CN104146442B

CN104146442B - A kind of vamp glue spraying equipment and automatic vamp glue spraying method of saving usage space

Info

Publication number: CN104146442B
Application number: CN201410372240.4A
Authority: CN
Inventors: 阙小鸿
Original assignee: Black King Kong Automation Technology Fujian Co Ltd
Current assignee: Black King Kong Automation Technology Fujian Co Ltd
Priority date: 2014-07-31
Filing date: 2014-07-31
Publication date: 2015-08-19
Anticipated expiration: 2034-07-31
Also published as: CN104146442A; CN105286212A; CN105286212B; CN105193010B; CN105193010A

Abstract

A kind of vamp glue spraying equipment saving usage space, comprise the first conveyer belt, first driven unit and the first automation glue spraying Control Component, first automation glue spraying Control Component comprises 3-D scanning mechanism, first process water drying mechanism, first drying adhesive mechanism and the first multistation lifting manipulator equipment, first multistation lifting manipulator equipment comprises controller, first six degree of freedom manipulator, first traversing controlling organization and the first spray gun and the second spray gun, first traversing controlling organization comprises the first fixed mount, first guiding assemblage, first travelling carriage and the first drive assembly.The present invention also comprises the automatic vamp glue spraying method using above-mentioned vamp glue spraying equipment.The present invention can ensure that the glue quantity of vamp each position spraying reaches unanimity, and reduces the wastage of glue widely and improves vamp glue spraying same effect, and then ensureing to improve follow-up vamp and sole bonding firmness, improving service life and the quality of footwear.

Description

A kind of vamp glue spraying equipment and automatic vamp glue spraying method of saving usage space

Technical field

The present invention relates to method and the special equipment of vamp automation glue spraying, refer in particular to a kind of vamp glue spraying equipment and automatic vamp glue spraying method of saving usage space.

Background technology

Spray-bonding craft is more, the consuming time more operation of recruitment in shoemaking process.The quality of the quality of glue spraying determines the bonding firmness of vamp with sole, and then has influence on serviceability and the quality of footwear.For now, existing sole glue spraying is generally that this manual mode of operation's production efficiency is low, quality is unstable, and cost of labor is high by manual operation.And the adhesive of shoemaking contains toxic component, this adhesive of workman's Long contact time can produce high risks to the health of operator.

In order to overcome the many harm of artificial glue spraying to health, existing a kind of glue spraying equipment is provided with FE Glue Gun on the conveyor belt, glue spraying can be carried out to the sole on conveyer belt, but but because FE Glue Gun can not automatic adjusting position, FE Glue Gun accurately cannot locate the sole on conveyer belt, thus causes FE Glue Gun cannot aim at sole carrying out glue spraying.

In order to tackle an above difficult problem, the applicant have submitted a Chinese utility model patent (application number: 201320717548.9 on November 13rd, 2013 to State Intellectual Property Office, notification number: CN 203523958U), more than patents describe the technical scheme of the glue spraying equipment of a view-based access control model location, it comprises brace table, FE Glue Gun, be installed in the conveyer belt on this brace table, be installed in the bracing frame on this brace table, glue spraying equipment also comprises video frequency pick-up head, drive the X-axis transmission device of FE Glue Gun X-direction movement, drive the Y-axis transmission of FE Glue Gun Y direction movement, drive the Z-axis transmission device of FE Glue Gun Z-direction movement and control the controller of this glue spraying equipment running, this video frequency pick-up head is installed on bracing frame, controller respectively with video frequency pick-up head, X-axis transmission device, Y-axis transmission, Z-axis transmission device connects.The present invention constitutes view-based access control model information to regulate the system of FE Glue Gun position by video frequency pick-up head, X-axis transmission device, Y-axis transmission, Z-axis transmission device and controller.FE Glue Gun is adjusted to the correct position above conveyer belt by this system, makes FE Glue Gun accurately can carry out glue spraying to sole.Although above-mentioned glue spraying equipment can overcome to a certain extent, the production efficiency that existing artificial glue spraying mode exists is low, quality is unstable and easily cause the problems such as personal injury to workman, but in the use procedure of reality, also have some weak point following: 1, adopt video frequency pick-up head easily to occur locating inaccurate situation, and the three driven off by shaft modes of employing cannot realize the uniformity of each position sprayed glues amount in glue spraying process, want to reach the distance substituting artificial glue spraying completely and quite grow in addition; 2, because video frequency pick-up head only can gather two dimensional image, if want to utilize in vamp spraying, the three-D profile that vamp will spray accurately cannot be located, thus cause being applicable to vamp glue spraying; 3, not only operating efficiency is low to adopt three driven off by shaft modes, and error rate is high, and need the opening and closing accurately controlling spray gun in addition, control mode is quite complicated, and the control appliance of needs costly.

Summary of the invention

The invention provides a kind of vamp glue spraying equipment and automatic vamp glue spraying method of saving usage space, its main purpose is that the location overcoming the existence of existing glue spraying equipment is forbidden, glue spraying uniformity is poor and cannot be applied to the defect of vamp glue spraying.

For solving the problems of the technologies described above, the present invention adopts following technical scheme:

A kind of vamp glue spraying equipment saving usage space, comprise one first conveyer belt, drive this first conveyer belt to carry out the first driven unit and the first automation glue spraying Control Component of uniform motion, above described first conveyer belt, be provided with 3-D scanning station adjacent successively, the first process Water spray station, the first process water drying station, the first glue spraying execution station and the first drying adhesive station; described first automation glue spraying Control Component comprises the 3-D scanning mechanism being positioned at 3-D scanning station, be positioned at the first process water drying mechanism of the first process water drying station, be positioned at the first drying adhesive mechanism of the first drying adhesive station and can perform at the first process Water spray station and the first glue spraying the first multistation lifting manipulator equipment that station part carries out reciprocating to horizontal direction, described first multistation lifting manipulator equipment comprises the controller that an Enable Pin is connected with described 3-D scanning mechanism, one the first six degree of freedom manipulator be connected with this controller output end, this the first six degree of freedom manipulator is driven to perform at the first process Water spray station and the first glue spraying the first traversing controlling organization and one first spray gun be installed on this first six degree of freedom manipulator arm and one second spray gun that station part carries out reciprocating, when described first six degree of freedom manipulator performs the action of vamp glue spraying, described first spray gun at the uniform velocity sprays glue, when described first six degree of freedom manipulator execution is done vamp spray process hydrodynamic(al), described second spray gun at the uniform velocity sprays process water, described first traversing controlling organization comprises the first fixed mount, be installed on the first guiding assemblage on this first fixed mount, carry out lifting the first travelling carriage and the first drive assembly that are connected with its bottom surface and the base of described first six degree of freedom manipulator, described first travelling carriage to be installed on described first guiding assemblage and to carry out horizontal shifting under the drive of described first drive assembly.

Further, described first drive assembly comprise one first main synchronous pulley and one first from synchronous pulley, be set around this first main synchronous pulley and first from the first Timing Belt synchronous pulley and the first servomotor of driving described first main synchronous pulley to rotate, this first Timing Belt has two links, one of them link is fixedly connected with the left side of described first travelling carriage, and another link is fixedly connected with the right side of described first travelling carriage.

Further, described first drive assembly comprises two clutch shaft bearings, the two ends that are installed in the first fixed mount both sides respectively and to be installed on this two clutch shaft bearing the first screw mandrel respectively and to drive this screw mandrel to carry out the servomotor rotated, described first travelling carriage offers first screwed hole suitable with described first screw mandrel in the axial direction, by being spirally connected of this first screwed hole and the first screw mandrel, the convert rotational motion of described first screw mandrel is described first travelling carriage rectilinear movement.

Further, described first guiding assemblage comprises two spaced apart first guide rails and correspondence and is sheathed on two first guide pin bushings on every root first guide rail, and the both sides correspondence of described first travelling carriage is set up on this two first guide pin bushing.

Further, include one first baking oven and one second baking oven, this first baking oven includes a glue dries space, this the first drying adhesive mechanism is this glue dries space, described first baking oven wall offers the inlet/outlet penetrating/pass described glue dries space for the first conveyer belt, described second baking oven comprises a process water dry place, described first process water drying mechanism is this process water dry place, and described second baking oven wall offers the inlet/outlet penetrating/pass described process water dry place for the first conveyer belt.

Further, the length in described glue dries space is 2 meters, and the length of described process water dry place is 1.5 meters.

Further, described 3-D scanning mechanism is non-contact 3-D scanner, this non-contact 3-D scanner is used for visible ray, high-energy light beam guiding, ultrasonic or X ray are projected on vamp, use vamp to visible ray, high-energy light beam guiding, the reflex of ultrasonic or X ray creates the cloud data of vamp geometric jacquard patterning unit surface and then generating three-dimensional models and is transferred to described controller, described controller is used for according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator and be transferred to described first six degree of freedom manipulator, described first six degree of freedom manipulator performs the action of vamp glue spraying according to these tracks data.

Further, described 3-D scanning mechanism comprises vamp scanning element, graphics processing unit, data capture unit and model generation unit, described vamp scanning element is for taking vamp top side image, vamp left-side images and vamp image right, it comprises the imperial portal trestle that is arranged at the vamp scanning position place on the first conveyer belt, the top of this imperial portal trestle is equiped with two the first cameras, lower left is equiped with two second cameras, lower right is equiped with two the 3rd cameras, two described first cameras all aim at vamp top side and to the top side image being applied to collection two vamps, two described second cameras all to be aimed on the left of vamp and to the left-side images being applied to collection two vamps, two described 3rd cameras all to be aimed on the right side of vamp and to the image right being applied to collection two vamps, the Enable Pin of described graphics processing unit is connected to the output of described first camera, second camera and the 3rd camera, and this graphics processing unit is used for the top side correct image of two vamps collected and is spliced into complete vamp top side image, the left-side images of two vamps collected corrected and is spliced into complete vamp left-side images, the image right of two vamps collected corrected and is spliced into complete vamp image right, the Enable Pin of described data capture unit is connected with the output of described graphics processing unit, and this data capture unit carries out rim detection for adopting edge detection algorithm to complete vamp top side image, vamp left-side images and the vamp image right after image procossing, and the contour edge coordinate obtained on the left of vamp top side, vamp and on the right side of vamp is as three dimensional point cloud, the Enable Pin of described model generation unit is connected with the output of described data capture unit, and this model generation unit is used for according to above-mentioned three dimensional point cloud, in conjunction with the vamp master pattern preserved, call profile bounding algorithm generate vamp threedimensional model and be transferred to described controller, described controller is used for according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator and be transferred to described first six degree of freedom manipulator, described first six degree of freedom manipulator performs the action of vamp glue spraying according to these tracks data.

A kind of automatic vamp glue spraying method using above-mentioned vamp glue spraying equipment, comprise the following steps: the pairing of a, vamp and material loading prepare: vamp attachment is fixed on shoe tree, and be ready for the sole with its pairing, sole and vamp are carried out pre-determined bit, and the edge, location both it draws outline line, then vamp and shoe tree are set on the analog bracket of the first conveyer belt by the pilot hole of shoe tree head, b, the glue spraying region of vamp to be scanned: the first conveyer belt drives vamp to move to the working region of described non-contact 3-D scanner, this non-contact 3-D scanner is by being projected on vamp by visible ray, high-energy light beam guiding, ultrasonic or X ray, use vamp to the reflex of visible ray, high-energy light beam guiding, ultrasonic or X ray to create the cloud data of vamp geometric jacquard patterning unit surface and then generating three-dimensional models and to be transported on controller, described first driven unit provides the running fix data parameters of vamp X-direction and is transported on controller, c, carry out spraying process water to the glue spraying region of vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculate the time that vamp enters the working region of the first process watering mechanism, when vamp enters the working region of the first process watering mechanism, stop the first driven unit, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator and be transferred to described first six degree of freedom manipulator, described first six degree of freedom manipulator performs according to these tracks data and does vamp spray process hydrodynamic(al), when described first six degree of freedom manipulator execution is done vamp spray process hydrodynamic(al), described second spray gun at the uniform velocity sprays process water, described first six degree of freedom manipulator is being finished after to vamp spray process hydrodynamic(al) work, described controller, by the rotation of control first servomotor, drives this first six degree of freedom manipulator to move to the first glue spraying along the first guiding assemblage from the first process Water spray station and performs station, d, the process water on vamp to be dried: the process water dry place that the first conveyer belt drives vamp to move to the second baking oven carries out drying and processes, e, glue spraying is carried out to the glue spraying region of vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculate the time that vamp enters the working region of the first glue spraying executing agency, when vamp enters the working region of the first glue spraying executing agency, stop the first driven unit, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator and be transferred to described first six degree of freedom manipulator, described first six degree of freedom manipulator performs the action of vamp glue spraying according to these tracks data, when described first six degree of freedom manipulator performs the action of vamp glue spraying, described first spray gun at the uniform velocity sprays glue, be finished after to the action of vamp glue spraying at described first six degree of freedom manipulator, described controller is by the rotation of control first servomotor, drive this first six degree of freedom manipulator to perform station along the first guiding assemblage from the first glue spraying and turn back to the first process Water spray station, spray process water is carried out to get a vamp ready, f, the glue on vamp to be dried: the glue dries space that the first conveyer belt drives vamp to move to the first baking oven is carried out drying and processed, g, dried vamp are transported on bonding work top under the first conveyer belt drives, and can complete the automatic glue-spraying of vamp, so that workman carries out the subsequent operation of manual pressing process to vamp and sole.

The another kind of automatic vamp glue spraying method using above-mentioned vamp glue spraying equipment, comprise the following steps: the pairing of a, vamp and material loading prepare: vamp attachment is fixed on shoe tree, and be ready for the sole with its pairing, sole and vamp are carried out pre-determined bit, and the edge, location both it draws outline line, then vamp and shoe tree are set on the analog bracket of the first conveyer belt by the pilot hole of shoe tree head, b, to scan the glue spraying region of vamp: the first conveyer belt drives vamp to move to the working region of described vamp scanning element, two described first cameras all aim at vamp top side and the corresponding top side image gathering two vamps, two described second cameras all to be aimed on the left of vamp and the corresponding left-side images gathering two vamps, two described 3rd cameras all to be aimed on the right side of vamp and the corresponding image right gathering two vamps, described graphics processing unit is to the top side correct image of collect two vamps and be spliced into complete vamp top side image, the left-side images of two vamps collected corrected and is spliced into complete vamp left-side images, the image right of two vamps collected corrected and is spliced into complete vamp image right, described data capture unit adopts edge detection algorithm to the complete vamp top side image after image procossing, vamp left-side images and vamp image right carry out rim detection, and obtain vamp top side, contour edge coordinate on the left of vamp and on the right side of vamp is as three dimensional point cloud, and described model generation unit is according to above-mentioned three dimensional point cloud, in conjunction with the vamp master pattern preserved, call profile bounding algorithm generate vamp threedimensional model and be transferred to described controller, described first driven unit provides the running fix data parameters of vamp X-direction and is transported on controller, c, carry out spraying process water to the glue spraying region of vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculate the time that vamp enters the working region of the first process watering mechanism, when vamp enters the working region of the first process watering mechanism, stop the first driven unit, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator and be transferred to described first six degree of freedom manipulator, described first six degree of freedom manipulator performs according to these tracks data and does vamp spray process hydrodynamic(al), when described first six degree of freedom manipulator execution is done vamp spray process hydrodynamic(al), described second spray gun at the uniform velocity sprays process water, described first six degree of freedom manipulator is being finished after to vamp spray process hydrodynamic(al) work, described controller, by the rotation of control first servomotor, drives this first six degree of freedom manipulator to move to the first glue spraying along the first guiding assemblage from the first process Water spray station and performs station, d, the process water on vamp to be dried: the process water dry place that the first conveyer belt drives vamp to move to the second baking oven carries out drying and processes, e, glue spraying is carried out to the glue spraying region of vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculate the time that vamp enters the working region of the first glue spraying executing agency, when vamp enters the working region of the first glue spraying executing agency, stop the first driven unit, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator and be transferred to described first six degree of freedom manipulator, described first six degree of freedom manipulator performs the action of vamp glue spraying according to these tracks data, when described first six degree of freedom manipulator performs the action of vamp glue spraying, described first spray gun at the uniform velocity sprays glue, be finished after to the action of vamp glue spraying at described first six degree of freedom manipulator, described controller is by the rotation of control first servomotor, drive this first six degree of freedom manipulator to perform station along the first guiding assemblage from the first glue spraying and turn back to the first process Water spray station, carry out spray process water to get a vamp ready, f, the glue on vamp to be dried: the glue dries space that the first conveyer belt drives vamp to move to the first baking oven is carried out drying and processed, dried vamp is transported on bonding work top under the first conveyer belt drives, the automatic glue-spraying of vamp can be completed, so that workman carries out the subsequent operation of manual pressing process to vamp and sole.

Compared to the prior art, the beneficial effect that the present invention produces is:

1, structure of the present invention is simple, practical, 3-D scanning mechanism is utilized to scan vamp by arranging, and utilize the first six degree of freedom manipulator to control the first spray gun and complete operation vamp being carried out to gluing, what obtain due to 3-D scanning not only comprises colouring information, also comprise range information, thus by just specific threedimensional model can be formed after process, and then generate the tracks data all having three-D profile curve, and the first six degree of freedom manipulator is one has along x, y, the robot device of the one-movement-freedom-degree of z tri-rectangular co-ordinate direction of principal axis and the rotational freedom around these three reference axis, it can imitate the action control first spray gun motion of artificial hand arm swing completely according to the tracks data that above-mentioned controller provides, at this time only need to be set in the first six degree of freedom manipulator to carry out opening the first spray gun when movement locus swings, automatically the first spray gun is closed after completing movement locus, because the first six degree of freedom manipulator mass motion speed is consistent, and first spray gun glue ejection speed be also consistent, thus can ensure that the glue quantity of vamp each position spraying reaches unanimity, the wastage of glue can be reduced widely and improve vamp glue spraying same effect, and then ensure to improve follow-up vamp and sole bonding firmness, improve service life and the quality of footwear.

2, in the present invention, be connected by the base of the first six degree of freedom manipulator is carried out lifting with the bottom surface of the first travelling carriage, thus in workshop, first six degree of freedom manipulator can be arranged on directly over the first conveyer belt by user, the space at top can be used well, be conducive to being suitable in the comparatively nervous region in little factory building or other industrial soils.

3, in the present invention, advanced row relax Water spray has been included in the glue spraying method of vamp, dry again, carry out glue spraying again, the FOUR EASY STEPS of drying again, production line also attaches special equipment or the mechanism that this completes this FOUR EASY STEPS simultaneously, first carry out spraying the firmness processing water and can be conducive to improving follow-up glue spraying, that is process water and can carry out surface treatment to the gluing face of vamp, gluing face after drying and the enhancing that can obtain large degree in conjunction with fastness of glue, reciprocate by described first six degree of freedom manipulator being arranged to can perform station part at the first process Water spray station and the first glue spraying, so just, a six degree of freedom manipulator can be saved, and carry out controlling the accuracy that also can ensure to be shifted by servomotor, therefore multistation lifting manipulator equipment is set and on the guarantee accurate basis of manufacture automatic control, equipment cost can be reduced as much as possible.

4, in the present invention, adopt non-contact 3-D scanner can meet the demand of the quick glue spraying process of vamp as 3-D scanning mechanism, its data processing block, action judges and controls accurately, but equipment manufacturing cost is relatively high, and another kind of 3-D scanning mechanism is two first cameras at the top adopted in picture sweep unit, two second cameras of lower left, two the 3rd cameras of lower right dress, by above six cameras at one time in take pictures six pictures, and analyzed by computer software, thus the production cost of 3-D scanning mechanism can be reduced, and can in the certain precision of guarantee, particularly under the prerequisite of the accuracy of each position parameter of guarantee vamp spraying area, sweep time can be reduced widely.

Accompanying drawing explanation

Fig. 1 is the structural representation using footwear production line of the present invention.

Fig. 2 is the structural representation at the A visual angle of Fig. 1, and wherein said first drive assembly and described second drive assembly omit not shown.

Fig. 3 is the structural representation of wherein a kind of mode of the first multistation lifting manipulator equipment or the second multistation lifting manipulator equipment in the present invention.

Fig. 4 is the structural representation of the wherein another kind of mode of the first multistation lifting manipulator equipment or the second multistation lifting manipulator equipment in the present invention.

The structural representation of the vamp scanning element that Fig. 5 adopts for embodiment in the present invention two.

The principle schematic of the 3-D scanning mechanism that Fig. 6 adopts for embodiment in the present invention two.

Detailed description of the invention

With reference to the accompanying drawings the specific embodiment of the present invention is described.

Embodiment one

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4.A kind of footwear automatic production line saving usage space; comprise a vamp automatic gluing device 1 and be positioned at the sole automatic gluing device 2 below this vamp automatic gluing device 1, wherein above-mentioned vamp automatic gluing device 1 is the claimed theme of the present invention: a kind of vamp glue spraying equipment saving usage space.Described vamp automatic gluing device 1 and sole automatic gluing device 2 all elongated, and in upper and lower positioned adjacent on same vertical plane, described vamp automatic gluing device 1 comprises one first conveyer belt 10, drives this first conveyer belt 10 to carry out the first driven unit 11 and the first automation glue spraying Control Component 13 of uniform motion, is provided with 3-D scanning station 10a adjacent successively, the first process Water spray station 10b, the first process water drying station 10c, the first glue spraying execution station 10d and the first drying adhesive station 10e above described first conveyer belt 10; described first automation glue spraying Control Component 13 comprises the 3-D scanning mechanism 14 being positioned at 3-D scanning station 10a, be positioned at the first process water drying mechanism 15 of the first process water drying station 10c, be positioned at the first drying adhesive mechanism 16 of the first drying adhesive station 10e and can perform at the first process Water spray station 10b and the first glue spraying the first multistation lifting manipulator equipment 17 that station 10d part carries out reciprocating to horizontal direction, described first multistation lifting manipulator equipment 17 comprises the controller (not shown) that an Enable Pin is connected with described 3-D scanning mechanism 14, one the first six degree of freedom manipulator 170 be connected with this controller output end, this the first six degree of freedom manipulator 170 is driven to perform the first traversing controlling organization 171 that station 10d part carries out reciprocating and one first spray gun 172 and one second spray gun 173 be installed on this first six degree of freedom manipulator 170 arm at the first process Water spray station 10b and the first glue spraying, when described first six degree of freedom manipulator 170 performs vamp gluing action, described first spray gun 172 at the uniform velocity sprays glue, described first six degree of freedom manipulator 170 perform to vamp spray process hydrodynamic(al) do time, described second spray gun 173 at the uniform velocity sprays process water, described first traversing controlling organization 171 comprises the first fixed mount 174, be installed on the first guiding assemblage 175 on this first fixed mount 174, carry out with its bottom surface and the base of described first six degree of freedom manipulator 170 lifting the first travelling carriage 176 and the first drive assembly 177 be connected, described first travelling carriage 176 to be installed on described first guiding assemblage 175 and to carry out horizontal shifting under the drive of described first drive assembly 177.The present embodiment utilizes 3-D scanning mechanism 14 to scan vamp by arranging, and utilize the first six degree of freedom manipulator 170 to control the first spray gun 172 and complete operation vamp being carried out to gluing, what obtain due to 3-D scanning not only comprises colouring information, also comprise range information, thus by just specific threedimensional model can be formed after process, and then generate the tracks data all having three-D profile curve, and the first six degree of freedom manipulator 170 is one has along x, y, the robot device of the one-movement-freedom-degree of z tri-rectangular co-ordinate direction of principal axis and the rotational freedom around these three reference axis, its action control first spray gun 172 that can imitate artificial hand arm swing completely according to the tracks data that above-mentioned controller provides moves, at this time only need to be set in the first six degree of freedom manipulator 170 to carry out opening the first spray gun 172 when movement locus swings, automatically the first spray gun 172 is closed after completing movement locus, because the first six degree of freedom manipulator 170 mass motion speed is consistent, and first spray gun 172 glue ejection speed be also consistent, thus can ensure that the glue quantity of vamp each position spraying reaches unanimity, the wastage of glue can be reduced widely and improve vamp glue spraying same effect, and then ensure to improve follow-up vamp and sole bonding firmness, improve service life and the quality of footwear.

With reference to Fig. 3.Described first drive assembly 177 can adopt following structure, it comprise one first main synchronous pulley 1770,1 first from synchronous pulley 1771, be set around this first main synchronous pulley 1770 and first from the first Timing Belt 1772 synchronous pulley 1771 and the servomotor 1773 that drives described first main synchronous pulley 1770 to rotate, this first Timing Belt 1772 has two links, one of them link is fixedly connected with the left side of described first travelling carriage 176, and another link is fixedly connected with the right side of described first travelling carriage 176.

With reference to Fig. 4.Described first drive assembly 177 can also be another structure, it comprises the first drive fixed mount 1774, be installed in two clutch shaft bearings 1775 of the first drive fixed mount 1774 both sides respectively, two ends to be installed on this two clutch shaft bearing 1,775 first screw mandrel 1776 respectively and to drive this first screw mandrel 1776 to carry out the servomotor 1773 rotated, described first travelling carriage 176 offers first screwed hole suitable with described first screw mandrel 1776 in the axial direction, by being spirally connected of this first screwed hole and the first screw mandrel 1776, the convert rotational motion of described first screw mandrel 1776 is that described first travelling carriage 176 moves linearly.

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4.Described first guiding assemblage 175 comprises two spaced apart first guide rails 1750 and correspondence and is sheathed on two first guide pin bushings 1751 on every root first guide rail 1750, and the both sides correspondence of described first travelling carriage 176 is set up on this two first guide pin bushing 1751.

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4.Described sole automatic gluing device 2 comprises one second conveyer belt 20, drives this second conveyer belt 20 to carry out the second driven unit 21 and the second automation glue spraying Control Component 22 of uniform motion, is provided with infrared scan station 23, second adjacent successively and processes Water spray station 20b, the second process water drying station 20c, the second glue spraying execution station 20d and the second drying adhesive station 20e above described second conveyer belt 20; described second automation glue spraying Control Component 22 comprises the infrared scan mechanism being positioned at infrared scan station 20a, be positioned at the second process water drying mechanism 26 of the second process water drying station 20c, be positioned at the second drying adhesive mechanism 27 of the second drying adhesive station 20e and can perform at the second process Water spray station 20b and the second glue spraying the second multistation paper binding machine hand equipment 28 that station 20d part carries out reciprocating to horizontal direction, described second multistation paper binding machine hand equipment 28 comprises the controller that an Enable Pin is connected with described infrared scan mechanism 23, one the second six degree of freedom manipulator 24 be connected with this controller output end, this the second six degree of freedom manipulator 24 is driven to perform the second traversing controlling organization 25 that station 20d part carries out reciprocating and one the 3rd spray gun 241 and one the 4th spray gun 242 be installed on this second six degree of freedom manipulator 24 arm at the second process Water spray station 20b and the second glue spraying, when described second six degree of freedom manipulator 24 performs sole gluing action, described 3rd spray gun 241 at the uniform velocity sprays glue, described second six degree of freedom manipulator 24 perform to sole spray process hydrodynamic(al) do time, described 4th spray gun 242 at the uniform velocity sprays process water, described second traversing controlling organization 25 comprises the second fixed mount 250, be installed on the second guiding assemblage 251 on this second fixed mount 250, the second travelling carriage 252 and the second drive assembly 253 be connected is fixed with its end face and the base of described second six degree of freedom manipulator 24, described second travelling carriage 252 to be installed on described second guiding assemblage 251 and to carry out horizontal shifting under the drive of described second drive assembly 253, described second guiding assemblage 251 comprises two spaced apart second line slideways 2510 and correspondence and is sheathed on two second guide pin bushings 2511 on every root second line slideway 2510, the both sides correspondence of described second travelling carriage 252 is set up on this two second guide pin bushing 2511, described second drive assembly 253 comprises one second main synchronous pulley 2530 and one second from synchronous pulley 2531, be set around this second main synchronous pulley 2530 and second from the second Timing Belt 2532 synchronous pulley 2531 and the second servomotor of driving described second main synchronous pulley 2531 to rotate, this second Timing Belt 2532 has two links, one of them link is fixedly connected with the left side of described second travelling carriage 252, another link is fixedly connected with the right side of described second travelling carriage 252.

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4.This example can include one first baking oven 160 and one second baking oven 150, this first baking oven 160 becomes upper glue dry place and lower glue dries space by one first baffle for separating, first drying adhesive mechanism 16 is glue dry place on this, second drying adhesive mechanism 27 is this lower glue dries space, described first baking oven 160 wall offers upper inlet 1600/ upper outlet penetrating/pass glue dry place for the first conveyer belt 10, described first baking oven 160 wall offers the lower inlet 1601/ time outlet penetrating/pass lower glue dries space for the second conveyer belt 20, described second baking oven 150 is separated into upper process water dry place and lower process water dry place by a second partition, first process water drying mechanism 15 is process water dry place on this, second process water drying mechanism 26 is this lower process water dry place, described second baking oven 150 wall offers upper inlet 1600/ upper outlet penetrating/pass process water dry place for the first conveyer belt 10, described second baking oven 150 wall offers the lower inlet 1601/ time outlet penetrating/pass lower process water dry place for the second conveyer belt 20.

With reference to Fig. 1.Described 3-D scanning mechanism 14 is non-contact 3-D scanner, this non-contact 3-D scanner is used for visible ray, high-energy light beam guiding, ultrasonic or X ray are projected on vamp, use vamp to visible ray, high-energy light beam guiding, the reflex of ultrasonic or X ray creates the cloud data of vamp geometric jacquard patterning unit surface and then generating three-dimensional models and is transferred to described controller, described controller is used for according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator 170 and be transferred to described first six degree of freedom manipulator 170, described first six degree of freedom manipulator 170 performs vamp gluing action according to these tracks data.

The use procedure of the present embodiment is a kind of automated production method of footwear, thus illustrates further the present embodiment below by the automated production method introducing this vamp in detail.

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4.Use an automated production method for the footwear of above-mentioned automatic production line, comprise the following steps:

The first step, the pairing of sole and vamp and material loading prepare: be fixed on shoe tree by vamp attachment, and be ready for the sole with its pairing, sole and vamp are carried out pre-determined bit, and the edge, location both it draws outline line, then by sole with bottom be contact surface be positioned on the second conveyer belt 20, vamp and shoe tree are set on the analog bracket of the first conveyer belt 10 by the pilot hole of shoe tree head;

Second step, the glued area of sole and vamp is scanned: the second conveyer belt 20 drives sole to move to the working region of described infrared scanning equipment, this infrared scanning equipment passes through visible ray, high-energy light beam guiding, ultrasonic or X ray are projected on sole, use sole to visible ray, high-energy light beam guiding, the reflex of ultrasonic or X ray obtains the Y direction of sole and the running fix data parameters of Z-direction and is transported on controller, described second driven unit 21 provides the running fix data parameters of sole X-direction and is transported on controller, first conveyer belt 10 drives vamp to move to the working region of described non-contact 3-D scanner, this non-contact 3-D scanner is by being projected on vamp by visible ray, high-energy light beam guiding, ultrasonic or X ray, use vamp to the reflex of visible ray, high-energy light beam guiding, ultrasonic or X ray to create the cloud data of vamp geometric jacquard patterning unit surface and then generating three-dimensional models and to be transported on controller, described first driven unit 11 provides the running fix data parameters of vamp X-direction and is transported on controller,

3rd step, carry out spraying process water to the glued area of sole and vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculate the time that vamp enters the working region of the first process watering mechanism, when vamp enters the working region of the first process watering mechanism, stop the first driven unit 11, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator 170 and be transferred to described first six degree of freedom manipulator 170, described first six degree of freedom manipulator 170 performs according to these tracks data and does vamp spray process hydrodynamic(al), described first six degree of freedom manipulator 170 perform to vamp spray process hydrodynamic(al) do time, described second spray gun 173 at the uniform velocity sprays process water, meanwhile, described controller is on the one hand according to the running fix data parameters of the X-direction of sole, calculate the time that sole enters the working region of the second process watering mechanism, when sole enters the working region of the second process watering mechanism, stop the second driven unit 21, and described controller is on the other hand according to the Y direction of above-mentioned sole 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 described second six degree of freedom manipulator 24 and be transferred to described second six degree of freedom manipulator 24, described second six degree of freedom manipulator 24 performs according to these tracks data and does sole spray process hydrodynamic(al), described second six degree of freedom manipulator 24 perform to sole spray process hydrodynamic(al) do time, described 4th spray gun 242 at the uniform velocity sprays process water, described first six degree of freedom manipulator 170 is being finished after to vamp spray process hydrodynamic(al) work, described controller is by the rotation of control first servomotor 1773, drive this first six degree of freedom manipulator 170 to move to the first glue spraying along the first guiding assemblage 175 from the first process Water spray station 10b and perform station 10d, described second six degree of freedom manipulator 24 is being finished after to sole spray process hydrodynamic(al) work, described controller, by the rotation of control second servomotor 1773, drives this second six degree of freedom manipulator 24 to move to the second glue spraying along the second guiding assemblage 251 from the second process Water spray station 20b and performs station 20d,

4th step, dries the process water on sole and vamp: the lower process water dry place that the second conveyer belt 20 drives sole to move to the second baking oven 150 carries out drying process; The upper process water dry place that first conveyer belt 10 drives vamp to move to the second baking oven 150 carries out drying process;

5th step, glue spraying is carried out to the glued area of sole and vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculate the time that vamp enters the working region of the first glue spraying executing agency, when vamp enters the working region of the first glue spraying executing agency, stop the first driven unit 11, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator 170 and be transferred to described first six degree of freedom manipulator 170, described first six degree of freedom manipulator 170 performs vamp gluing action according to these tracks data, when described first six degree of freedom manipulator 170 performs vamp gluing action, described first spray gun 172 at the uniform velocity sprays glue, meanwhile, described controller is on the one hand according to the running fix data parameters of the X-direction of sole, calculate the time that sole enters the working region of the second glue spraying executing agency, when sole enters the working region of the second glue spraying executing agency, stop the second driven unit 21, and described controller is on the other hand according to the Y direction of above-mentioned sole 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 described second six degree of freedom manipulator 24 and be transferred to described second six degree of freedom manipulator 24, described second six degree of freedom manipulator 24 performs sole gluing action according to these tracks data, when described second six degree of freedom manipulator 24 performs sole gluing action, described 3rd spray gun 241 at the uniform velocity sprays glue, be finished after to vamp gluing action at described first six degree of freedom manipulator 170, described controller is by the rotation of control first servomotor 1773, drive this first six degree of freedom manipulator 170 to perform station 10d along the first guiding assemblage 175 from the first glue spraying and turn back to the first process Water spray station 10b, carry out spray process water to get a vamp ready, described second six degree of freedom manipulator 24 is being finished after to sole gluing action, described controller is by the rotation of control second servomotor 1773, drive this second six degree of freedom manipulator 24 to perform station 20d along the second guiding assemblage 251 from the second glue spraying and turn back to the second process Water spray station 20b, carry out spray process water to get a sole ready,

6th step, dries the glue on sole and vamp: drying process is carried out in the lower glue dries space that the second conveyer belt 20 drives sole to move to the first baking oven 160; The upper glue dry place that first conveyer belt 10 drives vamp to move to the first baking oven 160 carries out drying process;

7th step, in the exit of the first conveyer belt 10 and the second driving-belt, manual pressing is carried out to sole and vamp and make the two good bond, solidify completely in the glue of junction both it and just the shoes of forming can be departed from from shoe tree, thus complete the making to footwear.

The present embodiment is connected by the base of the first six degree of freedom manipulator 170 is carried out lifting with the bottom surface of the first travelling carriage 176, thus in workshop, first six degree of freedom manipulator 170 can be arranged on directly over the first conveyer belt 10 by user, the space at top can be used well, and matingly vamp automatic gluing device 1 and sole automatic gluing device 2 are carried out upper and lower two-layer setting, sole and vamp can be made on the one hand to enter from same position simultaneously, and also export at same position place, thus the traffic control in greatly convenient production, workman does not often need vamp and the sole of again distinguishing pairing, can directly carry out adhesion-molded according to the vamp of upper and lower two-layer discharging and sole, the operating efficiency in the unit interval can be improved in degree ground greatly, on the other hand, carry out upper and lower two-layer setting and also can save of the present invention in workshop taking up room, be conducive to being suitable in the comparatively nervous region in little factory building or other industrial soils.

In the present embodiment, advanced row relax Water spray has been included in the glue spraying method of vamp and sole, dry again, carry out glue spraying again, the FOUR EASY STEPS of drying again, production line also attaches special equipment or the mechanism that this completes this FOUR EASY STEPS simultaneously, first carry out spraying the firmness processing water and can be conducive to improving follow-up glue spraying, that is process water and can carry out surface treatment to the gluing face of vamp or sole, gluing face after drying and the enhancing that can obtain large degree in conjunction with fastness of glue, reciprocate by described first six degree of freedom manipulator 170 being arranged to can perform station 10d part at the first process Water spray station 10b and the first glue spraying, so just, a six degree of freedom manipulator can be saved, and carry out controlling the accuracy that also can ensure to be shifted by servomotor 1773, therefore multistation lifting manipulator equipment is set and on the guarantee accurate basis of manufacture automatic control, equipment cost can be reduced as much as possible.

Embodiment two

With reference to Fig. 5 and Fig. 6.The present embodiment is substantially identical with the embodiment of embodiment one, its difference is: the described 3-D scanning mechanism 14 in the present embodiment comprises vamp scanning element 140, graphics processing unit 141, data capture unit 142 and model generation unit 143, described vamp scanning element 140 is for taking vamp top side image, vamp left-side images and vamp image right, it comprises the imperial portal trestle 144 that is arranged at the vamp scanning position place on the first conveyer belt 10, the top of this imperial portal trestle 144 is equiped with two the first cameras 145, lower left is equiped with two second cameras 146, lower right is equiped with two the 3rd cameras 147, two described first cameras 145 all aim at vamp top side and to the top side image being applied to collection two vamps, two described second cameras 146 all to be aimed on the left of vamp and to the left-side images being applied to collection two vamps, two described 3rd cameras 147 all to be aimed on the right side of vamp and to the image right being applied to collection two vamps, the Enable Pin of described graphics processing unit 141 is connected to the output of described first camera 145, second camera 146 and the 3rd camera 147, and this graphics processing unit 141 is for being spliced into complete vamp top side image to the top side correct image of two vamps collected, the left-side images of two vamps collected corrected and is spliced into complete vamp left-side images, the image right of two vamps collected corrected and is spliced into complete vamp image right, the Enable Pin of described data capture unit 142 is connected with the output of described graphics processing unit 141, and this data capture unit 142 carries out rim detection for adopting edge detection algorithm to complete vamp top side image, vamp left-side images and the vamp image right after image procossing, and the contour edge coordinate obtained on the left of vamp top side, vamp and on the right side of vamp is as three dimensional point cloud, the Enable Pin of described model generation unit 143 is connected with the output of described data capture unit 142, and this model generation unit 143 is for according to above-mentioned three dimensional point cloud, in conjunction with the vamp master pattern preserved, call profile bounding algorithm generate vamp threedimensional model and be transferred to described controller, described controller is used for according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator 170 and be transferred to described first six degree of freedom manipulator 170, described first six degree of freedom manipulator 170 performs vamp gluing action according to these tracks data.

With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6.Use an automated production method for the footwear of above-mentioned automatic production line, comprise the following steps:

Second step, the glued area of sole and vamp is scanned: the second conveyer belt 20 drives sole to move to the working region of described infrared scanning equipment, this infrared scanning equipment passes through visible ray, high-energy light beam guiding, ultrasonic or X ray are projected on sole, use sole to visible ray, high-energy light beam guiding, the reflex of ultrasonic or X ray obtains the Y direction of sole and the running fix data parameters of Z-direction and is transported on controller, described second driven unit 21 provides the running fix data parameters of sole X-direction and is transported on controller, when the first conveyer belt 10 drives vamp to move to the working region of described vamp scanning element, two described first cameras 145 all aim at vamp top side and the corresponding top side image gathering two vamps, two described second cameras 146 all to be aimed on the left of vamp and the corresponding left-side images gathering two vamps, two described 3rd cameras 147 all to be aimed on the right side of vamp and the corresponding image right gathering two vamps, described graphics processing unit 141 is to the top side correct image of collect two vamps and be spliced into complete vamp top side image, the left-side images of two vamps collected corrected and is spliced into complete vamp left-side images, the image right of two vamps collected corrected and is spliced into complete vamp image right, described data capture unit 142 adopts edge detection algorithm to the complete vamp top side image after image procossing, vamp left-side images and vamp image right carry out rim detection, and obtain vamp top side, contour edge coordinate on the left of vamp and on the right side of vamp is as three dimensional point cloud, and described model generation unit 143 is according to above-mentioned three dimensional point cloud, in conjunction with the vamp master pattern preserved, call profile bounding algorithm generate vamp threedimensional model and be transferred to described controller, described first driven unit 11 provides the running fix data parameters of vamp X-direction and is transported on controller,

3rd step, carry out spraying process water to the glued area of sole and vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculate the time that vamp enters the working region of the first process watering mechanism, when vamp enters the working region of the first process watering mechanism, stop the first driven unit 11, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator 170 and be transferred to described first six degree of freedom manipulator 170, described first six degree of freedom manipulator 170 performs according to these tracks data and does vamp spray process hydrodynamic(al), described first six degree of freedom manipulator 170 perform to vamp spray process hydrodynamic(al) do time, described second spray gun 173 at the uniform velocity sprays process water, meanwhile, described controller is on the one hand according to the running fix data parameters of the X-direction of sole, calculate the time that sole enters the working region of the second process watering mechanism, when sole enters the working region of the second process watering mechanism, stop the second driven unit 21, and described controller is on the other hand according to the Y direction of above-mentioned sole 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 described second six degree of freedom manipulator 24 and be transferred to described second six degree of freedom manipulator 24, described second six degree of freedom manipulator 24 performs according to these tracks data and does sole spray process hydrodynamic(al), described second six degree of freedom manipulator 24 perform to sole spray process hydrodynamic(al) do time, described 4th spray gun 242 at the uniform velocity sprays process water, described first six degree of freedom manipulator 170 is being finished after to vamp spray process hydrodynamic(al) work, described controller, by the rotation of control first servomotor 1773, drives this first six degree of freedom manipulator 170 to move to the first glue spraying along the first guiding assemblage 175 from the first process Water spray station 10b and performs station 10d, described second six degree of freedom manipulator 24 is being finished after to sole spray process hydrodynamic(al) work, described controller, by the rotation of control second servomotor 1773, drives this second six degree of freedom manipulator 24 to move to the second glue spraying along the second guiding assemblage 251 from the second process Water spray station 20b and performs station 20d,

In the present invention, adopt non-contact 3-D scanner can meet the demand of the quick glue spraying process of vamp as 3-D scanning mechanism 14, its data processing block in embodiment one, action judges and controls accurately, but equipment manufacturing cost is relatively high.And the 3-D scanning mechanism 14 in the present embodiment is two first cameras 145 at the top adopted in vamp scanning element 140, two second cameras 146 of lower left, two the 3rd cameras 147 of lower right dress, by above six cameras at one time in take pictures six pictures, and analyzed by computer software, thus the production cost of 3-D scanning mechanism 14 can be reduced, and can in the certain precision of guarantee, particularly under the prerequisite of the accuracy of each position parameter of guarantee vamp spraying area, sweep time can be reduced widely.

Graphics processing unit 141 in the present embodiment, data capture unit 142 and model generation unit 143 by between interaction the principle that six pictures that camera each in picture sweep unit 140 obtains carry out processing rear production three dimensional point cloud can be used for reference Chinese invention patent (application number: 201010298713.2, Authorization Notice No.: CN102034264B) mode of " calling profile bounding algorithm to generate when the threedimensional model of front foot portion " that discloses, or the mode of other data processings, can realize completely generating vamp threedimensional model with upper type, thus no longer detailed describing is carried out to it herein.

Above are only the specific embodiment of the present invention, but design concept of the present invention is not limited thereto, all changes utilizing this design the present invention to be carried out to unsubstantiality, all should belong to the behavior of invading scope.

Claims

1. save the vamp glue spraying equipment of usage space for one kind, it is characterized in that: comprise one first conveyer belt, drive this first conveyer belt to carry out the first driven unit and the first automation glue spraying Control Component of uniform motion, above described first conveyer belt, be provided with 3-D scanning station adjacent successively, the first process Water spray station, the first process water drying station, the first glue spraying execution station and the first drying adhesive station; described first automation glue spraying Control Component comprises the 3-D scanning mechanism being positioned at 3-D scanning station, be positioned at the first process water drying mechanism of the first process water drying station, be positioned at the first drying adhesive mechanism of the first drying adhesive station and can perform at the first process Water spray station and the first glue spraying the first multistation lifting manipulator equipment that station part carries out reciprocating to horizontal direction, described first multistation lifting manipulator equipment comprises the controller that an Enable Pin is connected with described 3-D scanning mechanism, one the first six degree of freedom manipulator be connected with this controller output end, this the first six degree of freedom manipulator is driven to perform the first traversing controlling organization and one first spray gun be installed on this first six degree of freedom manipulator arm and one second spray gun that to carry out between station reciprocating at the first process Water spray station and the first glue spraying, when described first six degree of freedom manipulator performs the action of vamp glue spraying, described first spray gun at the uniform velocity sprays glue, when described first six degree of freedom manipulator execution is done vamp spray process hydrodynamic(al), described second spray gun at the uniform velocity sprays process water, described first traversing controlling organization comprises the first fixed mount, be installed on the first guiding assemblage on this first fixed mount, carry out lifting the first travelling carriage and the first drive assembly that are connected with its bottom surface and the base of described first six degree of freedom manipulator, described first travelling carriage to be installed on described first guiding assemblage and to carry out horizontal shifting under the drive of described first drive assembly.

2. a kind of vamp glue spraying equipment saving usage space as claimed in claim 1, it is characterized in that: described first drive assembly comprise one first main synchronous pulley and one first from synchronous pulley, be set around this first main synchronous pulley and first from the first Timing Belt synchronous pulley and the first servomotor of driving described first main synchronous pulley to rotate, this first Timing Belt has two links, one of them link is fixedly connected with the left side of described first travelling carriage, and another link is fixedly connected with the right side of described first travelling carriage.

3. a kind of vamp glue spraying equipment saving usage space as claimed in claim 1, it is characterized in that: described first drive assembly comprises two clutch shaft bearings, the two ends that are installed in the first fixed mount both sides respectively and to be installed on this two clutch shaft bearing the first screw mandrel respectively and to drive this screw mandrel to carry out the servomotor rotated, described first travelling carriage offers first screwed hole suitable with described first screw mandrel in the axial direction, by being spirally connected of this first screwed hole and the first screw mandrel, the convert rotational motion of described first screw mandrel is described first travelling carriage rectilinear movement.

4. a kind of vamp glue spraying equipment saving usage space as described in Claims 2 or 3, it is characterized in that: described first guiding assemblage comprises two spaced apart first guide rails and correspondence and is sheathed on two first guide pin bushings on every root first guide rail, and the both sides correspondence of described first travelling carriage is set up on this two first guide pin bushing.

5. a kind of vamp glue spraying equipment saving usage space as claimed in claim 4, it is characterized in that: include one first baking oven and one second baking oven, this first baking oven includes a glue dries space, this the first drying adhesive mechanism is this glue dries space, described first baking oven wall offers the inlet/outlet penetrating/pass described glue dries space for the first conveyer belt, described second baking oven comprises a process water dry place, described first process water drying mechanism is this process water dry place, described second baking oven wall offers the inlet/outlet penetrating/pass described process water dry place for the first conveyer belt.

6. a kind of vamp glue spraying equipment saving usage space as claimed in claim 5, it is characterized in that: the length in described glue dries space is 2 meters, the length of described process water dry place is 1.5 meters.

7. a kind of vamp glue spraying equipment saving usage space as claimed in claim 6, it is characterized in that: described 3-D scanning mechanism is non-contact 3-D scanner, this non-contact 3-D scanner is used for visible ray, high-energy light beam guiding, ultrasonic or X ray are projected on vamp, use vamp to visible ray, high-energy light beam guiding, the reflex of ultrasonic or X ray creates the cloud data of vamp geometric jacquard patterning unit surface and then generating three-dimensional models and is transferred to described controller, described controller is used for according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator and be transferred to described first six degree of freedom manipulator, described first six degree of freedom manipulator performs the action of vamp glue spraying according to these tracks data.

8. a kind of vamp glue spraying equipment saving usage space as claimed in claim 6, it is characterized in that: described 3-D scanning mechanism comprises vamp scanning element, graphics processing unit, data capture unit and model generation unit, described vamp scanning element is for taking vamp top side image, vamp left-side images and vamp image right, it comprises the imperial portal trestle that is arranged at the vamp scanning position place on the first conveyer belt, the top of this imperial portal trestle is equiped with two the first cameras, lower left is equiped with two second cameras, lower right is equiped with two the 3rd cameras, two described first cameras all aim at vamp top side and to the top side image being applied to collection two vamps, two described second cameras all to be aimed on the left of vamp and to the left-side images being applied to collection two vamps, two described 3rd cameras all to be aimed on the right side of vamp and to the image right being applied to collection two vamps, the Enable Pin of described graphics processing unit is connected to the output of described first camera, second camera and the 3rd camera, and this graphics processing unit is used for the top side correct image of two vamps collected and is spliced into complete vamp top side image, the left-side images of two vamps collected corrected and is spliced into complete vamp left-side images, the image right of two vamps collected corrected and is spliced into complete vamp image right, the Enable Pin of described data capture unit is connected with the output of described graphics processing unit, and this data capture unit carries out rim detection for adopting edge detection algorithm to complete vamp top side image, vamp left-side images and the vamp image right after image procossing, and the contour edge coordinate obtained on the left of vamp top side, vamp and on the right side of vamp is as three dimensional point cloud, the Enable Pin of described model generation unit is connected with the output of described data capture unit, and this model generation unit is used for according to above-mentioned three dimensional point cloud, in conjunction with the vamp master pattern preserved, call profile bounding algorithm generate vamp threedimensional model and be transferred to described controller, described controller is used for according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator and be transferred to described first six degree of freedom manipulator, described first six degree of freedom manipulator performs the action of vamp glue spraying according to these tracks data.

9. one kind uses the automatic vamp glue spraying method of vamp glue spraying equipment as claimed in claim 7, it is characterized in that, comprise the following steps: the pairing of a, vamp and material loading prepare: vamp attachment is fixed on shoe tree, and be ready for the sole with its pairing, sole and vamp are carried out pre-determined bit, and the edge, location both it draws outline line, then vamp and shoe tree are set on the analog bracket of the first conveyer belt by the pilot hole of shoe tree head, b, the glue spraying region of vamp to be scanned: the first conveyer belt drives vamp to move to the working region of described non-contact 3-D scanner, this non-contact 3-D scanner is by being projected on vamp by visible ray, high-energy light beam guiding, ultrasonic or X ray, use vamp to the reflex of visible ray, high-energy light beam guiding, ultrasonic or X ray to create the cloud data of vamp geometric jacquard patterning unit surface and then generating three-dimensional models and to be transported on controller, described first driven unit provides the running fix data parameters of vamp X-direction and is transported on controller, c, carry out spraying process water to the glue spraying region of vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculate the time that vamp enters the working region of the first process watering mechanism, when vamp enters the working region of the first process watering mechanism, stop the first driven unit, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator and be transferred to described first six degree of freedom manipulator, described first six degree of freedom manipulator performs according to these tracks data and does vamp spray process hydrodynamic(al), when described first six degree of freedom manipulator execution is done vamp spray process hydrodynamic(al), described second spray gun at the uniform velocity sprays process water, described first six degree of freedom manipulator is being finished after to vamp spray process hydrodynamic(al) work, described controller, by the rotation of control first servomotor, drives this first six degree of freedom manipulator to move to the first glue spraying along the first guiding assemblage from the first process Water spray station and performs station, d, the process water on vamp to be dried: the process water dry place that the first conveyer belt drives vamp to move to the second baking oven carries out drying and processes, e, glue spraying is carried out to the glue spraying region of vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculate the time that vamp enters the working region of the first glue spraying executing agency, when vamp enters the working region of the first glue spraying executing agency, stop the first driven unit, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator and be transferred to described first six degree of freedom manipulator, described first six degree of freedom manipulator performs the action of vamp glue spraying according to these tracks data, when described first six degree of freedom manipulator performs the action of vamp glue spraying, described first spray gun at the uniform velocity sprays glue, be finished after to the action of vamp glue spraying at described first six degree of freedom manipulator, described controller is by the rotation of control first servomotor, drive this first six degree of freedom manipulator to perform station along the first guiding assemblage from the first glue spraying and turn back to the first process Water spray station, spray process water is carried out to get a vamp ready, f, the glue on vamp to be dried: the glue dries space that the first conveyer belt drives vamp to move to the first baking oven is carried out drying and processed, g, dried vamp are transported on bonding work top under the first conveyer belt drives, and can complete the automatic glue-spraying of vamp, so that workman carries out the subsequent operation of manual pressing process to vamp and sole.

10. one kind uses the automatic vamp glue spraying method of vamp glue spraying equipment as claimed in claim 8, it is characterized in that, comprise the following steps: the pairing of a, vamp and material loading prepare: vamp attachment is fixed on shoe tree, and be ready for the sole with its pairing, sole and vamp are carried out pre-determined bit, and the edge, location both it draws outline line, then vamp and shoe tree are set on the analog bracket of the first conveyer belt by the pilot hole of shoe tree head, b, to scan the glue spraying region of vamp: the first conveyer belt drives vamp to move to the working region of described vamp scanning element, two described first cameras all aim at vamp top side and the corresponding top side image gathering two vamps, two described second cameras all to be aimed on the left of vamp and the corresponding left-side images gathering two vamps, two described 3rd cameras all to be aimed on the right side of vamp and the corresponding image right gathering two vamps, described graphics processing unit is to the top side correct image of collect two vamps and be spliced into complete vamp top side image, the left-side images of two vamps collected corrected and is spliced into complete vamp left-side images, the image right of two vamps collected corrected and is spliced into complete vamp image right, described data capture unit adopts edge detection algorithm to the complete vamp top side image after image procossing, vamp left-side images and vamp image right carry out rim detection, and obtain vamp top side, contour edge coordinate on the left of vamp and on the right side of vamp is as three dimensional point cloud, and described model generation unit is according to above-mentioned three dimensional point cloud, in conjunction with the vamp master pattern preserved, call profile bounding algorithm generate vamp threedimensional model and be transferred to described controller, described first driven unit provides the running fix data parameters of vamp X-direction and is transported on controller, c, carry out spraying process water to the glue spraying region of vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculate the time that vamp enters the working region of the first process watering mechanism, when vamp enters the working region of the first process watering mechanism, stop the first driven unit, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator and be transferred to described first six degree of freedom manipulator, described first six degree of freedom manipulator performs according to these tracks data and does vamp spray process hydrodynamic(al), when described first six degree of freedom manipulator execution is done vamp spray process hydrodynamic(al), described second spray gun at the uniform velocity sprays process water, described first six degree of freedom manipulator is being finished after to vamp spray process hydrodynamic(al) work, described controller, by the rotation of control first servomotor, drives this first six degree of freedom manipulator to move to the first glue spraying along the first guiding assemblage from the first process Water spray station and performs station, d, the process water on vamp to be dried: the process water dry place that the first conveyer belt drives vamp to move to the second baking oven carries out drying and processes, e, glue spraying is carried out to the glue spraying region of vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculate the time that vamp enters the working region of the first glue spraying executing agency, when vamp enters the working region of the first glue spraying executing agency, stop the first driven unit, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described first six degree of freedom manipulator and be transferred to described first six degree of freedom manipulator, described first six degree of freedom manipulator performs the action of vamp glue spraying according to these tracks data, when described first six degree of freedom manipulator performs the action of vamp glue spraying, described first spray gun at the uniform velocity sprays glue, be finished after to the action of vamp glue spraying at described first six degree of freedom manipulator, described controller is by the rotation of control first servomotor, drive this first six degree of freedom manipulator to perform station along the first guiding assemblage from the first glue spraying and turn back to the first process Water spray station, carry out spray process water to get a vamp ready, f, the glue on vamp to be dried: the glue dries space that the first conveyer belt drives vamp to move to the first baking oven is carried out drying and processed, dried vamp is transported on bonding work top under the first conveyer belt drives, the automatic glue-spraying of vamp can be completed, so that workman carries out the subsequent operation of manual pressing process to vamp and sole.