CN105286212B - Save the vamp glue spraying equipment using space - Google Patents
Save the vamp glue spraying equipment using space Download PDFInfo
- Publication number
- CN105286212B CN105286212B CN201510584977.7A CN201510584977A CN105286212B CN 105286212 B CN105286212 B CN 105286212B CN 201510584977 A CN201510584977 A CN 201510584977A CN 105286212 B CN105286212 B CN 105286212B
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- Prior art keywords
- vamp
- degree
- glue spraying
- glue
- station
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Classifications
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D25/00—Devices for gluing shoe parts
- A43D25/18—Devices for applying adhesives to shoe parts
Abstract
The present invention relates to a kind of vamp glue spraying equipment saved using space, including the first conveyer belt, first drive component and the first automation glue spraying control assembly, first automation glue spraying control assembly includes 3-D scanning mechanism, first processing water drying mechanism, first drying adhesive mechanism and the first multistation lifting manipulator equipment, first multistation lifting manipulator equipment includes controller, first six degree of freedom manipulator, first traversing controlling organization and the first spray gun and the second spray gun, first traversing controlling organization includes the first fixed mount, first guiding assemblage, first mobile station and the first drive assembly.Present invention can ensure that the glue quantity of each position spraying of vamp reaches unanimity, greatly reduce the wastage of glue and improve vamp glue spraying same effect, and then ensure to improve follow-up vamp and sole bonding firmness, improve the service life and quality of footwear.
Description
This case is Application No. " 201410372240.4 ", entitled " save using space vamp glue spraying equipment and from
The divisional application of the Chinese invention patent application of dynamicization vamp glue spraying method ", the applying date of original application is 2014.07.31.
Technical field
The present invention relates to vamp to automate glue spraying special equipment, refers in particular to a kind of saving and is set using the vamp glue spraying in space
It is standby.
Spray-bonding craft is that recruitment is more during shoemaking, time-consuming more process.The quality of the quality of glue spraying determines footwear
Face and then has influence on the performance and quality of footwear with the bonding firmness of sole.For now, existing sole glue spraying
Usually manually operate, this manual mode of operation's production efficiency is low, quality is unstable, and cost of labor is high.Moreover, shoemaking
Adhesive contains toxic component, and worker contacts the adhesive for a long time to produce high risks to the body of operator.
In order to overcome many harm of the artificial glue spraying to health, a kind of existing glue spraying equipment is to set on the conveyor belt
Have FE Glue Gun, glue spraying can be carried out to the sole on conveyer belt, but but because FE Glue Gun is unable to automatic adjusting position, FE Glue Gun without
Method is accurately positioned the sole on conveyer belt, and glue spraying is carried out so as to cause FE Glue Gun can not be directed at sole.
In order to tackle above problem, the applicant have submitted in portion on November 13rd, 2013 to State Intellectual Property Office
State's utility model patent（Application number：201320717548.9 notification number：CN 203523958U）, above patent notes one
The technical scheme of the glue spraying equipment of view-based access control model positioning, it includes supporting table, FE Glue Gun, the conveying being installed in the supporting table
Band, the support frame being installed in the supporting table, glue spraying equipment also include video frequency pick-up head, drive the X of FE Glue Gun X-direction movement
Shaft drive, the Y-axis transmission for driving the movement of FE Glue Gun Y direction, the Z-axis transmission for driving the movement of FE Glue Gun Z-direction
Device and the controller for controlling glue spraying equipment running, the video frequency pick-up head is installed on support frame, controller respectively with video
Camera, X-axis transmission device, Y-axis transmission, the connection of Z-axis transmission device.The present invention is by video frequency pick-up head, X-axis transmission dress
Put, Y-axis transmission, Z-axis transmission device and controller constitute view-based access control model information to adjust the system of FE Glue Gun position.
The system adjusts FE Glue Gun to the correct position above conveyer belt, FE Glue Gun is accurately carried out glue spraying to sole.It is above-mentioned
Although glue spraying equipment can overcome to a certain extent, production efficiency existing for existing artificial glue spraying mode is low, quality it is unstable with
And easy the problems such as personal injury is caused to worker, but also there are some following deficiency during the use of reality
Place：1st, easily occur the inaccurate situation of positioning using video frequency pick-up head, and by the way of the transmission of three axles during glue spraying
The uniformity of each position sprayed glues amount can not be realized, wants to reach and substitutes artificial glue spraying completely and also have considerably long distance；
2nd, because video frequency pick-up head can only gather two dimensional image, if it is desired to using in vamp spraying, vamp will can not be sprayed
Three-D profile be accurately positioned, so as to lead to not be applied to vamp glue spraying；3rd, the not only work by the way of the transmission of three axles
It is low to make efficiency, and error rate is high, additionally needs unlatching and the closure of accurate control spray gun, control mode is considerably complicated, needs
The control device wanted is costly.
The content of the invention
The present invention provides a kind of vamp glue spraying equipment and automatic vamp glue spraying method saved using space, its main mesh
Be to overcome the inaccurate existing positioning of existing glue spraying equipment, glue spraying uniformity difference and lacking for vamp glue spraying can not be applied to
Fall into.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
It is a kind of save using space vamp glue spraying equipment, including one first conveyer belt, drive first conveyer belt carry out
First drive component of uniform motion and the first automation glue spraying control assembly, the first conveyer belt top are provided with successively
Adjacent 3-D scanning station, the first processing Water spray station, the first processing water drying station, the first glue spraying perform station and
First drying adhesive station；The first automation glue spraying control assembly includes the three-dimensional scanner positioned at 3-D scanning station
Structure, the first processing water drying mechanism, the first glue positioned at the first drying adhesive station positioned at the first processing water drying station
Drying mechanism and can horizontal direction first processing Water spray station and the first glue spraying perform station part be reciprocated
The first multistation lifting manipulator equipment, the first multistation lifting manipulator equipment includes an Enable Pin and the three-dimensional
The controller of sweep mechanism connection, a first six degree of freedom manipulator being connected with the controller output end, drive the one or six
The first traversing control that free degree manipulator is reciprocated in the first processing Water spray station and the first glue spraying execution station part
Mechanism processed and one first spray gun and one second spray gun being installed on the first six degree of freedom manipulator arm, described first
When the execution of six degree of freedom manipulator acts to vamp glue spraying, first spray gun at the uniform velocity sprays glue, the described 1st freely
When the execution of degree manipulator is made to vamp spray processing hydrodynamic(al), second spray gun at the uniform velocity sprays processing water, the first traversing control
Mechanism include the first fixed mount, be installed on first fixed mount the first guiding assemblage, with its bottom surface with the described 1st from
By the base of degree manipulator lift the first mobile station and the first drive assembly of connection, first mobile station is installed in
Horizontal shifting is carried out on first guiding assemblage and under the drive of first drive assembly.
Further, first drive assembly include one first main synchronous pulley and one first from synchronous pulley, around
Located at the first timing belt and the driving first main synchronous pulley of the first main synchronous pulley and first from synchronous pulley
The first servomotor rotated, first timing belt have two connection ends, one of connection end and first mobile station
Left side be fixedly connected, another connection end on the right side of first mobile station with being fixedly connected.
Further, first drive assembly includes being installed in two clutch shaft bearings of the first fixed mount both sides, two respectively
End is respectively arranged in the first screw mandrel and the servomotor for driving the screw mandrel to be rotated on two clutch shaft bearing, and described first moves
Dynamic platform offers the first screwed hole being adapted with first screw mandrel in the axial direction, passes through first screwed hole and the first screw mandrel
Be spirally connected, the convert rotational motion of first screw mandrel is first mobile station rectilinear movement.
Further, first guiding assemblage includes two spaced apart first guide rails and is correspondingly sheathed on every
Two first guide pin bushings on first guide rail, the both sides of first mobile station are correspondingly set up on two first guide pin bushing.
Further, one first baking oven and one second baking oven are included, first baking oven includes glue dries sky
Between, the first drying adhesive mechanism is the glue dries space, the first baking oven wall offer penetrate for the first conveyer belt/
The inlet/outlet in the glue dries space is passed, second baking oven includes a processing water dry place, first processing
Water drying mechanism is the processing water dry place, the second baking oven wall offer penetrate/pass for the first conveyer belt it is described
Handle the inlet/outlet of water dry place.
Further, the length in the glue dries space is 2 meters, and the length of the processing water dry place is 1.5 meters.
Further, the 3-D scanning mechanism is non-contact 3-D scanner, and the non-contact 3-D scanner is used
In will be seen that light, high-energy light beam guiding, ultrasonic or X rays be projected on vamp, borrow vamp to visible ray, high-energy light beam guiding,
The reflex of ultrasonic or X rays threedimensional model and is transmitted to create the cloud data of vamp geometric jacquard patterning unit surface and then generate
To the controller, the controller is used for the three-dimensional spatial information that vamp spraying area is calculated according to above-mentioned threedimensional model, and
Generate the tracks data of the first six degree of freedom manipulator and be transferred to the first six degree of freedom manipulator, described
One six degree of freedom manipulator performs according to the tracks data and vamp glue spraying is acted.
Further, the 3-D scanning mechanism include vamp scanning element, graphics processing unit, data capture unit with
And model generation unit, the vamp scanning element are used to shoot on the right side of vamp top side image, vamp left-side images and vamp
Image, it includes the imperial portal trestle at a vamp scan position being arranged on the first conveyer belt, the top of the imperial portal trestle
Portion is equiped with two the first cameras, and lower left is equiped with two second cameras, and lower right is equiped with two the 3rd cameras,
Two first cameras are directed at vamp top side and to the top side images applied to two vamps of collection；Two described
Two cameras are aligned on the left of vamp and to the left-side images applied to two vamps of collection；Two the 3rd cameras are equal
It is aligned on the right side of vamp and to the image right applied to two vamps of collection；The Enable Pin of described image processing unit is connected to
The output end of first camera, second camera and the 3rd camera, and the graphics processing unit is used for collection
To the top side images of two vamps be corrected and be spliced into complete vamp top side image, to two vamps collecting
Left-side images are corrected and are spliced into complete vamp left-side images, and the image right of two vamps to collecting carries out school
Just and it is spliced into complete vamp image right；The Enable Pin of the data capture unit and the output of described image processing unit
End is connected, and the data capture unit is used for using edge detection algorithm to the complete vamp top side figure after image procossing
Picture, vamp left-side images and vamp image right carry out rim detection, and obtain on the right side of vamp top side, vamp left side and vamp
Contour edge coordinate as three dimensional point cloud；The Enable Pin of the model generation unit is defeated with the data capture unit
Go out end to be connected, and the model generation unit is used for according to above-mentioned three dimensional point cloud, with reference to the vamp master pattern of preservation,
Call profile bounding algorithm generation vamp threedimensional model and be transferred to the controller, the controller is used for according to above-mentioned three-dimensional
Model, calculates the three-dimensional spatial information of vamp spraying area, and generates the tracks number of the first six degree of freedom manipulator
According to and be transferred to the first six degree of freedom manipulator, the first six degree of freedom manipulator performs according to the tracks data
Vamp glue spraying is acted.
A kind of automatic vamp glue spraying method using above-mentioned vamp glue spraying equipment, comprise the following steps：A, vamp is matched somebody with somebody
Pair and feeding prepare：Vamp attachment is fixed on shoe tree, and is ready for the sole matched with it, by sole and vamp
Pre-determined bit is carried out, and the positioning edge both it draws contour line, the assembling that vamp and shoe tree then are passed through into shoe tree head
Borehole jack is located in the mounting bracket of the first conveyer belt；B, the glue spraying region of vamp is scanned：First conveyer belt drives footwear
Face moves to the working region of the non-contact 3-D scanner, and the non-contact 3-D scanner is by will be seen that light, height
Energy light beam, ultrasonic or X rays are projected on vamp, borrow vamp to visible ray, high-energy light beam guiding, ultrasonic or X
The reflex of ray creates the cloud data of vamp geometric jacquard patterning unit surface and then generates threedimensional model and be transported on controller, institute
The first drive component is stated the running fix data parameters of vamp X-direction are provided and are transported on controller；C, to vamp
Glue spraying region carries out spray processing water：On the one hand the controller according to the running fix data parameters of the X-direction of vamp, calculates
Vamp enters the time of the working region of the first processing watering mechanism, when vamp enters the work of the first processing watering mechanism
Region, stop the first drive component, and the controller calculates vamp spraying area on the other hand according to above-mentioned threedimensional model
Three-dimensional spatial information, and generate the tracks data of the first six degree of freedom manipulator and be transferred to the described 1st from
By degree manipulator, the first six degree of freedom manipulator performs according to the tracks data sprays processing hydrodynamic(al) work to vamp,
When the first six degree of freedom manipulator execution is made to vamp spray processing hydrodynamic(al), second spray gun at the uniform velocity sprays processing water；Institute
The first six degree of freedom manipulator is stated after being finished to vamp spray processing hydrodynamic(al) work, the controller is by controlling the first servo
The rotation of motor, the first six degree of freedom manipulator is driven to be moved to along the first guiding assemblage from the first processing Water spray station
First glue spraying performs station；D, the processing water on vamp is dried：First conveyer belt drives vamp to move to the second baking oven
Processing water dry place processing is dried；E, glue spraying is carried out to the glue spraying region of vamp：The controller one side root
According to the running fix data parameters of the X-direction of vamp, calculate vamp enter the first glue spraying executing agency working region when
Between, when vamp enters the working region of the first glue spraying executing agency, the first drive component of stopping, and described controller the opposing party
Face calculates the three-dimensional spatial information of vamp spraying area, and generate the first six degree of freedom machinery according to above-mentioned threedimensional model
The tracks data of hand are simultaneously transferred to the first six degree of freedom manipulator, and the first six degree of freedom manipulator is according to the fortune
Dynamic rail track data performs to be acted to vamp glue spraying, when the first six degree of freedom manipulator performs and vamp glue spraying is acted, institute
State the first spray gun and at the uniform velocity spray glue, in the first six degree of freedom manipulator after being finished to the action of vamp glue spraying, institute
State controller by control the first servomotor rotation, drive the first six degree of freedom manipulator along the first guiding assemblage from
First glue spraying performs station and returns to the first processing Water spray station, in case lower vamp carries out spray processing water；F, on vamp
Glue dried：First conveyer belt drives vamp to move to the glue dries space of the first baking oven and processing is dried；g、
Dried vamp is under the drive of the first conveyer belt on transport to bonding work top, you can the automatic glue-spraying of vamp is completed, with
Just worker to vamp and sole be manually pressed together the subsequent operation of processing.
Another kind is comprised the following steps using the automatic vamp glue spraying method of above-mentioned vamp glue spraying equipment：A, vamp
Pairing and feeding prepare：Vamp attachment is fixed on shoe tree, and is ready for the sole matched with it, by sole and footwear
Face carries out pre-determined bit, and the positioning edge both it draws contour line, the dress that vamp and shoe tree then are passed through into shoe tree head
Distribution is set in the mounting bracket of the first conveyer belt；B, the glue spraying region of vamp is scanned：First conveyer belt drives footwear
Face moves to the working region of the vamp scanning element, and two first cameras are directed at vamp top side and correspondingly adopted
Collect the top side image of two vamps；Two second cameras are aligned on the left of vamp and the corresponding left side for gathering two vamps
Side image；Two the 3rd cameras are aligned on the right side of vamp and the corresponding image right for gathering two vamps, the figure
As the top side image of two vamps of the processing unit to collecting is corrected and is spliced into complete vamp top side image, to adopting
The left-side images of two vamps collected are corrected and are spliced into complete vamp left-side images, to two vamps collected
Image right be corrected and be spliced into complete vamp image right；The data capture unit uses edge detection algorithm
Rim detection is carried out to the complete vamp top side image after image procossing, vamp left-side images and vamp image right, and
The contour edge coordinate on the right side of vamp top side, vamp left side and vamp is obtained as three dimensional point cloud, and the model is given birth to
Into unit according to above-mentioned three dimensional point cloud, with reference to the vamp master pattern of preservation, profile bounding algorithm generation vamp three is called
Dimension module is simultaneously transferred to the controller, and first drive component provides the running fix data parameters of vamp X-direction simultaneously
It is transported on controller；C, spray processing water is carried out to the glue spraying region of vamp：The controller is on the one hand according to the X-axis side of vamp
To running fix data parameters, calculate vamp enter first processing watering mechanism working region time, when vamp enters
Enter the working region of the first processing watering mechanism, stop the first drive component, and the controller is on the other hand according to upper
Threedimensional model is stated, calculates the three-dimensional spatial information of vamp spraying area, and generates the motion of the first six degree of freedom manipulator
Orbital data is simultaneously transferred to the first six degree of freedom manipulator, and the first six degree of freedom manipulator is according to the tracks number
Processing hydrodynamic(al) is sprayed to vamp according to execution to make, when the first six degree of freedom manipulator execution is made to vamp spray processing hydrodynamic(al), institute
State the second spray gun and at the uniform velocity spray processing water；The first six degree of freedom manipulator is being finished to vamp spray processing hydrodynamic(al) work
Afterwards, the controller drives the first six degree of freedom manipulator to be oriented to along first by the rotation of the first servomotor of control
Assembly moves to the first glue spraying from the first processing Water spray station and performs station；D, the processing water on vamp is dried：The
One conveyer belt drives vamp to move to the processing water dry place of the second baking oven and processing is dried；E, to the glue spraying region of vamp
Carry out glue spraying：On the one hand the controller according to the running fix data parameters of the X-direction of vamp, calculates vamp and enters first
The time of the working region of glue spraying executing agency, when vamp enters the working region of the first glue spraying executing agency, stopping first being driven
Dynamic component, and the controller calculates the three-dimensional spatial information of vamp spraying area on the other hand according to above-mentioned threedimensional model,
And generate the tracks data of the first six degree of freedom manipulator and be transferred to the first six degree of freedom manipulator, it is described
First six degree of freedom manipulator performs according to the tracks data and vamp glue spraying is acted, in first six degree of freedom machinery
When hand execution acts to vamp glue spraying, first spray gun at the uniform velocity sprays glue；Held in the first six degree of freedom manipulator
Row is finished to after the action of vamp glue spraying, the controller drives the one or six freely by the rotation of the first servomotor of control
Degree manipulator performs station from the first glue spraying along the first guiding assemblage and returns to the first processing Water spray station, in case lower footwear
Face carries out spray processing water；F, the glue on vamp is dried：First conveyer belt drive vamp moves to the glue of the first baking oven
Processing is dried in water dry place, and transport is to bonding on work top under the drive of the first conveyer belt for dried vamp, i.e.,
The automatic glue-spraying of vamp can be completed, so that worker to vamp and sole be manually pressed together the subsequent operation of processing.
Compared to the prior art, beneficial effect caused by the present invention is:
1st, the present invention it is simple in construction, practical, by set using 3-D scanning mechanism to be scanned to vamp, simultaneously
And the operation glued using the first six degree of freedom manipulator to control the first spray gun to complete to vamp, because 3-D scanning obtains
What is taken not only includes colouring information, in addition to range information, thus by that can form specific threedimensional model after processing, enters
And generating has the tracks data of three-D profile curve, and the first six degree of freedom manipulator is that a kind of have along x, y, z three
The robot device of the one-movement-freedom-degree of individual rectangular co-ordinate direction of principal axis and the rotational freedom around these three reference axis, it is according to upper
The spray gun of action control first motion of artificial arms swing can be imitated completely by stating the tracks data of controller offer, at this moment
Time, which only needs to be set in when the progress of the first six degree of freedom manipulator is swung along movement locus, opens the first spray gun, completes movement locus
The first spray gun is closed automatically afterwards, because the first six degree of freedom manipulator mass motion speed is consistent, and the glue of the first spray gun
It is also consistent that water, which sprays speed, thus can ensure that the glue quantity of each position spraying of vamp reaches unanimity, and can greatly reduce
The wastage of glue and vamp glue spraying same effect is improved, and then ensure to improve follow-up vamp and the firm journey of sole bonding
Degree, improve the service life and quality of footwear.
2nd, in the present invention, by the way that the base of the first six degree of freedom manipulator and the bottom surface of the first mobile station are lifted
Connection, thus in workshop, the first six degree of freedom manipulator can be arranged on the surface of the first conveyer belt by user,
The space at top can be used well, be advantageous to be able in the more nervous region of small factory building or other industrial soils
It is applicable.
3rd, in the present invention, include in the glue spraying method of vamp and first carry out processing Water spray, dry, sprayed again again
Glue, the FOUR EASY STEPS dried again, this special equipment or mechanism for completing this FOUR EASY STEPS is also accompanied by simultaneously on production line, is first carried out
Spraying processing water can be advantageous to improve the firmness of follow-up glue spraying, that is to say, that processing water can enter to the upper glue surface of vamp
Row surface treatment, the being firmly combined with property of upper glue surface and glue after drying can obtain the enhancing of big degree, by by described in
First six degree of freedom manipulator is arranged to carry out coming and going shifting in the first processing Water spray station and the first glue spraying execution station part
It is dynamic, a six degree of freedom manipulator can be so saved, and displacement can also be ensured to be controlled by servomotor
Accuracy, therefore set multistation lifting manipulator equipment can be on the basis of ensureing that manufacture automatic control is accurate as far as possible
Reduce equipment cost in ground.
4th, in the present invention, the quick of vamp can be met as 3-D scanning mechanism using non-contact 3-D scanner
The demand of glue spraying processing, its data processing block, action judges and control is accurate, but equipment manufacturing cost is of a relatively high, and another
3-D scanning mechanism is to use two first cameras at the top in picture sweep unit, two second shootings of lower left
Head, two the 3rd cameras of lower right dress, six cameras are taken pictures six pictures within the same time more than, and by
Computer software is analyzed, thus can reduce the production cost of 3-D scanning mechanism, and can ensure certain precision,
Particularly on the premise of the accuracy of each position parameter of vamp spraying area is ensured, sweep time can be greatly reduced.
Brief description of the drawings
Fig. 1 is the structural representation using the footwear production line of the present invention.
Fig. 2 is the structural representation at Fig. 1 A visual angles, wherein first drive assembly and second drive assembly save
Slightly it is not shown.
Fig. 3 for the first multistation lifting manipulator equipment or the second multistation lifting manipulator equipment in the present invention wherein
A kind of structural representation of mode.
Fig. 4 for the first multistation lifting manipulator equipment or the second multistation lifting manipulator equipment in the present invention wherein
The structural representation of another way.
Fig. 5 is the structural representation of vamp scanning element used by embodiment two in the present invention.
Fig. 6 is the principle schematic of 3-D scanning mechanism used by embodiment two in the present invention.
Embodiment
Illustrate the embodiment of the present invention with reference to the accompanying drawings.
Embodiment one
Reference picture 1, Fig. 2, Fig. 3 and Fig. 4.A kind of footwear automatic production line saved using space, including a vamp is certainly
Dynamic sizer 1 and the sole automatic gluing device 2 positioned at the lower section of vamp automatic gluing device 1, wherein above-mentioned vamp
Automatic gluing device 1 is the claimed theme of the present invention：A kind of vamp glue spraying equipment saved using space.The vamp
Automatic gluing device 1 and sole automatic gluing device 2 are elongated, and are in upper and lower positioned adjacent on same vertical plane,
The vamp automatic gluing device 1 includes one first conveyer belt 10, drives first conveyer belt 10 to carry out the first of uniform motion
Drive component 11 and first automates glue spraying control assembly 13, and the top of the first conveyer belt 10 is provided with the three of adjoining successively
Dimension scanning station 10a, the first processing Water spray station 10b, the first processing water drying station 10c, the first glue spraying perform station 10d
And the first drying adhesive station 10e；The first automation glue spraying control assembly 13 is included positioned at 3-D scanning station 10a's
3-D scanning mechanism 14, the first processing water drying mechanism 15 positioned at the first processing water drying station 10c, dry positioned at the first glue
Dry station 10e the first drying adhesive mechanism 16 and can horizontal direction first processing Water spray station 10b and first spray
Glue performs the first multistation lifting manipulator equipment 17 that station 10d parts are reciprocated, the first multistation hoisting machine
Tool hand equipment 17 includes the controller that an Enable Pin is connected with the 3-D scanning mechanism 14（Not shown in figure）, one with the control
First six degree of freedom manipulator 170 of device output end connection, the first six degree of freedom manipulator 170 is driven in the first processing water spray
The the first traversing controlling organization 171 and be installed on this that leaching station 10b and the first glue spraying execution station 10d parts are reciprocated
One first spray gun 172 and one second spray gun 173 on the arm of first six degree of freedom manipulator 170, in first six degree of freedom
Manipulator 170 performs when being acted to vamp gluing, and first spray gun 172 at the uniform velocity sprays glue, in first six degree of freedom
Manipulator 170 perform to vamp spray processing hydrodynamic(al) make when, second spray gun 173 at the uniform velocity sprays handles water, described first is traversing
Controlling organization 171 includes the first fixed mount 174, the first guiding assemblage 175 being installed on first fixed mount 174, with its bottom
The first mobile station 176 and first that the base of face and the first six degree of freedom manipulator 170 lift connection is driven always
Into 177, first mobile station 176 is installed on first guiding assemblage 175 and in the band of first drive assembly 177
Dynamic lower progress horizontal shifting.The present embodiment is scanned and utilized to vamp using 3-D scanning mechanism 14 by setting
First six degree of freedom manipulator 170 controls the first spray gun 172 to complete the operation glued to vamp, because 3-D scanning obtains
What is taken not only includes colouring information, in addition to range information, thus by that can form specific threedimensional model after processing, enters
And generating has the tracks data of three-D profile curve, and the first six degree of freedom manipulator 170 is that a kind of have along x, y, z
The robot device of the one-movement-freedom-degree of three rectangular co-ordinate direction of principal axis and the rotational freedom around these three reference axis, its basis
The first spray gun of action control 172 that the tracks data that controller noted above provides can imitate artificial arms swing completely is transported
It is dynamic, at this time only need to be set in the first six degree of freedom manipulator 170 and carry out opening the first spray gun when swinging along movement locus
172, the first spray gun 172 of automatic closing after movement locus is completed, because the mass motion speed of the first six degree of freedom manipulator 170 is
Unanimously, and the glue of the first spray gun 172 to spray speed be also consistent, thus the glue quantity of each position of vamp spraying can be ensured
Reach unanimity, the wastage of glue can be greatly reduced and improve vamp glue spraying same effect, and then ensure after improving
Continuous vamp and sole bonding firmness, improve the service life and quality of footwear.
Reference picture 3.First drive assembly 177 can use following structure, and it includes one first main synchronous pulley
1770th, one first from synchronous pulley 1771, be set around the first main synchronous pulley 1770 and first from synchronous pulley 1771
The servomotor 1773 that first timing belt 1772 and the described first main synchronous pulley 1770 of driving rotate, first timing belt
1772 have two connection ends, and one of connection end is fixedly connected with the left side of first mobile station 176, another connection end
It is fixedly connected with the right side of first mobile station 176.
Reference picture 4.First drive assembly 177 can also be another structure, and it includes the first drive fixed mount
1774th, two clutch shaft bearings 1775 of the both sides of the first drive fixed mount 1774 are installed in respectively, both ends be respectively arranged in this two first
First screw mandrel 1776 and the servomotor 1773 for driving first screw mandrel 1776 to be rotated on bearing 1775, described first moves
Dynamic platform 176 offers the first screwed hole being adapted with first screw mandrel 1776 in the axial direction, by first screwed hole with
First screw mandrel 1776 is spirally connected, and the convert rotational motion of first screw mandrel 1776 moves linearly for first mobile station 176.
Reference picture 1, Fig. 2, Fig. 3 and Fig. 4.First guiding assemblage 175 includes two spaced apart first guide rails
1750 and two first guide pin bushings 1751 that are correspondingly sheathed on every first guide rail 1750, the both sides of first mobile station 176
It is corresponding to be set up on two first guide pin bushing 1751.
Reference picture 1, Fig. 2, Fig. 3 and Fig. 4.The sole automatic gluing device 2 include one second conveyer belt 20, drive this
Two conveyer belts 20 carry out the second drive component 21 and the second automation glue spraying control assembly 22 of uniform motion, and described second passes
The top of band 20 is sent to be provided with infrared scan station 23 adjacent successively, second processing Water spray station 20b, the drying of second processing water
Station 20c, the second glue spraying perform station 20d and the second drying adhesive station 20e；The second automation glue spraying control assembly
22 include the infrared scan mechanism positioned at infrared scan station 20a, the second processing water positioned at second processing water drying station 20c
Drying mechanism 26, the second drying adhesive mechanism 27 positioned at the second drying adhesive station 20e and can horizontal direction second
Processing Water spray station 20b and the second glue spraying perform the second multistation paper binding machine hand that station 20d parts are reciprocated and set
Standby 28, the second multistation paper binding machine hand equipment 28 includes the control that an Enable Pin is connected with the infrared scan mechanism 23
The second six degree of freedom manipulator 24 that device, one are connected with the controller output end, the second six degree of freedom manipulator 24 is driven to exist
Second processing Water spray station 20b and the second glue spraying perform the second traversing controlling organization 25 that station 20d parts are reciprocated
And one the 3rd spray gun 241 and one the 4th spray gun 242 on the arm of the second six degree of freedom manipulator 24 are installed on, described
Two six degree of freedom manipulators 24 perform when being acted to sole gluing, and the 3rd spray gun 241 at the uniform velocity sprays glue, described second
Six degree of freedom manipulator 24 performs when processing hydrodynamic(al) is sprayed to sole making, and the 4th spray gun 242, which at the uniform velocity sprays, handles water, and described the
Two traversing controlling organizations 25 include the second fixed mount 250, be installed on second fixed mount 250 the second guiding assemblage 251, with
The second mobile station 252 and the second transmission that the base of its top surface and the second six degree of freedom manipulator 24 is fixedly connected
Assembly 253, second mobile station 252 are installed on second guiding assemblage 251 and in second drive assembly 253
Drive it is lower carry out horizontal shifting, second guiding assemblage 251 include two spaced apart second straight line guide rails 2510 and
Corresponding two second guide pin bushings 2511 being sheathed on every second straight line guide rail 2510, the both sides of second mobile station 252 are corresponding
It is set up on two second guide pin bushing 2511, second drive assembly 253 includes one second main synchronous pulley 2530 and 1 the
Two from synchronous pulley 2531, it is set around second timing belt of the second main synchronous pulley 2530 and second from synchronous pulley 2531
2532 and the second servomotor for rotating of the driving second main synchronous pulley 2531, second timing belt 2532 there are two
Connection end, one of connection end are fixedly connected with the left side of second mobile station 252, and another connection end is moved with described second
The right side of dynamic platform 252 is fixedly connected.
Reference picture 1, Fig. 2, Fig. 3 and Fig. 4.This example can include one first baking oven 160 and one second baking oven 150,
First baking oven 160 is separated into upper glue dry place and lower glue dries space, the first drying adhesive by a first partition
Mechanism 16 is glue dry place on this, and the second drying adhesive mechanism 27 is the lower glue dries space, first baking oven 160
Wall offers the upper outlet of upper inlet 1600/ for penetrating/passing upper glue dry place for the first conveyer belt 10, and described first dries
The wall of case 160 offers the 1601/ time outlet of lower inlet for penetrating/passing lower glue dries space for the second conveyer belt 20, described
Second baking oven 150 is separated into upper processing water dry place and lower processing water dry place, the first processing water by a second partition
For drying mechanism 15 to handle water dry place on this, second processing water drying mechanism 26 is the lower processing water dry place, described
The wall of second baking oven 150 offers to be penetrated/passes on the upper inlet 1600/ of upper processing water dry place for the first conveyer belt 10
Mouthful, the wall of the second baking oven 150 offers the lower inlet for penetrating/passing lower processing water dry place for the second conveyer belt 20
1601/ time outlet.
Reference picture 1.The 3-D scanning mechanism 14 is non-contact 3-D scanner, and the non-contact 3-D scanner is used
In will be seen that light, high-energy light beam guiding, ultrasonic or X rays be projected on vamp, borrow vamp to visible ray, high-energy light beam guiding,
The reflex of ultrasonic or X rays threedimensional model and is transmitted to create the cloud data of vamp geometric jacquard patterning unit surface and then generate
To the controller, the controller is used for the three-dimensional spatial information that vamp spraying area is calculated according to above-mentioned threedimensional model, and
Generate the tracks data of the first six degree of freedom manipulator 170 and be transferred to the first six degree of freedom manipulator 170,
The first six degree of freedom manipulator 170 performs according to the tracks data and vamp gluing is acted.
The present embodiment be using process a kind of footwear automated production method, thus below by this is discussed in detail
The automated production method of kind of vamp furthers elucidate to the present embodiment.
Reference picture 1, Fig. 2, Fig. 3 and Fig. 4.A kind of automated production method of footwear using above-mentioned automatic production line,
Comprise the following steps：
The pairing of the first step, sole and vamp and feeding prepare：Vamp attachment is fixed on shoe tree, and is ready to use
The sole of Yu Yuqi pairings, sole and vamp are subjected to pre-determined bit, and the positioning edge both it draws contour line, then will
Sole is positioned on the second conveyer belt 20 as contact surface using bottom, and vamp and shoe tree are arranged by the pilot hole on shoe tree head
In the mounting bracket of the first conveyer belt 10；
Second step, the glued area of sole and vamp is scanned：It is described that second conveyer belt 20 drives sole to move to
The working region of infrared scanning equipment, the infrared scanning equipment is by will be seen that light, high-energy light beam guiding, ultrasonic or X rays
It is projected on sole, borrows sole to the reflex of visible ray, high-energy light beam guiding, ultrasonic or X rays to obtain sole
Y direction and Z-direction running fix data parameters and be transported on controller, second drive component 21 provides footwear
The running fix data parameters of bottom X-direction are simultaneously transported on controller；It is described non-that first conveyer belt 10 drives vamp to move to
The working region of contact-type 3 D scanner, the non-contact 3-D scanner by will be seen that light, high-energy light beam guiding, ultrasonic or
Person's X rays are projected on vamp, borrow vamp and the reflex of visible ray, high-energy light beam guiding, ultrasonic or X rays is come
Create the cloud data of vamp geometric jacquard patterning unit surface and then generate threedimensional model and be transported on controller, first drive component 11
The running fix data parameters of vamp X-direction are provided and are transported on controller；
3rd step, spray processing water is carried out to the glued area of sole and vamp：The controller is on the one hand according to the X of vamp
The running fix data parameters of direction of principal axis, the time that vamp enters the working region of the first processing watering mechanism is calculated, works as footwear
Face enters the working region of the first processing watering mechanism, stops the first drive component 11, and the controller is on the other hand
According to above-mentioned threedimensional model, the three-dimensional spatial information of vamp spraying area is calculated, and generates the first six degree of freedom manipulator
170 tracks data are simultaneously transferred to the first six degree of freedom manipulator 170, the first six degree of freedom manipulator 170
Performed according to the tracks data and processing hydrodynamic(al) work is sprayed to vamp, performed in the first six degree of freedom manipulator 170 to footwear
When face spray processing hydrodynamic(al) is made, second spray gun 173 at the uniform velocity sprays processing water；At the same time, the controller one side according to
The running fix data parameters of the X-direction of sole, calculate sole enter second processing watering mechanism working region when
Between, when sole enters the working region of second processing watering mechanism, stop the second drive component 21, and the controller is another
On the one hand according to the Y direction of above-mentioned sole and the running fix data parameters of Z-direction, the two dimension of calculating sole spraying area
Spatial information, and generate the tracks data of the second six degree of freedom manipulator 24 and be transferred to second six degree of freedom
Manipulator 24, the second six degree of freedom manipulator 24 performs according to the tracks data sprays processing hydrodynamic(al) work to sole,
The second six degree of freedom manipulator 24 perform to sole spray processing hydrodynamic(al) make when, the 4th spray gun 242 at the uniform velocity ejection handle
Water, for the first six degree of freedom manipulator 170 after being finished to vamp spray processing hydrodynamic(al) work, the controller passes through control
The rotation of first servomotor 1773, the first six degree of freedom manipulator 170 is driven along at the first guiding assemblage 175 from first
Reason Water spray station 10b moves to the first glue spraying and performs station 10d；The second six degree of freedom manipulator 24 is being finished pair
After sole spray processing hydrodynamic(al) is made, the controller drives the two or six freely by the rotation of the second servomotor 1773 of control
Degree manipulator 24 moves to the second glue spraying from second processing Water spray station 20b along the second guiding assemblage 251 and performs station
20d；
4th step, the processing water on sole and vamp is dried：Second conveyer belt 20 drives sole to move to second
Processing is dried in the lower processing water dry place of baking oven 150；First conveyer belt 10 drives vamp to move to the second baking oven 150
Processing is dried in upper processing water dry place；
5th step, glue spraying is carried out to the glued area of sole and vamp：The controller is on the one hand according to the X-axis side of vamp
To running fix data parameters, calculate vamp enter the first glue spraying executing agency working region time, when vamp enter
The working region of first glue spraying executing agency, stop the first drive component 11, and the controller is on the other hand according to above-mentioned
Threedimensional model, calculates the three-dimensional spatial information of vamp spraying area, and generates the motion of the first six degree of freedom manipulator 170
Orbital data is simultaneously transferred to the first six degree of freedom manipulator 170, and the first six degree of freedom manipulator 170 is according to the motion
Orbital data performs to be acted to vamp gluing, when the first six degree of freedom manipulator 170 performs and vamp gluing is acted, institute
State the first spray gun 172 and at the uniform velocity spray glue；At the same time, on the one hand the controller is determined according to the movement of the X-direction of sole
Position data parameters, the time that sole enters the working region of the second glue spraying executing agency is calculated, when sole is held into the second glue spraying
The working region of row mechanism, stop the second drive component 21, and the controller is on the other hand according to the Y-axis side of above-mentioned sole
To the running fix data parameters with Z-direction, the two-dimensional space information of sole spraying area is calculated, and generates the described 2nd 6
The tracks data of free degree manipulator 24 are simultaneously transferred to the second six degree of freedom manipulator 24, second six degree of freedom
Manipulator 24 performs according to the tracks data and sole gluing is acted, in the second six degree of freedom manipulator 24 execution pair
When sole gluing acts, the 3rd spray gun 241 at the uniform velocity sprays glue；Performed in the first six degree of freedom manipulator 170
Finish after being acted to vamp gluing, the controller drives the one or six certainly by the rotation of the first servomotor 1773 of control
Station 10d is performed along the first guiding assemblage 175 from the first glue spraying return to the first processing Water spray station by degree manipulator 170
10b, in case lower vamp carries out spray processing water；The second six degree of freedom manipulator 24 is being finished to sole gluing action
Afterwards, the controller drives the second six degree of freedom manipulator 24 along the by controlling the rotation of the second servomotor 1773
Two guiding assemblages 251 perform station 20d from the second glue spraying and return to second processing Water spray station 20b, in case lower sole enters
Row spray processing water；
6th step, the glue on sole and vamp is dried：Second conveyer belt 20 drives sole to move to the first baking
Processing is dried in the lower glue dries space of case 160；First conveyer belt 10 drive vamp moves to the gluing of the first baking oven 160
Processing is dried in water dry place；
7th step, sole and vamp be manually pressed together making two in the exit of the first conveyer belt 10 and the second transmission belt
Person's good bond, the glue of junction both it is waited to be fully cured and can depart from the shoes of forming from shoe tree, so as to complete
The making of paired footwear.
The present embodiment is by the way that the base of the first six degree of freedom manipulator 170 and the bottom surface of the first mobile station 176 are hung
Load is connect, thus in workshop, the first six degree of freedom manipulator 170 can be arranged on the first conveyer belt 10 by user
Surface, the space at top can be used well, and matingly by vamp automatic gluing device 1 and sole autosizing
Device 2 carries out two layers of setting up and down, and sole and vamp on the one hand can be caused to enter simultaneously from same position, and also same
Opening position exports, thus the traffic control in greatly convenient production, worker need not often distinguish again pairing vamp and
Sole, you can it is directly adhesion-molded according to the vamp of upper and lower two layers discharging and sole progress, when can improve unit to degree greatly
Interior operating efficiency；On the other hand, space-consuming of the invention in workshop can also be saved by carrying out two layers of setting up and down, favorably
It is applicable in the more nervous region of small factory building or other industrial soils.
In the present embodiment, include in the glue spraying method of vamp and sole and first carry out processing Water spray, dry again, again
Glue spraying, the FOUR EASY STEPS dried again are carried out, this special equipment or mechanism for completing this FOUR EASY STEPS is also accompanied by simultaneously on production line,
First carrying out spraying processing water can be advantageous to improve the firmness of follow-up glue spraying, that is to say, that processing water can to vamp or
The upper glue surface of sole is surface-treated, and the being firmly combined with property of upper glue surface and glue after drying can obtain the increasing of big degree
By force, by the way that the first six degree of freedom manipulator 170 to be arranged to hold in the first processing Water spray station 10b and the first glue spraying
Row station 10d parts are reciprocated, and can so save a six degree of freedom manipulator, and by servomotor 1773 come
The accuracy of displacement can also be ensured by being controlled, therefore set multistation lifting manipulator equipment to ensure that production is automatic
Change and be reduced as far as equipment cost on the basis of controlling accurately.
Embodiment two
Reference picture 5 and Fig. 6.The present embodiment and the embodiment of embodiment one are substantially the same, and its difference is：This reality
The 3-D scanning mechanism 14 applied in example includes vamp scanning element 140, graphics processing unit 141, data capture unit 142
And model generation unit 143, the vamp scanning element 140 be used for shoot vamp top side image, vamp left-side images and
Vamp image right, it includes the imperial portal trestle 144 at a vamp scan position being arranged on the first conveyer belt 10, the dragon
The top of portal trestle 144 is equiped with two the first cameras 145, and lower left is equiped with two second cameras 146, lower right
Two the 3rd cameras 147 are equiped with, two first cameras 145 are directed at vamp top side and to applied to collection two
The top side image of individual vamp；Two second cameras 146 are aligned on the left of vamp and to applied to two vamps of collection
Left-side images；Two the 3rd cameras 147 are aligned on the right side of vamp and to the right side applied to two vamps of collection
Image；The Enable Pin of described image processing unit 141 is connected to first camera 145, second camera 146 and the 3rd
The output end of camera 147, and the graphics processing unit 141 carries out school for the top side image of two vamps to collecting
Just and complete vamp top side image is spliced into, the left-side images of two vamps to collecting are corrected and are spliced into complete
Vamp left-side images, the image right of two vamps to collecting is corrected and is spliced into complete vamp right part of flg
Picture；The Enable Pin of the data capture unit 142 is connected with the output end of described image processing unit 141, and the data
Acquiring unit 142 is used for using edge detection algorithm to the complete vamp top side image after image procossing, vamp left-side images
And vamp image right carries out rim detection, and obtain the contour edge coordinate on the right side of vamp top side, vamp left side and vamp
As three dimensional point cloud；The Enable Pin of the model generation unit 143 is connected with the output end of the data capture unit 142
Connect, and the model generation unit 143 is used for according to above-mentioned three dimensional point cloud, with reference to the vamp master pattern of preservation, calls
Profile bounding algorithm generates vamp threedimensional model and is transferred to the controller, and the controller is used for according to above-mentioned three-dimensional mould
Type, calculates the three-dimensional spatial information of vamp spraying area, and generates the tracks number of the first six degree of freedom manipulator 170
According to and be transferred to the first six degree of freedom manipulator 170, the first six degree of freedom manipulator 170 is according to the tracks number
Vamp gluing is acted according to performing.
The present embodiment be using process a kind of footwear automated production method, thus below by this is discussed in detail
The automated production method of kind of vamp furthers elucidate to the present embodiment.
Reference picture 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6.A kind of automation system of footwear using above-mentioned automatic production line
Make method, comprise the following steps：
The pairing of the first step, sole and vamp and feeding prepare：Vamp attachment is fixed on shoe tree, and is ready to use
The sole of Yu Yuqi pairings, sole and vamp are subjected to pre-determined bit, and the positioning edge both it draws contour line, then will
Sole is positioned on the second conveyer belt 20 as contact surface using bottom, and vamp and shoe tree are arranged by the pilot hole on shoe tree head
In the mounting bracket of the first conveyer belt 10；
Second step, the glued area of sole and vamp is scanned：It is described that second conveyer belt 20 drives sole to move to
The working region of infrared scanning equipment, the infrared scanning equipment is by will be seen that light, high-energy light beam guiding, ultrasonic or X rays
It is projected on sole, borrows sole to the reflex of visible ray, high-energy light beam guiding, ultrasonic or X rays to obtain sole
Y direction and Z-direction running fix data parameters and be transported on controller, second drive component 21 provides footwear
The running fix data parameters of bottom X-direction are simultaneously transported on controller；Described in being moved to when the first conveyer belt 10 drive vamp
The working region of vamp scanning element, two first cameras 145 are directed at two footwear in vamp top side and corresponding collection
The top side image in face；Two second cameras 146 are aligned on the left of vamp and the corresponding left hand view for gathering two vamps
Picture；Two the 3rd cameras 147 are aligned on the right side of vamp and the corresponding image right for gathering two vamps, described image
The top side image of two vamps of the processing unit 141 to collecting is corrected and is spliced into complete vamp top side image, right
The left-side images of two vamps collected are corrected and are spliced into complete vamp left-side images, to two footwear collected
The image right in face is corrected and is spliced into complete vamp image right；The data capture unit 142 is examined using edge
Method of determining and calculating carries out edge inspection to the complete vamp top side image after image procossing, vamp left-side images and vamp image right
Survey, and obtain vamp top side, the contour edge coordinate on the left of vamp and on the right side of vamp as three dimensional point cloud, and the mould
Type generation unit 143, with reference to the vamp master pattern of preservation, calls the generation of profile bounding algorithm according to above-mentioned three dimensional point cloud
Vamp threedimensional model is simultaneously transferred to the controller, and first drive component 11 provides the running fix number of vamp X-direction
According to parameter and it is transported on controller；
3rd step, spray processing water is carried out to the glued area of sole and vamp：The controller is on the one hand according to the X of vamp
The running fix data parameters of direction of principal axis, the time that vamp enters the working region of the first processing watering mechanism is calculated, works as footwear
Face enters the working region of the first processing watering mechanism, stops the first drive component 11, and the controller is on the other hand
According to above-mentioned threedimensional model, the three-dimensional spatial information of vamp spraying area is calculated, and generates the first six degree of freedom manipulator
170 tracks data are simultaneously transferred to the first six degree of freedom manipulator 170, the first six degree of freedom manipulator 170
Performed according to the tracks data and processing hydrodynamic(al) work is sprayed to vamp, performed in the first six degree of freedom manipulator 170 to footwear
When face spray processing hydrodynamic(al) is made, second spray gun 173 at the uniform velocity sprays processing water；At the same time, the controller one side according to
The running fix data parameters of the X-direction of sole, calculate sole enter second processing watering mechanism working region when
Between, when sole enters the working region of second processing watering mechanism, stop the second drive component 21, and the controller is another
On the one hand according to the Y direction of above-mentioned sole and the running fix data parameters of Z-direction, the two dimension of calculating sole spraying area
Spatial information, and generate the tracks data of the second six degree of freedom manipulator 24 and be transferred to second six degree of freedom
Manipulator 24, the second six degree of freedom manipulator 24 performs according to the tracks data sprays processing hydrodynamic(al) work to sole,
The second six degree of freedom manipulator 24 perform to sole spray processing hydrodynamic(al) make when, the 4th spray gun 242 at the uniform velocity ejection handle
Water；For the first six degree of freedom manipulator 170 after being finished to vamp spray processing hydrodynamic(al) work, the controller passes through control
The rotation of first servomotor 1773, the first six degree of freedom manipulator 170 is driven along at the first guiding assemblage 175 from first
Reason Water spray station 10b moves to the first glue spraying and performs station 10d；The second six degree of freedom manipulator 24 is being finished pair
After sole spray processing hydrodynamic(al) is made, the controller drives the two or six freely by the rotation of the second servomotor 1773 of control
Degree manipulator 24 moves to the second glue spraying from second processing Water spray station 20b along the second guiding assemblage 251 and performs station
20d；
4th step, the processing water on sole and vamp is dried：Second conveyer belt 20 drives sole to move to second
Processing is dried in the lower processing water dry place of baking oven 150；First conveyer belt 10 drives vamp to move to the second baking oven 150
Processing is dried in upper processing water dry place；
5th step, glue spraying is carried out to the glued area of sole and vamp：The controller is on the one hand according to the X-axis side of vamp
To running fix data parameters, calculate vamp enter the first glue spraying executing agency working region time, when vamp enter
The working region of first glue spraying executing agency, stop the first drive component 11, and the controller is on the other hand according to above-mentioned
Threedimensional model, calculates the three-dimensional spatial information of vamp spraying area, and generates the motion of the first six degree of freedom manipulator 170
Orbital data is simultaneously transferred to the first six degree of freedom manipulator 170, and the first six degree of freedom manipulator 170 is according to the motion
Orbital data performs to be acted to vamp gluing, when the first six degree of freedom manipulator 170 performs and vamp gluing is acted, institute
State the first spray gun 172 and at the uniform velocity spray glue；At the same time, on the one hand the controller is determined according to the movement of the X-direction of sole
Position data parameters, the time that sole enters the working region of the second glue spraying executing agency is calculated, when sole is held into the second glue spraying
The working region of row mechanism, stop the second drive component 21, and the controller is on the other hand according to the Y-axis side of above-mentioned sole
To the running fix data parameters with Z-direction, the two-dimensional space information of sole spraying area is calculated, and generates the described 2nd 6
The tracks data of free degree manipulator 24 are simultaneously transferred to the second six degree of freedom manipulator 24, second six degree of freedom
Manipulator 24 performs according to the tracks data and sole gluing is acted, in the second six degree of freedom manipulator 24 execution pair
When sole gluing acts, the 3rd spray gun 241 at the uniform velocity sprays glue；Performed in the first six degree of freedom manipulator 170
Finish after being acted to vamp gluing, the controller drives the one or six certainly by the rotation of the first servomotor 1773 of control
Station 10d is performed along the first guiding assemblage 175 from the first glue spraying return to the first processing Water spray station by degree manipulator 170
10b, in case lower vamp carries out spray processing water；The second six degree of freedom manipulator 24 is being finished to sole gluing action
Afterwards, the controller drives the second six degree of freedom manipulator 24 along the by controlling the rotation of the second servomotor 1773
Two guiding assemblages 251 perform station 20d from the second glue spraying and return to second processing Water spray station 20b, in case lower sole enters
Row spray processing water；
6th step, the glue on sole and vamp is dried：Second conveyer belt 20 drives sole to move to the first baking
Processing is dried in the lower glue dries space of case 160；First conveyer belt 10 drive vamp moves to the gluing of the first baking oven 160
Processing is dried in water dry place；
7th step, sole and vamp be manually pressed together making two in the exit of the first conveyer belt 10 and the second transmission belt
Person's good bond, the glue of junction both it is waited to be fully cured and can depart from the shoes of forming from shoe tree, so as to complete
The making of paired footwear.
In the present invention, can be met as 3-D scanning mechanism 14 using non-contact 3-D scanner in embodiment one
The demand of the quick glue spraying processing of vamp, its data processing block, action judges and control is accurate, but equipment manufacturing cost is relatively
It is high.And the 3-D scanning mechanism 14 in the present embodiment is to use two first cameras at the top in vamp scanning element 140
145, two second cameras 146 of lower left, two the 3rd cameras 147 of lower right dress, six cameras more than
Take pictures within the same time six pictures, and analyzed by computer software, thus 3-D scanning mechanism 14 can be reduced
Production cost, and certain precision can ensured, particularly ensure the accurate of each position parameter of vamp spraying area
On the premise of degree, sweep time can be greatly reduced.
Graphics processing unit 141, data capture unit 142 and model generation unit 143 in the present embodiment pass through it
Between interaction six pictures that each camera in picture sweep unit 140 obtains are handled after produce three-dimensional point cloud number
According to principle can use for reference Chinese invention patent（Application number：201010298713.2 Authorization Notice No.：CN102034264B）Institute
The mode of " calling the generation of profile bounding algorithm when the threedimensional model of front foot portion " for disclosing, or the mode of other data processings,
Generation vamp threedimensional model can be realized completely with upper type, thus no longer it is described in detail herein.
The embodiment of the present invention is above are only, but the design concept of the present invention is not limited thereto, it is all to utilize this
Conceive the change that unsubstantiality is carried out to the present invention, the behavior for invading the scope of the present invention all should be belonged to.
Claims (4)
1. save the vamp glue spraying equipment using space, it is characterised in that：Including one first conveyer belt, drive first conveyer belt
The first drive component and the first automation glue spraying control assembly of uniform motion are carried out, is provided with above first conveyer belt
Adjacent 3-D scanning station, the first processing Water spray station, the first processing water drying station, the first glue spraying perform station successively
And the first drying adhesive station；The first automation glue spraying control assembly includes the 3-D scanning positioned at 3-D scanning station
Mechanism, the first processing water drying mechanism, the first glue positioned at the first drying adhesive station positioned at the first processing water drying station
Water drying mechanism and can horizontal direction first processing Water spray station and the first glue spraying perform station between carry out come and go shifting
The first dynamic multistation lifting manipulator equipment, the first multistation lifting manipulator equipment include an Enable Pin and described three
The controller of dimension sweep mechanism connection, a first six degree of freedom manipulator being connected with the output end of the controller, drive this
The first horizontal stroke that one six degree of freedom manipulator is reciprocated between the first processing Water spray station and the first glue spraying perform station
Controlling organization and one first spray gun and one second spray gun that are installed on the first six degree of freedom manipulator arm are moved, described
When the execution of first six degree of freedom manipulator acts to vamp glue spraying, first spray gun at the uniform velocity sprays glue, the described 1st
When free degree manipulator execution is made to vamp spray processing hydrodynamic(al), second spray gun at the uniform velocity sprays processing water, and described first is traversing
Controlling organization includes the first fixed mount, the first guiding assemblage being installed on first fixed mount, with its bottom surface and described first
The base of six degree of freedom manipulator lift the first mobile station and the first drive assembly of connection, the first mobile station dress
Horizontal shifting, the three-dimensional scanner are carried out on first guiding assemblage and under the drive of first drive assembly
Structure is non-contact 3-D scanner, and the non-contact 3-D scanner is used for it will be seen that light, high-energy light beam guiding, ultrasonic or X
Ray is projected on vamp, borrows vamp to the reflex of visible ray, high-energy light beam guiding, ultrasonic or X ray to create footwear
The cloud data of face geometric jacquard patterning unit surface and then generate threedimensional model and be transferred to the controller, the controller is used for according to above-mentioned
Threedimensional model, calculates the three-dimensional spatial information of vamp spraying area, and generates the motion rail of the first six degree of freedom manipulator
Track data is simultaneously transferred to the first six degree of freedom manipulator, and the first six degree of freedom manipulator is according to the tracks data
Perform and vamp glue spraying is acted.
2. the vamp glue spraying equipment using space is saved as claimed in claim 1, it is characterised in that：The first drive assembly bag
Include two clutch shaft bearings for being installed in the first fixed mount both sides respectively, both ends be respectively arranged on two clutch shaft bearing the first screw mandrel with
And the servomotor for driving the screw mandrel to be rotated, first mobile station offers in the axial direction mutually fits with first screw mandrel
The first screwed hole matched somebody with somebody, by being spirally connected for first screwed hole and the first screw mandrel, the convert rotational motion of first screw mandrel is
The first mobile station rectilinear movement.
3. the vamp glue spraying equipment using space is saved as claimed in claim 2, it is characterised in that：The first guiding assemblage bag
Include two spaced apart first guide rails and two first guide pin bushings being correspondingly sheathed on every first guide rail, first movement
The both sides of platform are correspondingly set up on two first guide pin bushing.
4. the vamp glue spraying equipment using space is saved as claimed in claim 3, it is characterised in that：Vamp glue spraying equipment also includes
There are one first baking oven and one second baking oven, first baking oven includes a glue dries space, the first drying adhesive mechanism
For the glue dries space, the first baking oven wall offers penetrates/passes the glue dries space for the first conveyer belt
Inlet/outlet, second baking oven include one processing water dry place, it is described first processing water drying mechanism be the processing water
Dry place, the second baking oven wall offer for the first conveyer belt penetrate/pass it is described processing water dry place entrance/
Outlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510584977.7A CN105286212B (en) | 2014-07-31 | 2014-07-31 | Save the vamp glue spraying equipment using space |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510584977.7A CN105286212B (en) | 2014-07-31 | 2014-07-31 | Save the vamp glue spraying equipment using space |
| CN201410372240.4A CN104146442B (en) | 2014-07-31 | 2014-07-31 | A kind of vamp glue spraying equipment and automatic vamp glue spraying method of saving usage space |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410372240.4A Division CN104146442B (en) | 2014-07-31 | 2014-07-31 | A kind of vamp glue spraying equipment and automatic vamp glue spraying method of saving usage space |
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| Publication Number | Publication Date |
|---|---|
| CN105286212A CN105286212A (en) | 2016-02-03 |
| CN105286212B true CN105286212B (en) | 2018-01-09 |
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| CN201510584977.7A Expired - Fee Related CN105286212B (en) | 2014-07-31 | 2014-07-31 | Save the vamp glue spraying equipment using space |
| CN201410372240.4A Expired - Fee Related CN104146442B (en) | 2014-07-31 | 2014-07-31 | A kind of vamp glue spraying equipment and automatic vamp glue spraying method of saving usage space |
| CN201510585176.2A Expired - Fee Related CN105193010B (en) | 2014-07-31 | 2014-07-31 | A kind of vamp glue spraying equipment saved using space |
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| CN201410372240.4A Expired - Fee Related CN104146442B (en) | 2014-07-31 | 2014-07-31 | A kind of vamp glue spraying equipment and automatic vamp glue spraying method of saving usage space |
| CN201510585176.2A Expired - Fee Related CN105193010B (en) | 2014-07-31 | 2014-07-31 | A kind of vamp glue spraying equipment saved using space |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI726569B (en) | 2020-01-06 | 2021-05-01 | 財團法人工業技術研究院 | System and method for establishing a junction trace of an assembly |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105193010A (en) | 2015-12-30 |
| CN105286212A (en) | 2016-02-03 |
| CN104146442B (en) | 2015-08-19 |
| CN105193010B (en) | 2018-04-06 |
| CN104146442A (en) | 2014-11-19 |
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