CN104161355A

CN104161355A - Automatic manufacturing method and automatic production line for shoes

Info

Publication number: CN104161355A
Application number: CN201410372067.8A
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
Also published as: CN105595536B; CN105686219A; CN105595536A

Abstract

The invention relates to an automatic production line for shoes. The automatic production line comprises an automatic vamp gluing device and an automatic sole gluing device. The automatic vamp gluing 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 processing water spraying mechanism, a first processing water drying mechanism, a first glue spraying executing mechanism and a first glue drying mechanism, wherein the three-dimensional scanning mechanism, the first processing water spraying mechanism, the first processing water drying mechanism, the first glue spraying executing mechanism and the first glue drying mechanism are located above the first conveying belt and adjacently connected in sequence. The first glue spraying executing mechanism comprises a controller, a first six-degree-of-freedom mechanical hand and a first spray gun, wherein the enable end of the controller is connected with the three-dimensional scanning mechanism, and the first spray gun is installed on the arm of the first six-degree-of-freedom mechanical hand. The invention further relates to an automatic manufacturing method for the shoes. According to the automatic production line and the automatic manufacturing method for the shoes, glue wastage can be greatly reduced, the vamp glue spraying effect consistency is improved, then the follow-up vamp and sole gluing firmness degree is improved, the service life of the shoes is prolonged, and the quality of the shoes is improved.

Description

A kind of automated production method and automatic production line of footwear

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 automated production method and automatic production line of footwear.

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, but but because FE Glue Gun can not automatic adjusting position, FE Glue Gun cannot accurately be located the sole on conveyer belt, carries out glue spraying thereby cause FE Glue Gun cannot aim at sole.

In order to tackle an above difficult problem, the applicant has submitted a Chinese utility model patent (application number: 201320717548.9 on November 13rd, 2013 to State Intellectual Property Office, 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, the Z-axis transmission device that drives FE Glue Gun Z-direction to move 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 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 workman is caused the problems such as personal injury, but in actual use procedure, also have following some weak point: 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 spraying glue quantity in glue spraying process, 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 automated production method and automatic production line of footwear, its main purpose is that the location that overcomes existing glue spraying equipment existence 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 automatic production line of footwear, comprise a vamp automatic gluing device and a sole automatic gluing device, 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 automation glue spraying Control Component comprises and is positioned at described the first conveyer belt top and the 3-D scanning mechanism of adjacency successively, first processes watering mechanism, first processes water drying mechanism, the first glue spraying executing agency and the first drying adhesive mechanism, described the first glue spraying executing agency comprises the controller that an Enable Pin is connected with described 3-D scanning mechanism, one the first six degree of freedom manipulator and being connected with this controller output end is installed on the first spray gun on this first six degree of freedom manipulator arm, in the time that 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.

Further, described sole automatic gluing device comprises one second conveyer belt, drive this second conveyer belt to carry out the second driven unit and the second automation glue spraying Control Component of uniform motion, described the second automation glue spraying Control Component comprises and is positioned at described the second conveyer belt top and the infrared scanning equipment of adjacency successively, second processes watering mechanism, second processes water drying mechanism, the second glue spraying executing agency and the second drying adhesive mechanism, described the second glue spraying executing agency comprises the described controller that an Enable Pin is connected with described infrared scanning equipment, one the 3rd six degree of freedom manipulator and being connected with this controller output end is installed on the 3rd spray gun on the 3rd six degree of freedom manipulator arm, in the time that described the 3rd six degree of freedom manipulator execution is moved to sole gluing, described the 3rd spray gun at the uniform velocity sprays glue.

Further, described vamp automatic gluing device and sole automatic gluing device are all elongated, and positioned adjacent on width, the entrance of described the first conveyer belt converges mutually with the described second entrance transmitting, and the outlet of described the first conveyer belt is converged mutually with the outlet of described the second conveyer belt.

Further, described first processes watering mechanism comprises that a second six degree of freedom manipulator and being connected with this controller output end is installed on the second spray gun on this second six degree of freedom manipulator arm, in the time that described the second 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.

Further, described second processes watering mechanism comprises that a 4th six degree of freedom manipulator and being connected with this controller output end is installed on the 4th spray gun on the 4th six degree of freedom manipulator arm, in the time that described the 4th 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.

Further, include one first baking oven and one second baking oven, this first baking oven becomes left glue dries space and right glue dries space by one first baffle for separating, the first drying adhesive mechanism is this left glue dries space, the second drying adhesive mechanism is this right glue dries space, described the first baking oven wall offers the left entry/left outlet that penetrates/pass left glue dries space for the first conveyer belt, described the first baking oven wall offers the right entry/right outlet that penetrates/pass right glue dries space for the second conveyer belt, described the second baking oven is separated into left processing water dry place and right processing water dry place by a second partition, the first processing water drying mechanism is this left processing water dry place, the second processing water drying mechanism is this right processing water dry place, described the second baking oven wall offers the left entry/left outlet that penetrates/pass left processing water dry place for the first conveyer belt, described the second baking oven wall offers the right entry/right outlet that penetrates/pass right 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 the top side image that gathers two vamps, two described second cameras are all aimed on the left of vamp and to being applied to the left-side images that gathers two vamps, two described the 3rd cameras are all aimed at vamp right side and to being applied to the image right that gathers 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 for the top side correct image to 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 is connected with the output of described graphics processing unit, and this data capture unit is for adopting edge detection algorithm to carry out rim detection to image complete vamp top side image, vamp left-side images and vamp image right after treatment, 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.

The present invention is a kind of automated production method of footwear wherein, 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 is positioned over taking bottom as contact-making surface on the second conveyer belt, vamp and shoe tree are set in by the pilot hole of shoe tree head 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, move to the working region of described vamp scanning element when the first conveyer belt drives vamp, 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, the top side correct image of described graphics processing unit to collect two vamps 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 adopts edge detection algorithm to image complete vamp top side image after treatment, 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 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 vamp according to these tracks data and is processed hydrodynamic(al) work, in the time that described the second 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 4th six degree of freedom manipulator and be transferred to described the 4th six degree of freedom manipulator, described the 4th six degree of freedom manipulator is carried out the spray to sole according to these tracks data and is processed hydrodynamic(al) work, in the time that described the 4th 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,

D, the processing water on sole and vamp is dried: the right processing water dry place that the second conveyer belt drives sole to move to the second baking oven is dried processing; The left 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, in the time that 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 3rd six degree of freedom manipulator and be transferred to described the 3rd six degree of freedom manipulator, described the 3rd six degree of freedom manipulator is carried out sole gluing is moved according to these tracks data, in the time that described the 3rd six degree of freedom manipulator execution is moved to sole gluing, described the 3rd spray gun at the uniform velocity sprays glue,

F, the glue on sole and vamp is dried: the right glue dries space that the second conveyer belt drives sole to move to the first baking oven is dried processing; The left glue dries space 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.

The automated production method of another kind of footwear in the present invention, 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 is positioned over taking bottom as contact-making surface on the second conveyer belt, vamp and shoe tree are set in by the pilot hole of shoe tree head 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 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 vamp according to these tracks data and is processed hydrodynamic(al) work, in the time that described the second 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 4th six degree of freedom manipulator and be transferred to described the 4th six degree of freedom manipulator, described the 4th six degree of freedom manipulator is carried out the spray to sole according to these tracks data and is processed hydrodynamic(al) work, in the time that described the 4th 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,

K, the processing water on sole and vamp is dried: the right processing water dry place that the second conveyer belt drives sole to move to the second baking oven is dried processing; The left 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, in the time that 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 3rd six degree of freedom manipulator and be transferred to described the 3rd six degree of freedom manipulator, described the 3rd six degree of freedom manipulator is carried out sole gluing is moved according to these tracks data, in the time that described the 3rd six degree of freedom manipulator execution is moved to sole gluing, described the 3rd spray gun at the uniform velocity sprays glue,

M, the glue on sole and vamp is dried: the right glue dries space that the second conveyer belt drives sole to move to the first baking oven is dried processing; The left glue dries space 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, utilize 3-D scanning mechanism to scan vamp by arranging, 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, not only comprise colouring information due to what 3-D scanning obtained, 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 being one, the first six degree of freedom manipulator has 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 in the time that 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 ensure vamp each position spraying reaches unanimity, can reduce widely the wastage of glue and improve vamp glue spraying same effect, and then guarantee improves follow-up vamp and the firm degree of sole bonding, improve service life and the quality of footwear.

2, in the present invention, in the glue spraying method of vamp and sole, include first process water spray, dry again, carry out again glue spraying, again dry FOUR EASY STEPS, on production line, also attach this special equipment or mechanism that completes 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, the gluing face after drying and the combination fastness of glue can obtain the enhancing of large degree.

3, in the present invention, by vamp automatic gluing device and sole automatic gluing device are carried out to left and right positioned adjacent, can make on the one hand sole and vamp enter from same position simultaneously, and also export at same position place, thereby traffic control in greatly convenient production, workman does not often need again to distinguish vamp and the sole of pairing, can be directly carry out according to the vamp of upper and lower two-layer discharging and sole adhesion-molded, the operating efficiency in the degree ground raising unit interval greatly.

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 ensured, particularly under the prerequisite of accuracy of each location parameter that ensures vamp spraying area, sweep time can be reduced widely.

Brief description of the drawings

Fig. 1 is structural representation of the present invention.

The structural representation at the A visual angle that Fig. 2 is Fig. 1.

The structural representation at the B visual angle that Fig. 3 is Fig. 1.

The structural representation of the vamp scanning element that Fig. 4 adopts for embodiment in the present invention bis-.

The principle schematic of the 3-D scanning mechanism that Fig. 5 adopts for embodiment in the present invention bis-.

Detailed description of the invention

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

Embodiment mono-

With reference to Fig. 1, Fig. 2 and Fig. 3.A kind of automatic production line of footwear, comprise a vamp automatic gluing device 1 and a sole automatic gluing device 2, 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 automation glue spraying Control Component 13 comprises and is positioned at described the first conveyer belt 10 tops and the 3-D scanning mechanism 14 of adjacency successively, first processes watering mechanism 15, first processes water drying mechanism 16, the first glue spraying executing agency 17 and the first drying adhesive mechanism 18, described the first glue spraying executing agency 17 comprises the controller that an Enable Pin is connected with described 3-D scanning mechanism 14, one the first six degree of freedom manipulator 170 and being connected with this controller output end is installed on the first spray gun 171 on these the first six degree of freedom manipulator 170 arms, carry out when vamp gluing is moved at described the first six degree of freedom manipulator 170, described the first spray gun 171 at the uniform velocity sprays glue.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 171 and complete the operation of vamp being carried out to gluing, not only comprise colouring information due to what 3-D scanning obtained, 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 being one, the first six degree of freedom manipulator 170 has 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, action control the first spray gun 171 that the tracks data that it provides according to above-mentioned controller can be imitated artificial hand arm swing completely moves, at this time only need to be set in the first six degree of freedom manipulator 170 carries out opening the first spray gun 171 in the time that movement locus swings, after completing movement locus, automatically close the first spray gun 171, because the first six degree of freedom manipulator 170 mass motion speed are consistent, and the glue ejection speed of the first spray gun 171 is also consistent, thereby the glue quantity that can ensure vamp each position spraying reaches unanimity, can reduce widely the wastage of glue and improve vamp glue spraying same effect, and then guarantee improves follow-up vamp and the firm degree of sole bonding, improve service life and the quality of footwear.

With reference to Fig. 1, Fig. 2 and Fig. 3.Described sole automatic gluing device 2 comprises one second conveyer belt 20, drive 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, described the second automation glue spraying Control Component 22 comprises and is positioned at described the second conveyer belt 20 tops and the infrared scanning equipment 23 of adjacency successively, second processes watering mechanism 24, second processes water drying mechanism 25, the second glue spraying executing agency 26 and the second drying adhesive mechanism 27, described the second glue spraying executing agency 26 comprises the described controller that an Enable Pin is connected with described infrared scanning equipment 23, one the 3rd six degree of freedom manipulator 260 and being connected with this controller output end is installed on the 3rd spray gun 261 on the 3rd six degree of freedom manipulator 260 arms, carry out when sole gluing is moved at described the 3rd six degree of freedom manipulator 260, described the 3rd spray gun 261 at the uniform velocity sprays glue.Described vamp automatic gluing device 1 and sole automatic gluing device 2 are all elongated, and positioned adjacent on width, the entrance of described the first conveyer belt 10 converges mutually with the described second entrance transmitting, and the outlet of described the first conveyer belt 10 is converged mutually with the outlet of described the second conveyer belt 20.The present embodiment is by carrying out left and right positioned adjacent by vamp automatic gluing device and sole automatic gluing device, can make on the one hand sole and vamp enter from same position simultaneously, and also export at same position place, thereby traffic control in greatly convenient production, workman does not often need again to distinguish vamp and the sole of pairing, can be directly carry out according to the vamp of upper and lower two-layer discharging and sole adhesion-molded, the operating efficiency in the degree ground raising unit interval greatly.

With reference to Fig. 1, Fig. 2 and Fig. 3.Described first processes watering mechanism 15 comprises that a second six degree of freedom manipulator 150 and being connected with this controller output end is installed on the second spray gun 151 on these the second six degree of freedom manipulator 150 arms, carry out when vamp spray is processed hydrodynamic(al) and done at described the second six degree of freedom manipulator 150, described the second spray gun 151 at the uniform velocity spray processing water.Described second processes watering mechanism 24 comprises that a 4th six degree of freedom manipulator 240 and being connected with this controller output end is installed on the 4th spray gun 241 on the 4th six degree of freedom manipulator 240 arms, carry out when sole spray is processed hydrodynamic(al) and done at described the 4th six degree of freedom manipulator 240, described the 4th spray gun 241 at the uniform velocity spray processing water.In the present embodiment, in the glue spraying method of vamp and sole, include first process water spray, dry again, carry out again glue spraying, again dry FOUR EASY STEPS, on production line, also attach this special equipment or mechanism that completes 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, the gluing face after drying and the combination fastness of glue can obtain the enhancing of large degree.

With reference to Fig. 1, Fig. 2 and Fig. 3.As of the present invention one embodiment preferably, the present embodiment includes one first baking oven 180 and one second baking oven 160, this first baking oven 180 becomes left glue dries space and right glue dries space by one first baffle for separating, the first drying adhesive mechanism 18 is this left glue dries space, the second drying adhesive mechanism 27 is this right glue dries space, described the first baking oven 180 walls offer the left entry/left outlet that penetrates/pass left glue dries space for the first conveyer belt 10, described the first baking oven 180 walls offer the right entry/right outlet that penetrates/pass right glue dries space for the second conveyer belt 20, described the second baking oven 160 is separated into left processing water dry place and right processing water dry place by a second partition, the first processing water drying mechanism 16 is this left processing water dry place, the second processing water drying mechanism is this right processing water dry place, described the second baking oven 160 walls offer the left entry/left outlet that penetrates/pass left processing water dry place for the first conveyer belt 10, described the second baking oven 160 walls offer the right entry/right outlet that penetrates/pass right processing water dry place for the second conveyer belt 20.The length of described the first baking oven 180 is 2 meters, and the length of described the second baking oven 160 is 1.5 meters.

With reference to Fig. 1, Fig. 2 and Fig. 3.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.This enforcement adopts non-contact 3-D scanner can meet the demand of the quick glue spraying processing of vamp as 3-D scanning mechanism, and its data processing block, moves judgement and control accurately, is conducive to further improve the efficiency of the present invention in footwear are produced.

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 and Fig. 3.An automated production method that uses 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 is positioned over taking bottom as contact-making surface on the second conveyer belt 20, vamp and shoe tree are set in by the pilot hole of shoe tree head 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 23, this infrared scanning equipment 23 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 15, when vamp enters the working region of the first processing watering mechanism 15, 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 second six degree of freedom manipulator 150 and be transferred to described the second six degree of freedom manipulator 150, described the second six degree of freedom manipulator 150 is carried out the spray to vamp according to these tracks data and is processed hydrodynamic(al) work, carry out when vamp spray is processed hydrodynamic(al) and done at described the second six degree of freedom manipulator 150, described the second spray gun 151 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 24, when sole enters the working region of the second processing watering mechanism 24, 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 4th six degree of freedom manipulator 240 and be transferred to described the 4th six degree of freedom manipulator 240, described the 4th six degree of freedom manipulator 240 is carried out the spray to sole according to these tracks data and is processed hydrodynamic(al) work, carry out when sole spray is processed hydrodynamic(al) and done at described the 4th six degree of freedom manipulator 240, described the 4th spray gun 241 at the uniform velocity sprays processes water,

The 4th step, dries the processing water on sole and vamp: the right processing water dry place that the second conveyer belt 20 drives sole to move to the second baking oven 160 is dried processing; The left processing water dry place that the first conveyer belt 10 drives vamp to move to the second baking oven 160 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 17, when vamp enters the working region of the first glue spraying executing agency 17, 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, carry out when vamp gluing is moved at described the first six degree of freedom manipulator 170, described the first spray gun 171 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 26, when sole enters the working region of the second glue spraying executing agency 26, 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 3rd six degree of freedom manipulator 260 and be transferred to described the 3rd six degree of freedom manipulator 260, described the 3rd six degree of freedom manipulator 260 is carried out sole gluing is moved according to these tracks data, carry out when sole gluing is moved at described the 3rd six degree of freedom manipulator 260, described the 3rd spray gun 261 at the uniform velocity sprays glue,

The 6th step, dries the glue on sole and vamp: the right glue dries space that the second conveyer belt 20 drives sole to move to the first baking oven 180 is dried processing; The left glue dries space that the first conveyer belt 10 drives vamp to move to the first baking oven 180 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, solidify completely and just the shoes of forming can be departed from from shoe tree in the glue of its two junction, thereby complete the making to footwear.

Embodiment bis-

With reference to Fig. 4 and Fig. 5.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 the top side image that gathers two vamps, two described second cameras 146 are all aimed on the left of vamp and to being applied to the left-side images that gathers two vamps, two described the 3rd cameras 147 are all aimed at vamp right side and to being applied to the image right that gathers 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 the top side correct image to 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 edge detection algorithm to carry out rim detection to image complete vamp top side image, vamp left-side images and vamp image right after treatment, 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 and Fig. 5.An automated production method that uses 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, move to the working region of described vamp scanning element when the first conveyer belt 10 drives vamp, 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 described graphics processing unit 141 to collect two vamps 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 edge detection algorithm to image complete vamp top side image after treatment, 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,

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 14 in embodiment mono-, its data processing block, move judgement and control accurately, 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 ensured, particularly, under the prerequisite of accuracy of each location parameter that ensures 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 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: CN102034264B) mode of " calling profile bounding algorithm generates when the threedimensional model of front foot portion " of disclosing, or the mode of other data processings, can realize completely and generate vamp threedimensional model with upper type, 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. the automatic production line of footwear, it is characterized in that: comprise a vamp automatic gluing device and a sole automatic gluing device, 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 automation glue spraying Control Component comprises and is positioned at described the first conveyer belt top and the 3-D scanning mechanism of adjacency successively, first processes watering mechanism, first processes water drying mechanism, the first glue spraying executing agency and the first drying adhesive mechanism, described the first glue spraying executing agency comprises the controller that an Enable Pin is connected with described 3-D scanning mechanism, one the first six degree of freedom manipulator and being connected with this controller output end is installed on the first spray gun on this first six degree of freedom manipulator arm, in the time that 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.

2. a kind of automatic production line of footwear as claimed in claim 1, it is characterized in that: described sole automatic gluing device comprises one second conveyer belt, drive this second conveyer belt to carry out the second driven unit and the second automation glue spraying Control Component of uniform motion, described the second automation glue spraying Control Component comprises and is positioned at described the second conveyer belt top and the infrared scanning equipment of adjacency successively, second processes watering mechanism, second processes water drying mechanism, the second glue spraying executing agency and the second drying adhesive mechanism, described the second glue spraying executing agency comprises the described controller that an Enable Pin is connected with described infrared scanning equipment, one the 3rd six degree of freedom manipulator and being connected with this controller output end is installed on the 3rd spray gun on the 3rd six degree of freedom manipulator arm, in the time that described the 3rd six degree of freedom manipulator execution is moved to sole gluing, described the 3rd spray gun at the uniform velocity sprays glue.

3. a kind of automatic production line of footwear as claimed in claim 2, it is characterized in that: described vamp automatic gluing device and sole automatic gluing device are all elongated, and positioned adjacent on width, the entrance of described the first conveyer belt converges mutually with the described second entrance transmitting, and the outlet of described the first conveyer belt is converged mutually with the outlet of described the second conveyer belt.

4. a kind of automatic production line of footwear as claimed in claim 3, it is characterized in that: described first processes watering mechanism comprises that a second six degree of freedom manipulator and being connected with this controller output end is installed on the second spray gun on this second six degree of freedom manipulator arm, in the time that described the second 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.

5. a kind of automatic production line of footwear as claimed in claim 4, it is characterized in that: described second processes watering mechanism comprises that a 4th six degree of freedom manipulator and being connected with this controller output end is installed on the 4th spray gun on the 4th six degree of freedom manipulator arm, in the time that described the 4th 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.

6. a kind of automatic production line of footwear as claimed in claim 3, it is characterized in that: include one first baking oven and one second baking oven, this first baking oven becomes left glue dries space and right glue dries space by one first baffle for separating, the first drying adhesive mechanism is this left glue dries space, the second drying adhesive mechanism is this right glue dries space, described the first baking oven wall offers the left entry/left outlet that penetrates/pass left glue dries space for the first conveyer belt, described the first baking oven wall offers the right entry/right outlet that penetrates/pass right glue dries space for the second conveyer belt, described the second baking oven is separated into left processing water dry place and right processing water dry place by a second partition, the first processing water drying mechanism is this left processing water dry place, the second processing water drying mechanism is this right processing water dry place, described the second baking oven wall offers the left entry/left outlet that penetrates/pass left processing water dry place for the first conveyer belt, described the second baking oven wall offers the right entry/right outlet that penetrates/pass right processing water dry place for the second conveyer belt.

7. a kind of automatic production line of footwear as described in any one in claim 1-6, 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 automatic production line of footwear as described in any one in claim 1-6, 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 the top side image that gathers two vamps, two described second cameras are all aimed on the left of vamp and to being applied to the left-side images that gathers two vamps, two described the 3rd cameras are all aimed at vamp right side and to being applied to the image right that gathers 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 for the top side correct image to 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 is connected with the output of described graphics processing unit, and this data capture unit is for adopting edge detection algorithm to carry out rim detection to image complete vamp top side image, vamp left-side images and vamp image right after treatment, 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 automatic production line of footwear as claimed in claim 8, is characterized in that, comprises the following steps:

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