CN104161354A

CN104161354A - Automatic footwear production line with using space saved and automatic footwear making method

Info

Publication number: CN104161354A
Application number: CN201410372019.9A
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: 2014-11-26
Anticipated expiration: 2034-07-31
Also published as: CN104161354B

Abstract

An automatic footwear production line with using space saved comprises an automatic vamp glue applying device and an automatic sole glue applying device, wherein the automatic vamp glue applying device and the automatic sole glue applying device are vertically arranged and adjacent to each other, the automatic vamp glue applying device comprises a first conveying belt, a first driving assembly and a first automatic glue spraying control assembly, the first automatic glue spraying control assembly comprises a three-dimensional scanning mechanism, a first treating water drying mechanism, a first glue drying mechanism and a first multi-station hoisting manipulator device, the first multi-station hoisting manipulator device comprises a controller, a first six-freedom-degree manipulator, a first transverse-movement control mechanism, a first spraying gun and a second spraying gun, and the first transverse movement control mechanism comprises a first fixing frame, a first guiding assembly, a first moving table and a first transmission assembly. Due to the automatic footwear production line, it can be guaranteed that the amount of glue sprayed to all the portions of a vamp tends to be consistent, waste of glue is greatly reduced, consistency of the glue spraying effect of vamps is improved, then, it is guaranteed that firmness degree of subsequent adhering between vamps and soles is improved, the service life of footwear is prolonged, and quality of footwear is improved.

Description

Save footwear automatic production line and the footwear automated production method of usage space

Technical field

The present invention relates to method and special equipment that vamp and sole carry out combination, refer in particular to a kind of footwear automatic production line and footwear automated production 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 has determined the bonding firm degree 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 by manual operation, and cost of labor is high.And the adhesive that shoemaking is used contains toxic component, this adhesive of workman's Long contact time can produce greatly harm to operator's health.

In order to overcome the many harm of artificial glue spraying to health, existing a kind of glue spraying equipment is on conveyer belt, to be provided with FE Glue Gun, can carry out glue spraying to the sole on conveyer belt, yet but because FE Glue Gun can not automatic adjusting position, FE Glue Gun cannot accurately be located the sole on conveyer belt, thereby cause FE Glue Gun cannot aim at sole, carries out glue spraying.

In order to tackle an above difficult problem, the applicant in November, 2013 13Xiang State Intellectual Property Office submitted a Chinese utility model patent (application number: 201320717548.9 to, notification number: CN 203523958U), above patent has been recorded the technical scheme of a glue spraying equipment based on vision 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, the X-axis transmission device that drives FE Glue Gun X-direction to move, the Y-axis transmission that drives FE Glue Gun Y direction to move, drive FE Glue Gun Z-direction the Z-axis transmission device moving and the controller of controlling 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 utility model has formed by video frequency pick-up head, X-axis transmission device, Y-axis transmission, Z-axis transmission device and controller the system that regulates FE Glue Gun position based on visual information.This system is adjusted to FE Glue Gun the correct position of conveyer belt top, makes FE Glue Gun accurately to sole, carry out glue spraying.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 workman is caused the problems such as personal injury, yet in actual use procedure, also have following some weak point: 1, adopt video frequency pick-up head easily to occur locating inaccurate situation, and adopt three driven off by shaft modes in glue spraying process, cannot realize the uniformity of each position spraying glue quantity, want to reach and substitute artificial glue spraying completely and also have quite long distance; 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 cannot will spray vamp is accurately located, thereby causes 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, needs in addition accurately to control the opening and closing of spray gun, and control mode is quite complicated, and the control appliance needing is comparatively expensive.

Summary of the invention

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

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

A kind of footwear automatic production line of saving usage space, a sole automatic gluing device that comprises a vamp automatic gluing device and be positioned at this vamp automatic gluing device below, described vamp automatic gluing device and sole automatic gluing device are all elongated, and on same vertical plane, be upper and lower positioned adjacent, described vamp automatic gluing device comprises 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, described the first conveyer belt top is provided with the 3-D scanning station of adjacency successively, first processes water spray station, first processes water drying station, the first glue spraying is carried out station and the first drying adhesive station, described the first automation glue spraying Control Component comprises the 3-D scanning mechanism that is positioned at 3-D scanning station, be positioned at first of the first processing water drying station and process water drying mechanism, be positioned at the first drying adhesive mechanism of the first drying adhesive station and can at the first processing water spray station and the first glue spraying execution station part, come and go the first mobile multistation lifting manipulator equipment to horizontal direction, described the 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 being connected with this controller output end, drive this first six degree of freedom manipulator come and go the first mobile traversing controlling organization and be installed on one first spray gun and one second spray gun on this first six degree of freedom manipulator arm at the first processing water spray station and the first glue spraying execution station part, when described the first six degree of freedom manipulator execution is moved to vamp gluing, described the first spray gun at the uniform velocity sprays glue, when described the first six degree of freedom manipulator execution is done vamp spray processing hydrodynamic(al), described the second spray gun at the uniform velocity sprays processing water, described the first traversing controlling organization comprises the first fixed mount, be installed on the first guiding assemblage on this first fixed mount, with its bottom surface and the base of described the first six degree of freedom manipulator, lift the first travelling carriage and the first drive assembly being connected, described the first travelling carriage is installed in and on described the first guiding assemblage and under the drive of described the first drive assembly, carries out horizontal shifting.

Further, described the first drive assembly comprises that one first main synchronous pulley and one first is from synchronous pulley, the first servomotor of being set around first Timing Belt of this first main synchronous pulley and first from synchronous pulley and driving described the 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 the first travelling carriage, and another link is fixedly connected with the right side of described the first travelling carriage.

Further, described the first drive assembly comprises the servomotor that the first transmission fixed mount, two clutch shaft bearings that are installed in respectively the first transmission fixed mount both sides, two ends are installed on respectively the first screw mandrel on this two clutch shaft bearing and drive this first screw mandrel to rotate, described the first travelling carriage offers first screwed hole suitable with described the first screw mandrel in the axial direction, by being spirally connected of this first screwed hole and the first screw mandrel, rotatablely moving of described the first screw mandrel is converted into described the first travelling carriage traveling priority.

Further, described the first guiding assemblage comprises that two spaced apart the first line slideways and correspondence are sheathed on two first guide pin bushings on every the first line slideway, and the both sides correspondence of described the first travelling carriage is set up on this two first guide pin bushing.

Further, described sole automatic gluing device comprises one second conveyer belt, drives this second conveyer belt to carry out the second driven unit and the second automation glue spraying Control Component of uniform motion, and described the second conveyer belt top is provided with the infrared scan station, second of adjacency successively and processes water spray station, the second processing water drying station, the second glue spraying execution station and the second drying adhesive station; described the second automation glue spraying Control Component comprises the infrared scan mechanism that is positioned at infrared scan station, be positioned at second of the second processing water drying station and process water drying mechanism, be positioned at the second drying adhesive mechanism of the second drying adhesive station and can at the second processing water spray station and the second glue spraying execution station part, come and go the second mobile multistation paper binding machine hand equipment to horizontal direction, described the second multistation paper binding machine hand equipment comprises the controller that an Enable Pin is connected with described infrared scan mechanism, one the second six degree of freedom manipulator being connected with this controller output end, drive this second six degree of freedom manipulator come and go the second mobile traversing controlling organization and be installed on one the 3rd spray gun and one the 4th spray gun on this second six degree of freedom manipulator arm at the second processing water spray station and the second glue spraying execution station part, when described the second six degree of freedom manipulator execution is moved to sole gluing, described the 3rd spray gun at the uniform velocity sprays glue, when described the second six degree of freedom manipulator execution is done sole spray processing hydrodynamic(al), described the 4th spray gun at the uniform velocity sprays processing water, described the second traversing controlling organization comprises the second fixed mount, be installed on the second guiding assemblage on this second fixed mount, with its end face and the base of described the second six degree of freedom manipulator, be fixed the second travelling carriage and the second drive assembly being connected, described the second travelling carriage is installed in and on described the second guiding assemblage and under the drive of described the second drive assembly, carries out horizontal shifting, described the second guiding assemblage comprises that two spaced apart the second line slideways and correspondence are sheathed on two second guide pin bushings on every the second line slideway, the both sides correspondence of described the second travelling carriage is set up on this two second guide pin bushing, described the second drive assembly comprises that one second main synchronous pulley and one second is from synchronous pulley, be set around second Timing Belt of this second main synchronous pulley and second from synchronous pulley and the second servomotor that drives described the second main synchronous pulley to rotate, this second Timing Belt has two links, one of them link is fixedly connected with the left side of described the second travelling carriage, another link is fixedly connected with the right side of described the second travelling carriage.

Further, include one first baking oven and one second baking oven, this first baking oven becomes upper glue dry place and lower glue dries space by one first baffle for separating, the first drying adhesive mechanism is glue dry place on this, the second drying adhesive mechanism is this lower glue dries space, described the first baking oven wall offers the upper inlet/upper outlet that penetrates/pass glue dry place for the first conveyer belt, described the first baking oven wall offers the lower inlet/lower outlet that penetrates/pass lower glue dries space for the second conveyer belt, described the second baking oven is separated into upper processing water dry place and lower processing water dry place by a second partition, the first processing water drying mechanism is processing water dry place on this, the second processing water drying mechanism is this lower processing water dry place, described the second baking oven wall offers the upper inlet/upper outlet that penetrates/pass processing water dry place for the first conveyer belt, described the second baking oven wall offers the lower inlet/lower outlet that penetrates/pass lower processing water dry place for the second conveyer belt.

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 the first six degree of freedom manipulator and be transferred to described the first six degree of freedom manipulator, described the first six degree of freedom manipulator is carried out vamp gluing is moved 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 used for taking vamp top side image, vamp left-side images and vamp image right, it comprises that one is arranged at the imperial portal trestle at the vamp scanning position place on the first conveyer belt, the top of this dragon 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 the first cameras are all aimed at vamp top side and to being applied to gather the top side image of two vamps, two described second cameras are all aimed on the left of vamp and to being applied to gather the left-side images of two vamps, two described the 3rd cameras are all aimed at vamp right side and to being applied to gather the image right of two vamps, the Enable Pin of described graphics processing unit is connected in the output of described the first camera, second camera and the 3rd camera, and this graphics processing unit is used for the top side correct image of collect two vamps and is spliced into complete vamp top side image, complete vamp left-side images is proofreaied and correct and be spliced into the left-side images of collect two vamps, complete vamp image right is proofreaied and correct and be spliced into the image right of collect two vamps, the Enable Pin of described data capture unit is connected with the output of described graphics processing unit, and this data capture unit is for adopting complete vamp top side image, vamp left-side images and vamp image right after edge detection algorithm is processed image to carry out rim detection, and the contour edge coordinate that obtains vamp top side, vamp left side and vamp right side 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 of preserving, calling profile bounding algorithm generates vamp threedimensional model 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 the first six degree of freedom manipulator and be transferred to described the first six degree of freedom manipulator, described the first six degree of freedom manipulator is carried out vamp gluing is moved according to these tracks data.

An automated production method of using the footwear of above-mentioned automatic production line, comprises the following steps:

The pairing of a, sole and vamp and material loading are prepared: vamp is adhered to and is fixed on shoe tree, and be ready for the sole with its pairing, sole and vamp are carried out to pre-determined bit, and its two edge, location draws outline line, then sole being take to bottom, to be contact-making surface be positioned on the second conveyer belt, and the pilot hole by vamp and shoe tree by shoe tree head is set on the analog bracket of the first conveyer belt;

B, the gluing region of sole and vamp is scanned: the second conveyer belt drives sole to move to the working region of described infrared scanning equipment, this infrared scanning equipment is by being projected to visible ray, high-energy light beam guiding, ultrasonic or X ray on sole, use sole the reflex of visible ray, high-energy light beam guiding, ultrasonic or X ray is obtained the Y direction of sole and the running fix data parameters of Z-direction and is transported on controller, described the second driven unit provides the running fix data parameters of sole X-direction and is transported on controller, when the first conveyer belt drives vamp, move to the working region of described vamp scanning element, two described the first cameras are all aimed at vamp top side and the corresponding top side image that gathers two vamps, two described second cameras are all aimed at vamp left side and the corresponding left-side images that gathers two vamps, two described the 3rd cameras are all aimed at vamp right side and the corresponding image right that gathers 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, complete vamp left-side images is proofreaied and correct and be spliced into the left-side images of collect two vamps, complete vamp image right is proofreaied and correct and be spliced into the image right of collect two vamps, described data capture unit adopts the complete vamp top side image after edge detection algorithm is processed image, vamp left-side images and vamp image right carry out rim detection, and obtain vamp top side, the contour edge coordinate on vamp left side and vamp right side 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 of preserving, calling profile bounding algorithm generates vamp threedimensional model and is transferred to described controller, described the first driven unit provides the running fix data parameters of vamp X-direction and is transported on controller,

C, the gluing region of sole and vamp is sprayed and processed water: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculating vamp enters the time of the working region of the first processing watering mechanism, when vamp enters the working region of the first processing 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 the first six degree of freedom manipulator and be transferred to described the first six degree of freedom manipulator, described the first six degree of freedom manipulator is carried out the spray to vamp according to these tracks data and is processed hydrodynamic(al) work, when described the first six degree of freedom manipulator execution is done vamp spray processing hydrodynamic(al), described the second spray gun at the uniform velocity sprays processing water, meanwhile, described controller is on the one hand according to the running fix data parameters of the X-direction of sole, calculating sole enters the time of the working region of the second processing watering mechanism, when sole enters the working region of the second processing watering mechanism, stop the second driven unit, and described controller is on the other hand according to the running fix data parameters of the Y direction of above-mentioned sole and Z-direction, calculate the two-dimensional space information of sole spraying area, and generate the tracks data of described the second six degree of freedom manipulator and be transferred to described the second six degree of freedom manipulator, described the second six degree of freedom manipulator is carried out the spray to sole according to these tracks data and is processed hydrodynamic(al) work, when described the second six degree of freedom manipulator execution is done sole spray processing hydrodynamic(al), described the 4th spray gun at the uniform velocity sprays processing water, described the first six degree of freedom manipulator is processed after hydrodynamic(al) work in the spray to vamp that is finished, described controller, by controlling the rotation of the first servomotor, drives this first six degree of freedom manipulator from the first processing water spray station, to move to the first glue spraying along the first guiding assemblage and carries out station, described the second six degree of freedom manipulator is processed after hydrodynamic(al) work in the spray to sole that is finished, described controller, by controlling the rotation of the second servomotor, drives this second six degree of freedom manipulator from the second processing water spray station, to move to the second glue spraying along the second guiding assemblage and carries out station,

D, the processing water on sole and vamp is dried: the lower processing water dry place that the second conveyer belt drives sole to move to the second baking oven is dried processing; The upper processing water dry place that the first conveyer belt drives vamp to move to the second baking oven is dried processing;

E, glue spraying is carried out in gluing region to sole and vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculating vamp enters the time of 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 the first six degree of freedom manipulator and be transferred to described the first six degree of freedom manipulator, described the first six degree of freedom manipulator is carried out vamp gluing is moved according to these tracks data, when described the first six degree of freedom manipulator execution is moved to vamp gluing, described the first spray gun 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, calculating sole enters the time of the working region of the second glue spraying executing agency, when sole enters the working region of the second glue spraying executing agency, stop the second driven unit, and described controller is on the other hand according to the running fix data parameters of the Y direction of above-mentioned sole and Z-direction, calculate the two-dimensional space information of sole spraying area, and generate the tracks data of described the second six degree of freedom manipulator and be transferred to described the second six degree of freedom manipulator, described the second six degree of freedom manipulator is carried out sole gluing is moved according to these tracks data, when described the second six degree of freedom manipulator execution is moved to sole gluing, described the 3rd spray gun at the uniform velocity sprays glue, after described the first six degree of freedom manipulator is being finished to vamp gluing action, described controller is by controlling the rotation of the first servomotor, drive this first six degree of freedom manipulator along the first guiding assemblage from the first glue spraying, to carry out station and turn back to the first processing water spray station, to get a vamp ready, spray processing water, described the second six degree of freedom manipulator is after being finished to sole gluing action, described controller is by controlling the rotation of the second servomotor, drive this second six degree of freedom manipulator along the second guiding assemblage from the second glue spraying, to carry out station and turn back to the second processing water spray station, to get a sole ready, spray processing water,

F, the glue on sole and vamp is dried: the lower glue dries space that the second conveyer belt drives sole to move to the first baking oven is dried processing; The upper glue dry place that the first conveyer belt drives vamp to move to the first baking oven is dried processing;

G, in the exit of the first conveyer belt and the second driving-belt, sole and vamp are carried out to manual pressing and make the two good bond, wait the glue of its two junction completely to solidify and just the shoes of forming can be departed from from shoe tree, thereby complete the making to footwear.

An automated production method of using the footwear of above-mentioned another kind of footwear automatic production line, is characterized in that, comprises the following steps:

The pairing of h, sole and vamp and material loading are prepared: vamp is adhered to and is fixed on shoe tree, and be ready for the sole with its pairing, sole and vamp are carried out to pre-determined bit, and its two edge, location draws outline line, then sole being take to bottom, to be contact-making surface be positioned on the second conveyer belt, and the pilot hole by vamp and shoe tree by shoe tree head is set on the analog bracket of the first conveyer belt;

I, the gluing region of sole and vamp is scanned: the second conveyer belt drives sole to move to the working region of described infrared scanning equipment, this infrared scanning equipment is by being projected to visible ray, high-energy light beam guiding, ultrasonic or X ray on sole, use sole the reflex of visible ray, high-energy light beam guiding, ultrasonic or X ray is obtained the Y direction of sole and the running fix data parameters of Z-direction and is transported on controller, described the second driven unit provides the running fix data parameters of sole X-direction and is transported on controller; 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 to visible ray, high-energy light beam guiding, ultrasonic or X ray on vamp, use vamp the reflex of visible ray, high-energy light beam guiding, ultrasonic or X ray is created the cloud data of vamp geometric jacquard patterning unit surface and then generating three-dimensional models and is transported on controller, described the first driven unit provides the running fix data parameters of vamp X-direction and is transported on controller;

J, the gluing region of sole and vamp is sprayed and processed water: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculating vamp enters the time of the working region of the first processing watering mechanism, when vamp enters the working region of the first processing 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 the first six degree of freedom manipulator and be transferred to described the first six degree of freedom manipulator, described the first six degree of freedom manipulator is carried out the spray to vamp according to these tracks data and is processed hydrodynamic(al) work, when described the first six degree of freedom manipulator execution is done vamp spray processing hydrodynamic(al), described the second spray gun at the uniform velocity sprays processing water, meanwhile, described controller is on the one hand according to the running fix data parameters of the X-direction of sole, calculating sole enters the time of the working region of the second processing watering mechanism, when sole enters the working region of the second processing watering mechanism, stop the second driven unit, and described controller is on the other hand according to the running fix data parameters of the Y direction of above-mentioned sole and Z-direction, calculate the two-dimensional space information of sole spraying area, and generate the tracks data of described the second six degree of freedom manipulator and be transferred to described the second six degree of freedom manipulator, described the second six degree of freedom manipulator is carried out the spray to sole according to these tracks data and is processed hydrodynamic(al) work, when described the second six degree of freedom manipulator execution is done sole spray processing hydrodynamic(al), described the 4th spray gun at the uniform velocity sprays processing water, described the first six degree of freedom manipulator is processed after hydrodynamic(al) work in the spray to vamp that is finished, described controller is by controlling the rotation of the first servomotor, drive this first six degree of freedom manipulator from the first processing water spray station, to move to the first glue spraying along the first guiding assemblage and carry out station, described the second six degree of freedom manipulator is processed after hydrodynamic(al) work in the spray to sole that is finished, described controller, by controlling the rotation of the second servomotor, drives this second six degree of freedom manipulator from the second processing water spray station, to move to the second glue spraying along the second guiding assemblage and carries out station,

K, the processing water on sole and vamp is dried: the lower processing water dry place that the second conveyer belt drives sole to move to the second baking oven is dried processing; The upper processing water dry place that the first conveyer belt drives vamp to move to the second baking oven is dried processing;

L, glue spraying is carried out in gluing region to sole and vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculating vamp enters the time of 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 the first six degree of freedom manipulator and be transferred to described the first six degree of freedom manipulator, described the first six degree of freedom manipulator is carried out vamp gluing is moved according to these tracks data, when described the first six degree of freedom manipulator execution is moved to vamp gluing, described the first spray gun 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, calculating sole enters the time of the working region of the second glue spraying executing agency, when sole enters the working region of the second glue spraying executing agency, stop the second driven unit, and described controller is on the other hand according to the running fix data parameters of the Y direction of above-mentioned sole and Z-direction, calculate the two-dimensional space information of sole spraying area, and generate the tracks data of described the second six degree of freedom manipulator and be transferred to described the second six degree of freedom manipulator, described the second six degree of freedom manipulator is carried out sole gluing is moved according to these tracks data, when described the second six degree of freedom manipulator execution is moved to sole gluing, described the 3rd spray gun at the uniform velocity sprays glue, after described the first six degree of freedom manipulator is being finished to vamp gluing action, described controller is by controlling the rotation of the first servomotor, drive this first six degree of freedom manipulator along the first guiding assemblage from the first glue spraying, to carry out station and turn back to the first processing water spray station, to get a vamp ready, spray processing water, described the second six degree of freedom manipulator is after being finished to sole gluing action, described controller is by controlling the rotation of the second servomotor, drive this second six degree of freedom manipulator along the second guiding assemblage from the second glue spraying, to carry out station and turn back to the second processing water spray station, to get a sole ready, spray processing water,

M, the glue on sole and vamp is dried: the lower glue dries space that the second conveyer belt drives sole to move to the first baking oven is dried processing; The upper glue dry place that the first conveyer belt drives vamp to move to the first baking oven is dried processing;

N, in the exit of the first conveyer belt and the second driving-belt, sole and vamp are carried out to manual pressing and make the two good bond, wait the glue of its two junction completely to solidify and just the shoes of forming can be departed from from shoe tree, thereby complete the making to footwear.

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

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

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

3, in the present invention, in the glue spraying method of vamp and sole, included and first processed water spray, dry again, carry out again glue spraying, the FOUR EASY STEPS of drying again, on production line, also subsidiary this completes special equipment or the mechanism of this FOUR EASY STEPS simultaneously, first spray the firm degree that water can be conducive to improve follow-up glue spraying of processing, that is to say that processing water can carry out surface treatment to the gluing face of vamp or sole, gluing face after drying and the combination fastness of glue can obtain the enhancing of large degree, by described the first six degree of freedom manipulator being arranged to can come and go mobile at the first processing water spray station and the first glue spraying execution station part, so just, can save a six degree of freedom manipulator, and by servomotor control also can guarantee displacement accuracy, therefore multistation lifting manipulator equipment is set and can guaranteeing to reduce as much as possible equipment cost on the accurate basis of manufacture automatic control.

4, in the present invention, adopt non-contact 3-D scanner can meet the demand of the quick glue spraying processing of vamp as 3-D scanning mechanism, its data processing block, action judgement and control are accurately, but equipment manufacturing cost is relatively high, and another kind of 3-D scanning mechanism is two the first cameras that adopt the top in picture sweep unit, two second cameras of lower left, two the 3rd cameras of lower right dress, six pictures of taking pictures at one time by above six cameras, and analyzed by computer software, thereby can reduce the production cost of 3-D scanning mechanism, and certain precision can guaranteed, particularly under the prerequisite of accuracy of each location parameter that guarantees vamp spraying area, can reduce sweep time widely.

Accompanying drawing explanation

Fig. 1 is structural representation of the present invention.

Fig. 2 is the structural representation at the A visual angle of Fig. 1, and wherein said the first drive assembly and described the 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.

Fig. 5 is the structural representation of the vamp scanning element that in the present invention, embodiment bis-adopts.

Fig. 6 is the principle schematic of the 3-D scanning mechanism that in the present invention, embodiment bis-adopts.

The specific embodiment

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

Embodiment mono-

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4.A kind of footwear automatic production line of saving usage space, a sole automatic gluing device 2 that comprises a vamp automatic gluing device 1 and be positioned at this vamp automatic gluing device 1 below, described vamp automatic gluing device 1 and sole automatic gluing device 2 are all elongated, and on same vertical plane, be upper and lower positioned adjacent, described vamp automatic gluing device 1 comprises one first conveyer belt 10, drive 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, described the first conveyer belt 10 tops are provided with the 3-D scanning station 10a of adjacency successively, first processes water spray station 10b, first processes water drying station 10c, the first glue spraying is carried out station 10d and the first drying adhesive station 10e, described the first automation glue spraying Control Component 13 comprises the 3-D scanning mechanism 14 that is positioned at 3-D scanning station 10a, be positioned at first of the first processing water drying station 10c and process water drying mechanism 15, be positioned at the first drying adhesive mechanism 16 of the first drying adhesive station 10e and can at the first processing water spray station 10b and the first glue spraying execution station 10d part, come and go the first mobile multistation lifting manipulator equipment 17 to horizontal direction, described the 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 being connected with this controller output end, drive this first six degree of freedom manipulator 170 come and go the first mobile traversing controlling organization 171 and be installed on one first spray gun 172 and one second spray gun 173 on these the first six degree of freedom manipulator 170 arms at the first processing water spray station 10b and the first glue spraying execution station 10d part, when described the first six degree of freedom manipulator 170 execution are moved to vamp gluing, described the first spray gun 172 at the uniform velocity sprays glue, when described the first six degree of freedom manipulator 170 execution are done vamp spray processing hydrodynamic(al), described the second spray gun 173 at the uniform velocity sprays processes water, described the 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, with its bottom surface and the base of described the first six degree of freedom manipulator 170, lift the first travelling carriage 176 and the first drive assembly 177 being connected, described the first travelling carriage 176 is installed on described the first guiding assemblage 175 and under the drive of described the first drive assembly 177, carries out horizontal shifting.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 the operation of vamp being carried out to gluing, due to what 3-D scanning obtained, not only comprise colouring information, also comprise range information, thereby just can form specific threedimensional model after processing, and then generation all has the tracks data of three-D profile curve, and the first six degree of freedom manipulator 170 is a kind ofly to have along x, y, the one-movement-freedom-degree of tri-rectangular co-ordinate direction of principal axis of z and around the robot device of the rotational freedom of these three reference axis, the tracks data that it provides according to above-mentioned controller can be imitated action control first spray gun 172 motions of artificial hand arm swing completely, at this time only need to be set in the first six degree of freedom manipulator 170 carries out opening the first spray gun 172 when movement locus swings, after completing movement locus, automatically close the first spray gun 172, because the first six degree of freedom manipulator 170 mass motion speed are consistent, and the glue ejection speed of the first spray gun 172 is also consistent, thereby the glue quantity that can guarantee each position spraying of vamp reaches unanimity, can reduce widely the wastage of glue and improve vamp glue spraying same effect, and then assurance improves follow-up vamp and the firm degree of sole bonding, improve service life and the quality of footwear.

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

With reference to Fig. 4.Described the first drive assembly 177 can also be another structure, it comprises the first transmission fixed mount 1774, be installed in respectively two clutch shaft bearings 1775 of the first transmission fixed mount 1774 both sides, the servomotor 1773 that two ends are installed on respectively the first screw mandrel 1776 on this two clutch shaft bearing 1775 and drive this first screw mandrel 1776 to rotate, described the first travelling carriage 176 offers first screwed hole suitable with described the first screw mandrel 1776 in the axial direction, by being spirally connected of this first screwed hole and the first screw mandrel 1776, rotatablely moving of described the first screw mandrel 1776 is converted into described the first travelling carriage 176 traveling priorities.

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4.Described the first guiding assemblage 175 comprises that two spaced apart the first line slideways 1750 and correspondence are sheathed on two first guide pin bushings 1751 on every the first line slideway 1750, and the both sides correspondence of described the 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, and described the second conveyer belt 20 tops are provided with the infrared scan station 23, second of adjacency successively and process water spray station 20b, the second processing water drying station 20c, the second glue spraying execution station 20d and the second drying adhesive station 20e; described the second automation glue spraying Control Component 22 comprises the infrared scan mechanism that is positioned at infrared scan station 20a, be positioned at second of the second processing water drying station 20c and process water drying mechanism 26, be positioned at the second drying adhesive mechanism 27 of the second drying adhesive station 20e and can at the second processing water spray station 20b and the second glue spraying execution station 20d part, come and go the second mobile multistation paper binding machine hand equipment 28 to horizontal direction, described the 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 being connected with this controller output end, drive this second six degree of freedom manipulator 24 come and go the second mobile traversing controlling organization 25 and be installed on one the 3rd spray gun 241 and one the 4th spray gun 242 on these the second six degree of freedom manipulator 24 arms at the second processing water spray station 20b and the second glue spraying execution station 20d part, when described the second six degree of freedom manipulator 24 execution are moved to sole gluing, described the 3rd spray gun 241 at the uniform velocity sprays glue, when described the second six degree of freedom manipulator 24 execution are done sole spray processing hydrodynamic(al), described the 4th spray gun 242 at the uniform velocity sprays processes water, described the 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, with its end face and the base of described the second six degree of freedom manipulator 24, be fixed the second travelling carriage 252 and the second drive assembly 253 being connected, described the second travelling carriage 252 is installed on described the second guiding assemblage 251 and under the drive of described the second drive assembly 253, carries out horizontal shifting, described the second guiding assemblage 251 comprises that two spaced apart the second line slideways 2510 and correspondence are sheathed on two second guide pin bushings 2511 on every the second line slideway 2510, the both sides correspondence of described the second travelling carriage 252 is set up on this two second guide pin bushing 2511, described the second drive assembly 253 comprises that one second main synchronous pulley 2530 and one second is from synchronous pulley 2531, be set around second Timing Belt 2532 of this second main synchronous pulley 2530 and second from synchronous pulley 2531 and the second servomotor that drives described the 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 the second travelling carriage 252, another link is fixedly connected with the right side of described the second travelling carriage 252.

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4.The present embodiment 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, the first drying adhesive mechanism 16 is glue dry place on this, the second drying adhesive mechanism 27 is this lower glue dries space, described the first baking oven 160 walls offer upper inlet 1600/ upper outlet that penetrates/pass glue dry place for the first conveyer belt 10, described the first baking oven 160 walls offer the 1601/ time outlet of lower inlet that penetrates/pass lower glue dries space for the second conveyer belt 20, described the second baking oven 150 is separated into upper processing water dry place and lower processing water dry place by a second partition, the first processing water drying mechanism 15 is processing water dry place on this, the second processing water drying mechanism 26 is this lower processing water dry place, described the second baking oven 150 walls offer upper inlet 1600/ upper outlet that penetrates/pass processing water dry place for the first conveyer belt 10, described the second baking oven 150 walls offer the 1601/ time outlet of lower inlet that penetrates/pass lower processing 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 the first six degree of freedom manipulator 170 and be transferred to described the first six degree of freedom manipulator 170, described the first six degree of freedom manipulator 170 is carried out vamp gluing is moved according to these tracks data.

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

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4.An automated production method of using the footwear of above-mentioned automatic production line, comprises the following steps:

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

Second step, gluing region to 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 is obtained the Y direction of sole and the running fix data parameters of Z-direction and is transported on controller, described the second driven unit 21 provides the running fix data parameters of sole X-direction and is transported on controller, the 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 to visible ray, high-energy light beam guiding, ultrasonic or X ray on vamp, use vamp the reflex of visible ray, high-energy light beam guiding, ultrasonic or X ray is created the cloud data of vamp geometric jacquard patterning unit surface and then generating three-dimensional models and is transported on controller, described the first driven unit 11 provides the running fix data parameters of vamp X-direction and is transported on controller,

The 3rd step, the gluing region of sole and vamp is sprayed and processed water: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculating vamp enters the time of the working region of the first processing watering mechanism, when vamp enters the working region of the first processing 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 the first six degree of freedom manipulator 170 and be transferred to described the first six degree of freedom manipulator 170, described the first six degree of freedom manipulator 170 is carried out the spray to vamp according to these tracks data and is processed hydrodynamic(al) work, when described the first six degree of freedom manipulator 170 execution are done vamp spray processing hydrodynamic(al), described the second spray gun 173 at the uniform velocity sprays processes water, meanwhile, described controller is on the one hand according to the running fix data parameters of the X-direction of sole, calculating sole enters the time of the working region of the second processing watering mechanism, when sole enters the working region of the second processing watering mechanism, stop the second driven unit 21, and described controller is on the other hand according to the running fix data parameters of the Y direction of above-mentioned sole and Z-direction, calculate the two-dimensional space information of sole spraying area, and generate the tracks data of described the second six degree of freedom manipulator 24 and be transferred to described the second six degree of freedom manipulator 24, described the second six degree of freedom manipulator 24 is carried out the spray to sole according to these tracks data and is processed hydrodynamic(al) work, when described the second six degree of freedom manipulator 24 execution are done sole spray processing hydrodynamic(al), described the 4th spray gun 242 at the uniform velocity sprays processes water, described the first six degree of freedom manipulator 170 is processed after hydrodynamic(al) work in the spray to vamp that is finished, described controller is by controlling the rotation of the first servomotor 1773, drive this first six degree of freedom manipulator 170 from the first processing water spray station 10b, to move to the first glue spraying along the first guiding assemblage 175 and carry out station 10d, described the second six degree of freedom manipulator 24 is processed after hydrodynamic(al) work in the spray to sole that is finished, described controller, by controlling the rotation of the second servomotor 1773, drives this second six degree of freedom manipulator 24 from the second processing water spray station 20b, to move to the second glue spraying along the second guiding assemblage 251 and carries out station 20d,

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

The 5th step, glue spraying is carried out in gluing region to sole and vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculating vamp enters the time of 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 the first six degree of freedom manipulator 170 and be transferred to described the first six degree of freedom manipulator 170, described the first six degree of freedom manipulator 170 is carried out vamp gluing is moved according to these tracks data, when described the first six degree of freedom manipulator 170 execution are moved to vamp gluing, described the 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, calculating sole enters the time of the working region of the second glue spraying executing agency, when sole enters the working region of the second glue spraying executing agency, stop the second driven unit 21, and described controller is on the other hand according to the running fix data parameters of the Y direction of above-mentioned sole and Z-direction, calculate the two-dimensional space information of sole spraying area, and generate the tracks data of described the second six degree of freedom manipulator 24 and be transferred to described the second six degree of freedom manipulator 24, described the second six degree of freedom manipulator 24 is carried out sole gluing is moved according to these tracks data, when described the second six degree of freedom manipulator 24 execution are moved to sole gluing, described the 3rd spray gun 241 at the uniform velocity sprays glue, after described the first six degree of freedom manipulator 170 is being finished to vamp gluing action, described controller is by controlling the rotation of the first servomotor 1773, drive this first six degree of freedom manipulator 170 along the first guiding assemblage 175 from the first glue spraying, to carry out station 10d and turn back to the first processing water spray station 10b, to get a vamp ready, spray processing water, described the second six degree of freedom manipulator 24 is after being finished to sole gluing action, described controller is by controlling the rotation of the second servomotor 1773, drive this second six degree of freedom manipulator 24 along the second guiding assemblage 251 from the second glue spraying, to carry out station 20d and turn back to the second processing water spray station 20b, to get a sole ready, spray processing water,

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

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

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

In the present embodiment, in the glue spraying method of vamp and sole, included and first processed water spray, dry again, carry out again glue spraying, the FOUR EASY STEPS of drying again, on production line, also subsidiary this completes special equipment or the mechanism of this FOUR EASY STEPS simultaneously, first spray the firm degree that water can be conducive to improve follow-up glue spraying of processing, that is to say that processing water can carry out surface treatment to the gluing face of vamp or sole, gluing face after drying and the combination fastness of glue can obtain the enhancing of large degree, by described the first six degree of freedom manipulator 170 being arranged to can come and go mobile at the first processing water spray station 10b and the first glue spraying execution station 10d part, so just, can save a six degree of freedom manipulator, and by servomotor 1773 control also can guarantee displacement accuracy, therefore multistation lifting manipulator equipment is set and can guaranteeing to reduce as much as possible equipment cost on the accurate basis of manufacture automatic control.

Embodiment bis-

With reference to Fig. 5 and Fig. 6.The present embodiment is substantially identical with the embodiment of embodiment mono-, 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 that one is arranged at the imperial portal trestle 144 at the vamp scanning position place on the first conveyer belt 10, the top of this dragon 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 the first cameras 145 are all aimed at vamp top side and to being applied to gather the top side image of two vamps, two described second cameras 146 are all aimed on the left of vamp and to being applied to gather the left-side images of two vamps, two described the 3rd cameras 147 are all aimed at vamp right side and to being applied to gather the image right of two vamps, the Enable Pin of described graphics processing unit 141 is connected in the output of described the first camera 145, second camera 146 and the 3rd camera 147, and this graphics processing unit 141 is for to the top side correct image of collect two vamps and be spliced into complete vamp top side image, complete vamp left-side images is proofreaied and correct and be spliced into the left-side images of collect two vamps, complete vamp image right is proofreaied and correct and be spliced into the image right of collect two vamps, 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 is for adopting complete vamp top side image, vamp left-side images and vamp image right after edge detection algorithm is processed image to carry out rim detection, and the contour edge coordinate that obtains vamp top side, vamp left side and vamp right side 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 of preserving, calling profile bounding algorithm generates vamp threedimensional model 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 the first six degree of freedom manipulator 170 and be transferred to described the first six degree of freedom manipulator 170, described the first six degree of freedom manipulator 170 is carried out vamp gluing is moved according to these tracks data.

With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6.An automated production method of using the footwear of above-mentioned automatic production line, comprises the following steps:

Second step, gluing region to 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 is obtained the Y direction of sole and the running fix data parameters of Z-direction and is transported on controller, described the 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, move to the working region of described vamp scanning element, two described the first cameras 145 are all aimed at vamp top side and the corresponding top side image that gathers two vamps, two described second cameras 146 are all aimed at vamp left side and the corresponding left-side images that gathers two vamps, two described the 3rd cameras 147 are all aimed at vamp right side and the corresponding image right that gathers two vamps, the top side correct image of two vamps that 141 pairs of described graphics processing units collect is also spliced into complete vamp top side image, complete vamp left-side images is proofreaied and correct and be spliced into the left-side images of collect two vamps, complete vamp image right is proofreaied and correct and be spliced into the image right of collect two vamps, described data capture unit 142 adopts the complete vamp top side image after edge detection algorithm is processed image, vamp left-side images and vamp image right carry out rim detection, and obtain vamp top side, the contour edge coordinate on vamp left side and vamp right side 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 of preserving, calling profile bounding algorithm generates vamp threedimensional model and is transferred to described controller, described the first driven unit 11 provides the running fix data parameters of vamp X-direction and is transported on controller,

The 3rd step, the gluing region of sole and vamp is sprayed and processed water: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculating vamp enters the time of the working region of the first processing watering mechanism, when vamp enters the working region of the first processing 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 the first six degree of freedom manipulator 170 and be transferred to described the first six degree of freedom manipulator 170, described the first six degree of freedom manipulator 170 is carried out the spray to vamp according to these tracks data and is processed hydrodynamic(al) work, when described the first six degree of freedom manipulator 170 execution are done vamp spray processing hydrodynamic(al), described the second spray gun 173 at the uniform velocity sprays processes water, meanwhile, described controller is on the one hand according to the running fix data parameters of the X-direction of sole, calculating sole enters the time of the working region of the second processing watering mechanism, when sole enters the working region of the second processing watering mechanism, stop the second driven unit 21, and described controller is on the other hand according to the running fix data parameters of the Y direction of above-mentioned sole and Z-direction, calculate the two-dimensional space information of sole spraying area, and generate the tracks data of described the second six degree of freedom manipulator 24 and be transferred to described the second six degree of freedom manipulator 24, described the second six degree of freedom manipulator 24 is carried out the spray to sole according to these tracks data and is processed hydrodynamic(al) work, when described the second six degree of freedom manipulator 24 execution are done sole spray processing hydrodynamic(al), described the 4th spray gun 242 at the uniform velocity sprays processes water, described the first six degree of freedom manipulator 170 is processed after hydrodynamic(al) work in the spray to vamp that is finished, described controller, by controlling the rotation of the first servomotor 1773, drives this first six degree of freedom manipulator 170 from the first processing water spray station 10b, to move to the first glue spraying along the first guiding assemblage 175 and carries out station 10d, described the second six degree of freedom manipulator 24 is processed after hydrodynamic(al) work in the spray to sole that is finished, described controller, by controlling the rotation of the second servomotor 1773, drives this second six degree of freedom manipulator 24 from the second processing water spray station 20b, to move to the second glue spraying along the second guiding assemblage 251 and carries out station 20d,

In the present invention, in embodiment mono-, adopt non-contact 3-D scanner can meet the demand of the quick glue spraying processing of vamp as 3-D scanning mechanism 14, its data processing block, action judgement and control are accurate, but equipment manufacturing cost is relatively high.And 3-D scanning mechanism 14 in the present embodiment is two first cameras 145 that adopt the top in vamp scanning element 140, two second cameras 146 of lower left, two the 3rd cameras 147 of lower right dress, six pictures of taking pictures at one time by above six cameras, and analyzed by computer software, thereby can reduce the production cost of 3-D scanning mechanism 14, and certain precision can guaranteed, particularly, under the prerequisite of accuracy of each location parameter that guarantees vamp spraying area, can reduce sweep time widely.

Graphics processing unit 141 in the present embodiment, data capture unit 142 and model generation unit 143 by between interaction six pictures that each camera in picture sweep unit 140 the is obtained principle of processing rear production three dimensional point cloud can use for reference Chinese invention patent (application number: 201010298713.2, Granted publication number: the mode of " call profile bounding algorithm and generate the threedimensional model when front foot portion " of CN102034264B) disclosing, or the mode of other data processings, with upper type, can realize generate vamp threedimensional model completely, thereby no longer it is carried out to detailed narration herein.

Above are only the specific embodiment of the present invention, but design concept of the present invention is not limited to this, allly utilizes this design to carry out the change of unsubstantiality to the present invention, all should belong to the behavior of invading protection domain of the present invention.

Claims

1. a footwear automatic production line of saving usage space, it is characterized in that: a sole automatic gluing device that comprises a vamp automatic gluing device and be positioned at this vamp automatic gluing device below, described vamp automatic gluing device and sole automatic gluing device are all elongated, and on same vertical plane, be upper and lower positioned adjacent, described vamp automatic gluing device comprises 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, described the first conveyer belt top is provided with the 3-D scanning station of adjacency successively, first processes water spray station, first processes water drying station, the first glue spraying is carried out station and the first drying adhesive station, described the first automation glue spraying Control Component comprises the 3-D scanning mechanism that is positioned at 3-D scanning station, be positioned at first of the first processing water drying station and process water drying mechanism, be positioned at the first drying adhesive mechanism of the first drying adhesive station and can at the first processing water spray station and the first glue spraying execution station part, come and go the first mobile multistation lifting manipulator equipment to horizontal direction, described the 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 being connected with this controller output end, drive this first six degree of freedom manipulator come and go the first mobile traversing controlling organization and be installed on one first spray gun and one second spray gun on this first six degree of freedom manipulator arm at the first processing water spray station and the first glue spraying execution station part, when described the first six degree of freedom manipulator execution is moved to vamp gluing, described the first spray gun at the uniform velocity sprays glue, when described the first six degree of freedom manipulator execution is done vamp spray processing hydrodynamic(al), described the second spray gun at the uniform velocity sprays processing water, described the first traversing controlling organization comprises the first fixed mount, be installed on the first guiding assemblage on this first fixed mount, with its bottom surface and the base of described the first six degree of freedom manipulator, lift the first travelling carriage and the first drive assembly being connected, described the first travelling carriage is installed in and on described the first guiding assemblage and under the drive of described the first drive assembly, carries out horizontal shifting.

2. a kind of footwear automatic production line of saving usage space as claimed in claim 1, it is characterized in that: described the first drive assembly comprises that one first main synchronous pulley and one first is from synchronous pulley, the first servomotor of being set around first Timing Belt of this first main synchronous pulley and first from synchronous pulley and driving described the 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 the first travelling carriage, and another link is fixedly connected with the right side of described the first travelling carriage.

3. a kind of footwear automatic production line of saving usage space as claimed in claim 1, it is characterized in that: described the first drive assembly comprises the first transmission fixed mount, be installed in respectively two clutch shaft bearings of the first transmission fixed mount both sides, the servomotor that two ends are installed on respectively the first screw mandrel on this two clutch shaft bearing and drive this first screw mandrel to rotate, described the first travelling carriage offers first screwed hole suitable with described the first screw mandrel in the axial direction, by being spirally connected of this first screwed hole and the first screw mandrel, rotatablely moving of described the first screw mandrel is converted into described the first travelling carriage traveling priority.

4. a kind of footwear automatic production line of saving usage space as described in claim 2 or 3, it is characterized in that: described the first guiding assemblage comprises that two spaced apart the first line slideways and correspondence are sheathed on two first guide pin bushings on every the first line slideway, and the both sides correspondence of described the first travelling carriage is set up on this two first guide pin bushing.

5. a kind of footwear automatic production line of saving usage space as claimed in claim 4, it is characterized in that: described sole automatic gluing device comprises one second conveyer belt, drives this second conveyer belt to carry out the second driven unit and the second automation glue spraying Control Component of uniform motion, and described the second conveyer belt top is provided with the infrared scan station, second of adjacency successively and processes water spray station, the second processing water drying station, the second glue spraying execution station and the second drying adhesive station; described the second automation glue spraying Control Component comprises the infrared scan mechanism that is positioned at infrared scan station, be positioned at second of the second processing water drying station and process water drying mechanism, be positioned at the second drying adhesive mechanism of the second drying adhesive station and can at the second processing water spray station and the second glue spraying execution station part, come and go the second mobile multistation paper binding machine hand equipment to horizontal direction, described the second multistation paper binding machine hand equipment comprises the controller that an Enable Pin is connected with described infrared scan mechanism, one the second six degree of freedom manipulator being connected with this controller output end, drive this second six degree of freedom manipulator come and go the second mobile traversing controlling organization and be installed on one the 3rd spray gun and one the 4th spray gun on this second six degree of freedom manipulator arm at the second processing water spray station and the second glue spraying execution station part, when described the second six degree of freedom manipulator execution is moved to sole gluing, described the 3rd spray gun at the uniform velocity sprays glue, when described the second six degree of freedom manipulator execution is done sole spray processing hydrodynamic(al), described the 4th spray gun at the uniform velocity sprays processing water, described the second traversing controlling organization comprises the second fixed mount, be installed on the second guiding assemblage on this second fixed mount, with its end face and the base of described the second six degree of freedom manipulator, be fixed the second travelling carriage and the second drive assembly being connected, described the second travelling carriage is installed in and on described the second guiding assemblage and under the drive of described the second drive assembly, carries out horizontal shifting, described the second guiding assemblage comprises that two spaced apart the second line slideways and correspondence are sheathed on two second guide pin bushings on every the second line slideway, the both sides correspondence of described the second travelling carriage is set up on this two second guide pin bushing, described the second drive assembly comprises that one second main synchronous pulley and one second is from synchronous pulley, be set around second Timing Belt of this second main synchronous pulley and second from synchronous pulley and the second servomotor that drives described the second main synchronous pulley to rotate, this second Timing Belt has two links, one of them link is fixedly connected with the left side of described the second travelling carriage, another link is fixedly connected with the right side of described the second travelling carriage.

6. a kind of footwear automatic production line of saving usage space as claimed in claim 6, it is characterized in that: include one first baking oven and one second baking oven, this first baking oven becomes upper glue dry place and lower glue dries space by one first baffle for separating, the first drying adhesive mechanism is glue dry place on this, the second drying adhesive mechanism is this lower glue dries space, described the first baking oven wall offers the upper inlet/upper outlet that penetrates/pass glue dry place for the first conveyer belt, described the first baking oven wall offers the lower inlet/lower outlet that penetrates/pass lower glue dries space for the second conveyer belt, described the second baking oven is separated into upper processing water dry place and lower processing water dry place by a second partition, the first processing water drying mechanism is processing water dry place on this, the second processing water drying mechanism is this lower processing water dry place, described the second baking oven wall offers the upper inlet/upper outlet that penetrates/pass processing water dry place for the first conveyer belt, described the second baking oven wall offers the lower inlet/lower outlet that penetrates/pass lower processing water dry place for the second conveyer belt.

7. a kind of footwear automatic production line of 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 the first six degree of freedom manipulator and be transferred to described the first six degree of freedom manipulator, described the first six degree of freedom manipulator is carried out vamp gluing is moved according to these tracks data.

8. a kind of footwear automatic production line of 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 used for taking vamp top side image, vamp left-side images and vamp image right, it comprises that one is arranged at the imperial portal trestle at the vamp scanning position place on the first conveyer belt, the top of this dragon 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 the first cameras are all aimed at vamp top side and to being applied to gather the top side image of two vamps, two described second cameras are all aimed on the left of vamp and to being applied to gather the left-side images of two vamps, two described the 3rd cameras are all aimed at vamp right side and to being applied to gather the image right of two vamps, the Enable Pin of described graphics processing unit is connected in the output of described the first camera, second camera and the 3rd camera, and this graphics processing unit is used for the top side correct image of collect two vamps and is spliced into complete vamp top side image, complete vamp left-side images is proofreaied and correct and be spliced into the left-side images of collect two vamps, complete vamp image right is proofreaied and correct and be spliced into the image right of collect two vamps, the Enable Pin of described data capture unit is connected with the output of described graphics processing unit, and this data capture unit is for adopting complete vamp top side image, vamp left-side images and vamp image right after edge detection algorithm is processed image to carry out rim detection, and the contour edge coordinate that obtains vamp top side, vamp left side and vamp right side 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 of preserving, calling profile bounding algorithm generates vamp threedimensional model 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 the first six degree of freedom manipulator and be transferred to described the first six degree of freedom manipulator, described the first six degree of freedom manipulator is carried out vamp gluing is moved according to these tracks data.

9. a use a kind of automated production method of footwear of the automatic production line of saving usage space as claimed in claim 8, is characterized in that, comprises the following steps:

10. a use a kind of footwear automated production method of footwear automatic production line as claimed in claim 7, is characterized in that, comprises the following steps: