the left-side images to being applied to gather two vamps；Two the 3rd cameras are equal
Alignment vamp right side and the image right to being applied to gather two vamps；The Enable Pin of described image processing unit is connected to
The output terminal of first camera, second camera and the 3rd camera, and the image processing unit is used for acquisition
To the top side images of two vamps be corrected and be spliced into complete vamp top side image, to two vamps collecting
Left-side images are corrected and are spliced into complete vamp left-side images, and the image right of two vamps to collecting carries out school
Just and it is spliced into complete vamp image right；The Enable Pin of the data capture unit and the output of described image processing unit
End is connected, and the data capture unit is used for using edge detection algorithm to the complete vamp top side figure after image procossing
Picture, vamp left-side images and vamp image right carry out edge detection, and obtain on the right side of vamp top side, vamp left side and vamp
Contour edge coordinate as three dimensional point cloud；The Enable Pin of the model generation unit is defeated with the data capture unit
Outlet is connected, and the model generation unit is used for according to above-mentioned three dimensional point cloud, with reference to the vamp master pattern of preservation,
It calls profile bounding algorithm generation vamp threedimensional model and is transferred to the controller, the controller is used for according to above-mentioned three-dimensional
Model, calculates the three-dimensional spatial information of vamp spraying area, and generates the tracks number of the first six degree of freedom manipulator
According to and be transferred to the first six degree of freedom manipulator, the first six degree of freedom manipulator is performed according to the tracks data
Vamp gluing is acted.
Compared to the prior art, the advantageous effect that the present invention generates is:
1st, the configuration of the present invention is simple, highly practical, by setting using 3-D scanning mechanism to be scanned to vamp, simultaneously
And the operation that the completion of the first spray gun glues vamp is controlled using the first six degree of freedom manipulator, since 3-D scanning obtains
What is taken not only includes 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 direction of principal axis 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 ensure to improve follow-up vamp and the secured journey of sole bonding
Degree improves the service life and quality of footwear.
2nd, in the present invention, include in the glue spraying method of vamp and sole and first carry out processing water spray, dry again, again
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.
3rd, 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 puts, sole and vamp on the one hand can be caused to enter simultaneously from same position, and also exported at same position, thus greatly
Ground facilitates the traffic control in production, and worker 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 degree the work efficiency in the unit interval greatly.
4th, 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 the 3rd 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,
Particularly on the premise of the accuracy of each position parameter of vamp spraying area is ensured, sweep time can be greatly reduced.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
The structure diagram at the A visual angles that Fig. 2 is Fig. 1.
The structure diagram at the B visual angles that Fig. 3 is Fig. 1.
Fig. 4 is the structure 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 embodiment
Illustrate the specific embodiment of the present invention with reference to the accompanying drawings.
Embodiment one
With reference to Fig. 1, Fig. 2 and Fig. 3.The automatic production line of footwear, including a vamp automatic gluing device 1 and a sole
Automatic gluing device 2, the vamp automatic gluing device 1 include one first conveyer belt 10, first conveyer belt 10 are driven to carry out
The first drive component 11 and the first automation glue spraying control assembly 13 of uniform motion, the first automation glue spraying control group
Part 13 includes being located at 10 top of the first conveyer belt and 3-D scanning mechanism 14, first adjacent successively handles water spray machine
Structure 15, first handles water drying mechanism 16, the first glue spraying executing agency 17 and the first drying adhesive mechanism 18, first spray
Glue executing agency 17 include an Enable Pin be connected with the 3-D scanning mechanism 14 controller, one and the controller output end company
The the first six degree of freedom manipulator 170 connect and one it is installed on the first spray gun on 170 arm of the first six degree of freedom manipulator
171, when the first six degree of freedom manipulator 170 performs and vamp gluing is acted, first spray gun 171 at the uniform velocity sprays glue
Water.The present embodiment is scanned vamp and utilizes the first six degree of freedom machine by setting using 3-D scanning mechanism 14
Tool hand 170 controls the first spray gun 171 to complete the operation glued to vamp, since what 3-D scanning obtained not only includes
Colouring information further includes range information, thus has three-dimensional by that can form specific threedimensional model after processing, and then generate
The tracks data of contour curve, and the first six degree of freedom manipulator 170 is that a kind of have along three rectangular axes of x, y, z
The robot device of the one-movement-freedom-degree in direction and rotational freedom around these three reference axis, provides according to controller noted above
Tracks data can imitate the first spray gun of action control 171 of artificial arms swing completely and move, at this time only need
It is set in the first six degree of freedom manipulator 170 to carry out opening the first spray gun 171 when swinging along movement locus, after completing movement locus
The first spray gun 171 is automatically closed, since 170 mass motion rate of the first six degree of freedom manipulator is consistent, and the first spray gun
It is also consistent that 171 glue, which sprays rate, thus can ensure that the glue quantity of each position spraying of vamp reaches unanimity, can be significantly
Ground reduces the wastage of glue and improves vamp glue spraying same effect, and then ensures to improve follow-up vamp and sole bonding jail
Gu degree improves the service life and quality of footwear.
With reference to Fig. 1, Fig. 2 and Fig. 3.The sole automatic gluing device 2 includes one second conveyer belt 20, drives second biography
Band 20 is sent to carry out the second drive component 21 and the second automation glue spraying control assembly 22 of uniform motion, second automation
Glue spraying control assembly 22 includes being located at 20 top of the second conveyer belt 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,
The second glue spraying executing agency 26 include an Enable Pin be connected with the infrared scanning equipment 23 the controller, one and this
3rd six degree of freedom manipulator 260 and one of controller output end connection is installed on 260 hand of the 3rd six degree of freedom manipulator
The 3rd spray gun 261 on arm, when the 3rd six degree of freedom manipulator 260 performs and sole gluing is acted, the 3rd 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 the described 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 footwear
Bottom automatic gluing device carries out left and right positioned adjacent, and sole and vamp on the one hand can be caused to enter simultaneously from same position, and
And also exported at same position, thus greatly facilitating the traffic control in production, worker need not often distribute in area again
To vamp and sole, you can directly carried out according to the vamp of upper and lower two layers discharging and sole it is adhesion-molded, can big degree
Improve the work efficiency in the unit interval.
With reference to Fig. 1, Fig. 2 and Fig. 3.What the first processing watering mechanism 15 was connected including one with the controller output end
Second six degree of freedom manipulator 150 and one the second spray gun 151 on 150 arm of the second six degree of freedom manipulator is installed on,
When the second six degree of freedom manipulator 150 performs and sprays processing hydrodynamic(al) to vamp and make, at second spray gun 151 at the uniform velocity ejection
Manage water.The second processing watering mechanism 24 includes a 4th six degree of freedom manipulator being connected with the controller output end
240 and one the 4th spray gun 241 on 240 arm of the 4th six degree of freedom manipulator is installed on, in the 4th six degree of freedom
Manipulator 240 perform to sole spray processing hydrodynamic(al) make when, the 4th spray gun 241 at the uniform velocity sprays handles 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.
With reference to Fig. 1, Fig. 2 and Fig. 3.As the preferable embodiment of the present invention, the present embodiment includes one first baking
180 and 1 second baking oven 160 of case, 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.
With reference 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 is for it will be seen that light, high-energy light beam guiding, ultrasonic or X-ray are projected to vamp, borrow vamp to be to visible ray, height
Can light beam, the reflex of ultrasonic or X-ray create the cloud data of vamp geometric jacquard patterning unit surface and then generate threedimensional model
And the controller is transferred to, the controller is used to calculate the three dimensions of vamp spraying area according to above-mentioned threedimensional model
Information, and generate the tracks data of the first six degree of freedom manipulator 170 and be transferred to the first six degree of freedom machine
Tool hand 170, the first six degree of freedom manipulator 170 perform according to the tracks data and vamp gluing are acted.This implementation
The demand of the quick glue spraying processing of vamp, data can be met as 3-D scanning mechanism using non-contact 3-D scanner
Process block, action judges and control is accurate, is conducive to further improve efficiency of the present invention in footwear production.
With reference to Fig. 1, Fig. 2 and Fig. 3.The use process of the present embodiment comprises 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 are pre-positioned, and the positioning edge of the two draws contour line, then will
Sole is positioned over using bottom on the second conveyer belt 20 as contact surface, 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 are penetrated
Line is projected on sole, borrows sole to the reflex of visible ray, high-energy light beam guiding, ultrasonic or X-ray to obtain sole
Y direction and Z-direction running fix data parameters and be transported on controller, second drive component 21 provides footwear
The running fix data parameters of bottom X-direction are simultaneously transported on controller；It is described non-that first conveyer belt 10 drives vamp to move to
The working region of contact-type 3 D scanner, the non-contact 3-D scanner by will be seen that light, high-energy light beam guiding, ultrasonic or
Person's X-ray is projected on vamp, borrows vamp to the reflex of visible ray, high-energy light beam guiding, ultrasonic or X-ray to create
It the cloud data of vamp geometric jacquard patterning unit surface and then generates threedimensional model and is transported on controller, first drive component 11 provides
The running fix data parameters of vamp X-direction are simultaneously transported on controller；
3rd step carries out the glued area of sole and vamp in spray processing water：The controller is on the one hand according to the X of vamp
The running fix data parameters of direction of principal axis calculate the time for the working region that vamp handles watering mechanism 15 into first, when
Vamp stops the first drive component 11, and the controller is another into the working region of the first processing watering mechanism 15
Aspect calculates the three-dimensional spatial information of vamp spraying area, and generates the second six degree of freedom machine according to above-mentioned threedimensional model
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 perform 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, when sole enters the working region of second processing watering mechanism 24, stop the second drive component 21, 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 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 perform according to the tracks data and sole spray are handled
Hydrodynamic(al) make, the 4th six degree of freedom manipulator 240 perform to sole spray processing hydrodynamic(al) make when, 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 into 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 perform, acts vamp gluing, is performed in the first six degree of freedom manipulator 170 and vamp gluing is acted
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 sole into the time of 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 footwear
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 3rd six degree of freedom manipulator 260 are simultaneously transferred to the 3rd six degree of freedom manipulator 260, described
3rd six degree of freedom manipulator 260 performs according to the tracks data and sole gluing is acted, in the 3rd six degree of freedom
Manipulator 260 performs when being acted to sole gluing, and the 3rd 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 departed from from shoe tree, so as to complete
The making of paired 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
The 3-D scanning mechanism 14 applied in example includes vamp scanning element 140, image processing unit 141, data capture unit 142
And model generation unit 143, the vamp scanning element 140 for shoot vamp top side image, vamp left-side images and
Vamp image right, the imperial portal trestle 144 being arranged at including one at the vamp scan position on first conveyer belt 10, the dragon
The top installing of portal trestle 144 is there are two the first camera 145, and there are two second camera 146, lower rights for lower left installing
It installs there are two the 3rd camera 147, two first cameras 145 to be directed at vamp top side and to being applied to acquisition two
The top side image of a vamp；Two second cameras 146 are aligned on the left of vamp and to being applied to gather two vamps
Left-side images；Two the 3rd cameras 147 are aligned on the right side of vamp and the right side to being applied to gather two vamps
Image；The Enable Pin of described image processing unit 141 is connected to first camera 145, second camera 146 and the 3rd
The output terminal of camera 147, and top side image of the image processing unit 141 for two vamps to collecting carries out school
Just and complete vamp top side image is spliced into, the left-side images of two vamps to collecting are corrected and are spliced into complete
Vamp left-side images, the image right of two vamps to collecting 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 terminal of described image processing unit 141, and the data
Acquiring unit 142 be used for using edge detection algorithm to after image procossing complete vamp top side image, 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 terminal of the data capture unit 142
It connects, and the model generation unit 143 is used for according to above-mentioned three dimensional point cloud, with reference to the vamp master pattern of preservation, is called
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 performing.
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5.The use process of the present embodiment comprises 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 are pre-positioned, and the positioning edge of the two draws contour line, then will
Sole is positioned over using bottom on the second conveyer belt 20 as contact surface, 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-ray are thrown
It is incident upon on sole, borrows sole to the reflex of visible ray, high-energy light beam guiding, ultrasonic or X-ray to obtain the Y-axis of sole
The running fix data parameters of direction and Z-direction are simultaneously transported on controller, and second drive component 21 provides sole X-axis
The running fix data parameters in direction are simultaneously transported on controller；It is swept when the first conveyer belt 10 drives vamp to move to the vamp
The working region of unit is retouched, two first cameras 145 are directed at the top of two vamps in vamp top side and corresponding acquisition
Side image；Two second cameras 146 are aligned on the left of vamp and the left-side images of two vamps of corresponding acquisition；Two
3rd camera 147 is aligned on the right side of vamp and the image right of two vamps of corresponding acquisition, described image processing are single
The top side image of first 141 pairs of two vamps collected is corrected and is spliced into complete vamp top side image, to collecting
The left-side images of two vamps be corrected and be spliced into complete vamp left-side images, the right side to two vamps collected
Side image is corrected and is spliced into complete vamp image right；The data capture unit 142 uses edge detection algorithm
Edge detection is carried out to complete vamp top side image, vamp left-side images and the vamp image right after image procossing, and
The contour edge coordinate on the right side of vamp top side, vamp left side and vamp is obtained as three dimensional point cloud, and the model is given birth to
Into unit 143 according to above-mentioned three dimensional point cloud, with reference to the vamp master pattern of preservation, profile bounding algorithm generation vamp is called
Threedimensional model is simultaneously transferred to the controller, and first drive component 11 provides the running fix data ginseng of vamp X-direction
It counts and is transported on controller；
3rd step carries out the glued area of sole and vamp in spray processing water：The controller is on the one hand according to the X of vamp
The running fix data parameters of direction of principal axis calculate the time for the working region that vamp handles watering mechanism 15 into first, when
Vamp stops the first drive component 11, and the controller is another into the working region of the first processing watering mechanism 15
Aspect calculates the three-dimensional spatial information of vamp spraying area, and generates the second six degree of freedom machine according to above-mentioned threedimensional model
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 perform 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, when sole enters the working region of second processing watering mechanism 24, stop the second drive component 21, 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 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 perform according to the tracks data and sole spray are handled
Hydrodynamic(al) make, the 4th six degree of freedom manipulator 240 perform to sole spray processing hydrodynamic(al) make when, 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 into 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 perform, acts vamp gluing, is performed in the first six degree of freedom manipulator 170 and vamp gluing is acted
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 sole into the time of 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 footwear
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 3rd six degree of freedom manipulator 260 are simultaneously transferred to the 3rd six degree of freedom manipulator 260, described
3rd six degree of freedom manipulator 260 performs according to the tracks data and sole gluing is acted, in the 3rd six degree of freedom
Manipulator 260 performs when being acted to sole gluing, and the 3rd 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 departed from from shoe tree, so as to complete
The making of paired 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 the 3rd 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, particularly ensure the accurate of each position parameter of vamp spraying area
On 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 " calling the generation of profile bounding algorithm when the threedimensional model of front foot portion " or the mode of other data processings disclosed,
It can realize generation vamp threedimensional model completely with upper type, thus no longer it is described in detail herein.
The specific embodiment 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 that unsubstantiality is carried out to the present invention, the behavior for invading the scope of the present invention should all be belonged to.
Claims (8)
1. the automatic production line of footwear, it is characterised in that：Including a vamp automatic gluing device and a sole autosizing
Device, the vamp automatic gluing device include one first conveyer belt, first conveyer belt are driven to carry out the first of uniform motion
Drive component and the first automation glue spraying control assembly, the first automation glue spraying control assembly include being located at described first
Adjacent 3-D scanning mechanism, the first processing watering mechanism, the first processing water drying mechanism, the above conveyer belt and successively
One glue spraying executing agency and the first drying adhesive mechanism, the first glue spraying executing agency include an Enable Pin and the three-dimensional
The controller of sweep mechanism connection, a first six degree of freedom manipulator being connected with the controller output end and one it is installed on this
The first spray gun on first six degree of freedom manipulator arm performs in the first six degree of freedom manipulator and vamp gluing is acted
When, first spray gun at the uniform velocity sprays glue.
2. the automatic production line of footwear as described in claim 1, it is characterised in that：The sole automatic gluing device includes one
Second conveyer belt, the second drive component for driving second conveyer belt progress uniform motion and the second automation glue spraying control group
Part, the second automation glue spraying control assembly include being located at infrared scan adjacent above second conveyer belt and successively
Equipment, second processing watering mechanism, second processing water drying mechanism, the second glue spraying executing agency and the second drying adhesive machine
Structure, the second glue spraying executing agency include an Enable Pin be connected with the infrared scanning equipment the controller, one and this
The 3rd six degree of freedom manipulator and one that controller output end connects are installed on the 3rd six degree of freedom manipulator arm
3rd spray gun, when the 3rd six degree of freedom manipulator execution acts sole gluing, the 3rd spray gun at the uniform velocity sprays glue
Water.
3. the automatic production line of footwear as claimed in claim 2, it is characterised in that：The vamp automatic gluing device and sole
Automatic gluing device is elongated, and positioned adjacent in the direction of the width, the entrance of first conveyer belt and described the
The entrance of two transmission mutually converges, and the outlet and the outlet of second conveyer belt of first conveyer belt are mutually converged.
4. the automatic production line of footwear as claimed in claim 3, it is characterised in that：The first processing watering mechanism includes
One the second six degree of freedom manipulator being connected with the controller output end and one it is installed on the second six degree of freedom manipulator hand
The second spray gun on arm, when vamp spray processing hydrodynamic(al) is made in the second six degree of freedom manipulator execution, second spray gun
At the uniform velocity spray processing water.
5. the automatic production line of footwear as claimed in claim 4, it is characterised in that：The second processing watering mechanism includes
One the 4th six degree of freedom manipulator being connected with the controller output end and one it is installed on the 4th six degree of freedom manipulator hand
The 4th spray gun on arm, when sole spray processing hydrodynamic(al) is made in the 4th six degree of freedom manipulator execution, the 4th spray gun
At the uniform velocity spray processing water.
6. the automatic production line of footwear as claimed in claim 3, 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 the first glue dries
Dry mechanism is the left glue dries space, and the second drying adhesive mechanism is the right glue dries space, the first baking oven wall surface
Left entry/left the outlet for penetrating/being pierced by left glue dries space for the first conveyer belt is offered, the first baking oven wall surface opens up
Have and penetrate/be pierced by the right entry/right outlet in right glue dries space for the second conveyer belt, second baking oven by one second every
Plate 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 drying
Space, second processing water drying mechanism are the right processing water dry place, and the second baking oven wall surface is offered for the first transmission
Band penetrates/is pierced by left entry/left outlet of left processing water dry place, and the second baking oven wall surface is offered for the second conveyer belt
Penetrate/be pierced by right entry/right outlet of right processing water dry place.
7. the automatic production line of footwear as described in any one in claim 1-6, it is characterised in that：The three-dimensional scanner
Structure is non-contact 3-D scanner, and the non-contact 3-D scanner is for it will be seen that light, high-energy light beam guiding, ultrasonic or X
Ray is projected on vamp, borrows vamp to the reflex of visible ray, high-energy light beam guiding, ultrasonic or X-ray to create footwear
It the cloud data of face geometric jacquard patterning unit surface and then generates threedimensional model and is transferred to the controller, the controller is used for according to above-mentioned
Threedimensional model, calculates the three-dimensional spatial information of vamp spraying area, and generates the movement rail of the first six degree of freedom manipulator
Track data is simultaneously transferred to the first six degree of freedom manipulator, and the first six degree of freedom manipulator is according to the tracks data
It performs and vamp gluing is acted.
8. the automatic production line of footwear as described in any one in claim 1-6, it is characterised in that：The three-dimensional scanner
Structure includes vamp scanning element, image processing unit, data capture unit and model generation unit, the vamp scanning element
For shooting vamp top side image, vamp left-side images and vamp image right, it is arranged at including one on the first conveyer belt
Vamp scan position at imperial portal trestle, the top installing of the dragon portal trestle is there are two the first camera, lower left dress
If there are two second camera, there are two the 3rd camera, two first cameras are directed at vamp top for lower right installing
Side and the top side image to being applied to gather two vamps；Two second cameras are aligned on the left of vamp and corresponding
For gathering the left-side images of two vamps；Two the 3rd cameras are aligned on the right side of vamp and to being applied to acquisition two
The image right of a vamp；The Enable Pin of described image processing unit be connected to first camera, second camera and
The output terminal of 3rd camera, and top side image of the image processing unit for two vamps to collecting is corrected
And complete vamp top side image is spliced into, the left-side images of two vamps to collecting are corrected and are spliced into complete
Vamp left-side images, the image right of two vamps to collecting are corrected and are spliced into complete vamp image right；
The Enable Pin of the data capture unit is connected with the output terminal of described image processing unit, and the data capture unit is used
In use edge detection algorithm to complete vamp top side image, vamp left-side images and the vamp right part of flg after image procossing
As carrying out edge detection, and the contour edge coordinate on the right side of vamp top side, vamp left side and vamp is obtained as three-dimensional point cloud number
According to；The Enable Pin of the model generation unit is connected with the output terminal of the data capture unit, and model generation is single
Member is used for according to above-mentioned three dimensional point cloud, with reference to the vamp master pattern of preservation, calls profile bounding algorithm generation vamp three
Dimension module is simultaneously transferred to the controller, and the controller is used to, according to above-mentioned threedimensional model, calculate the three of vamp spraying area
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 perform according to the tracks data and vamp gluing are acted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711336988.9A CN108078077A (en) | 2017-12-14 | 2017-12-14 | The automatic production line of footwear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711336988.9A CN108078077A (en) | 2017-12-14 | 2017-12-14 | The automatic production line of footwear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108078077A true CN108078077A (en) | 2018-05-29 |
Family
ID=62175562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711336988.9A Pending CN108078077A (en) | 2017-12-14 | 2017-12-14 | The automatic production line of footwear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108078077A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109107828A (en) * | 2018-09-26 | 2019-01-01 | 广东菲安妮皮具股份有限公司 | A kind of monolithic leatherware glue filling device based on automatic identification, system and method |
| CN109491340A (en) * | 2018-11-20 | 2019-03-19 | 浙江树人学院 | A kind of centralization production line automation control method |
| CN110074513A (en) * | 2019-04-28 | 2019-08-02 | 佛山市南海中禧机械有限公司 | A kind of indsole sheet metal make-up machine |
| CN112641172A (en) * | 2020-12-22 | 2021-04-13 | 重庆赛宝工业技术研究院 | Simulation system and method for shoemaking production line |
| DE102021205536A1 (en) | 2021-05-31 | 2022-12-01 | Adidas Ag | Process for applying materials to shoes |
-
2017
- 2017-12-14 CN CN201711336988.9A patent/CN108078077A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109107828A (en) * | 2018-09-26 | 2019-01-01 | 广东菲安妮皮具股份有限公司 | A kind of monolithic leatherware glue filling device based on automatic identification, system and method |
| CN109491340A (en) * | 2018-11-20 | 2019-03-19 | 浙江树人学院 | A kind of centralization production line automation control method |
| CN110074513A (en) * | 2019-04-28 | 2019-08-02 | 佛山市南海中禧机械有限公司 | A kind of indsole sheet metal make-up machine |
| CN110074513B (en) * | 2019-04-28 | 2024-02-23 | 佛山市南海中禧机械有限公司 | Midsole metal sheet laminating machine |
| CN112641172A (en) * | 2020-12-22 | 2021-04-13 | 重庆赛宝工业技术研究院 | Simulation system and method for shoemaking production line |
| CN112641172B (en) * | 2020-12-22 | 2022-07-22 | 重庆赛宝工业技术研究院有限公司 | Simulation system and method for shoemaking production line |
| DE102021205536A1 (en) | 2021-05-31 | 2022-12-01 | Adidas Ag | Process for applying materials to shoes |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105595536B (en) | A kind of footwear automated production method based on cloud identification technology | |
| CN104161353B (en) | A kind of automation glue spraying equipment of vamp and automatic glue-spraying method | |
| CN105747384B (en) | A kind of automated production method of footwear | |
| CN108078077A (en) | The automatic production line of footwear | |
| CN105193010B (en) | A kind of vamp glue spraying equipment saved using space | |
| CN104161354B (en) | Save footwear automatic production line and the footwear automated production method of usage space | |
| CN203952628U (en) | A kind of automatic production line of footwear | |
| US10448578B2 (en) | Selective automated blossom thinning | |
| CN109671123A (en) | A kind of sole glue spraying equipment and method based on monocular vision | |
| CN104457569B (en) | A kind of large-scale composite board geometric parameter vision measuring method | |
| CN109454642A (en) | Robot coating track automatic manufacturing method based on 3D vision | |
| CN109967292A (en) | A kind of automatic spraying system and its method based on the reconstruct of workpiece profile information three-dimensional | |
| CN105644124B (en) | A kind of patch block method | |
| CN203952627U (en) | A kind of vamp glue spraying equipment of saving usage space | |
| CN108550141A (en) | A kind of movement wagon box automatic identification and localization method based on deep vision information | |
| CN109356614B (en) | Tunnel injection machine control equipment and method and tunnel injection machine | |
| CN105373128B (en) | Shuttlecock robot and its whole audience localization method | |
| CN216392163U (en) | Tea leaf picking device | |
| CN106264536A (en) | A kind of 3D anthropometric scanning apparatus and method | |
| CN204191741U (en) | A kind of footwear automatic production line saving usage space | |
| CN102920112A (en) | Glue-spraying track generation system for shoe outsole | |
| CN109087343A (en) | A kind of generation method and system of workpiece grabbing template | |
| CN109907430A (en) | Save the footwear automatic production line of use space | |
| CN109278021A (en) | It is a kind of for grabbing the robot tool system of thin-wall case class workpiece | |
| CN107969766A (en) | The automation glue spraying equipment of vamp |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180529 |