CN107969762A - automatic last putting machine and its control method - Google Patents
automatic last putting machine and its control method Download PDFInfo
- Publication number
- CN107969762A CN107969762A CN201610916998.9A CN201610916998A CN107969762A CN 107969762 A CN107969762 A CN 107969762A CN 201610916998 A CN201610916998 A CN 201610916998A CN 107969762 A CN107969762 A CN 107969762A
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- China
- Prior art keywords
- rear end
- image
- drive displacement
- abutment means
- vamp
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- A43D11/00—Machines for preliminary treatment or assembling of upper-parts, counters, or insoles on their lasts preparatory to the pulling-over or lasting operations; Applying or removing protective coverings
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D15/00—Pulling-over or lasting machines for binding the toe end with cord, string, or wire; Machines for lasting with clamps; Lasting machines with sewing devices, also for platform shoes
Abstract
The present invention provides a kind of automatic last putting machine and its control method.The sliding rail of automatic last putting machine corresponds to shoe last.Drive displacement device is limited shift reciprocately on sliding rail and corresponding by from shoe last.Abutment means connect drive displacement device, and abutment means gearshift driven is interlocked against footwear material, causes footwear material to fit closely shoe last.Camera treatment device signal connects drive displacement device, camera treatment device is towards shoe last and photographs footwear material and exports actual vamp image, and camera treatment device stores predetermined vamp image, and compare predetermined vamp image and actual vamp image and computing image output error amount.Drive displacement device, against footwear material, makes image error value reduce with abutment means foundation image error value.Whereby, comparing put-on last position using camera device automatic decision has zero deflection and through abutment means adjust automatically footwear material.
Description
Technical field
The present invention be on a kind of automatic last putting machine and its control method, especially with regard to one kind can be achieved it is agonic from
The automatic last putting machine and its control method of dynamic adjustment fitting vamp and shoe last.
Background technology
Footwear are a kind of articles being through on foot, not only stress function fashion, beautifying and decorating, protect foot, prevent abrasion etc.,
General shoes are in manufacturing process, it is necessary to which the step of by a put-on last, the shoe last of put-on last is shoemaking basis, wherein involving foot
The relation in portion, shoe last and shoes three, but current footwear material must be transmitted through manpower and footwear material be placed on shoe last, and footwear material is in put-on last
Afterwards, then via the shaping of pressure bottom is manually carried out, artificial out last is adopted after shaping and is terminated, above step must all be made one by one via manually
Industry, not only labor intensive, the grasp of output time are not easy, and seriously affect the progress of product turnout.
There is the technology of many fitting vamps and shoe last on the market at present, one of which known technology is to be directed to different shoes
Style or size make different correspondence pressing molds.Since such a pressing mold is installed on the compression bar of cylinder pressure, during pressing mold to be replaced,
Just the dismounting correlation equipment made or have much ado, also waste of manpower of not only losing time are needed, and easily dismantles equipment because of frequent
And equipment is caused to damage or influence the risk of precision.
Separately there is a kind of known automatic last putting machine to realize being bonded for vamp and shoe last, it includes rack and arranged on rack
On put-on last unit.Put-on last unit by the clamping device for clamping shoe tree, act on shoe tree heel region put-on last device and
The pressuring flat device for acting on shoe tree half sole position is formed.Although this automatic last putting machine stable structure is reliable, can realize automatic
Put-on last function, but the fitting of vamp and shoe last still can be there is a phenomenon where deviation, and this deviation easily causes the mistake of each position engagement of shoes
Position and the Probability of increase defective products.
It follows that lack the automatic of a kind of achievable agonic adjust automatically fitting vamp and shoe last currently on the market
Last putting machine and its control method, therefore related dealer is seeking its solution.
The content of the invention
Therefore, it is an object of the invention to provide a kind of automatic last putting machine and its control method, it passes through specific image
Identification and the mode of automatic comparison have zero deflection and pass through abutment means automatically according to deviation state to come to judge put-on last position
, it can be achieved that agonic automatic put-on last to solve tradition through equipment and put-on last fitting is replaced deviation occurs for adjustment footwear material
Derivative problem.
An embodiment according to one aspect of the present invention provides a kind of automatic last putting machine, and it includes sliding rail, driving position
Moving device, abutment means and camera treatment device.Sliding rail corresponds to a shoe last.Drive displacement device be limited shift reciprocately in
It is on sliding rail and corresponding by from shoe last.Abutment means connect drive displacement device, and abutment means gearshift driven connects
Move against a footwear material, cause footwear material to fit closely shoe last.Camera treatment device signal connects drive displacement device, shooting processing
Device is towards shoe last and photographs footwear material and exports an actual vamp image, and camera treatment device stores a predetermined vamp image,
And compare predetermined vamp image and actual vamp image and computing one image error value of output.Drive displacement device and abutment means
According to image error value against footwear material, so as to making image error value reduce.
Whereby, automatic last putting machine of the invention obtains image using image-taking device, and energy automatic decision put-on last position whether there is
Deviation and through roller devices adjust automatically footwear material, it can be achieved that agonic Self-regulation track, and then allow footwear material to fit in exactly
On shoe last.
Other embodiment according to aforementioned embodiments is as follows：The extending direction of foregoing sliding rail can be parallel to an X-axis；
Drive displacement device drives abutment means along a YZ Plane Rotations；One photography direction of camera treatment device is parallel to a Z axis；Last carving
Extending direction of the head towards sliding rail.Foregoing camera treatment device can include a photographing module, at a memory module and one
Manage control module.Wherein photographing module has a photography direction, and photography direction corresponds to an outer surface of footwear material, photographing module photography
Footwear material and export actual vamp image.Memory module stores predetermined vamp image.As for processing and control module, then signal connection is taken the photograph
As module, memory module and drive displacement device.Processing and control module receives and compares actual vamp image and predetermined vamp
Image and computing image output error amount, and processing and control module is according to image error value control drive displacement device.It is furthermore preceding
Two corresponding fixed seats and two corresponding front end fixtures can be included by stating abutment means.Wherein two fixed seat is all connected with
Drive displacement device.And two front end fixtures are respectively arranged on two fixed seats, and the direction of displacement of two front end fixtures phase each other
Instead.One outer surface of front end fixture clamping footwear material, the inner surface so as to making footwear material fit closely shoe last.Foregoing automatic last putting machine
A frame body, a rear end abutment means and a rear end photographing module can be included.Frame body be equipped with sliding rail, drive displacement device,
Abutment means and camera treatment device.Rear end abutment means connect foregoing abutment means, and rear end abutment means clamp footwear
One back end outer surface of material.Rear end photographing module is arranged on frame body and signal connection camera treatment device, rear end photographing module pair
Answer the rear end of shoe last and photograph back end outer surface and export an actual rear end vamp image.After camera treatment device storage one is predetermined
End vamp image simultaneously compares predetermined rear end vamp image and actual rear end vamp image and computing one rear end image error value of output.
Wherein drive displacement device and rear end abutment means foundation rear end image error value is against footwear material is clamped, so as to making rear end image miss
Difference reduces.In addition, foregoing automatic last putting machine can include a frame body, a rear end abutment means and a rear end photographing module.Frame
Body is equipped with sliding rail, drive displacement device, abutment means and camera treatment device.Rear end abutment means are arranged on frame body,
And rear end abutment means clamp a back end outer surface of footwear material.Then it is arranged on as rear end photographing module on frame body and signal connection is taken the photograph
As processing unit, rear end photographing module corresponds to the rear end of shoe last and photographs back end outer surface and export an actual rear end vamp shadow
Picture.Camera treatment device stores a predetermined rear end vamp image and compares predetermined rear end vamp image and actual rear end vamp image
And computing exports a rear end image error value.Wherein rear end abutment means are borrowed according to rear end image error value against footwear material is clamped
To make rear end image error value reduce.
Whereby, the control method of automatic last putting machine of the invention can adjust through double camera treatment devices and double abutment means
The first half of shoes, and can complete and synchronously adjustment footwear material and the relative position of shoe last with latter half of.
An embodiment according to another aspect of the present invention provides a kind of control method of automatic last putting machine, it is being bonded
One footwear material is on a shoe last.The control method of this automatic last putting machine include an image capture step, a calculation error step and
One drive displacement step.Wherein image capture step is to capture footwear material using a camera treatment device and export an actual vamp shadow
Picture.Calculation error step is to compare actual vamp image and a predetermined vamp image and calculate one image error value of output.Driving
Displacement step is according to the mobile abutment means of image error value control, causes image error value to reduce.
Whereby, the control method of automatic last putting machine of the invention can pass through image comparison and come automatic decision put-on last position whether there is
Deviation, and utilize abutment means adjust automatically footwear material and the fit-state of shoe last.
Other embodiment according to aforementioned embodiments is as follows：Foregoing drive displacement step can be controlled according to image error value
A mobile drive displacement device, causes image error value to reduce.Foregoing drive displacement step can include one first drive displacement
Step, one second drive displacement sub-step and one the 3rd drive displacement sub-step.Before first drive displacement sub-step is driving
One bottomed cylinder of the drive displacement device stated, so as to making a sliding seat displacement of drive displacement device on sliding rail.The
Two drive displacement sub-steps are to drive a motor of foregoing drive displacement device and rotate a scroll bar turbine, and position is driven so as to order
One gripper cylinder of moving device is interlocked by scroll bar turbine to be rotated.3rd drive displacement sub-step is driving gripper cylinder, so as to order
Two fixed seat relative displacements of abutment means.In addition, the control method of foregoing automatic last putting machine can include a rear end image capture
Step, a rear end calculation error step and a rear end drive displacement step.Wherein image capture step in rear end is after utilizing one
End photographing module captures footwear material and exports an actual rear end vamp image.Rear end calculation error step is to compare actual rear end vamp
Image and a predetermined rear end vamp image and calculate output one rear end image error value.As for rear end drive displacement step then foundation
The mobile rear end drive displacement device of rear end image error value control and a rear end abutment means, cause rear end image error value to subtract
It is small.
Whereby, the control method of automatic last putting machine of the invention can adjust through double camera treatment devices and double abutment means
The first half of shoes, and can complete and synchronously adjustment footwear material and the relative position of shoe last with latter half of.
Brief description of the drawings
Figure 1A is the schematic diagram for the automatic last putting machine for illustrating one embodiment of the invention；
Figure 1B is the explosive view for the automatic last putting machine for illustrating Figure 1A；
Fig. 1 C are the top views for the automatic last putting machine for illustrating Figure 1A；
Fig. 1 D are that the automatic last putting machine for illustrating Figure 1A rotates against the side view of device；
Fig. 1 E are the block diagrams for the automatic last putting machine for illustrating Figure 1A；
Fig. 2A is a schematic perspective view of the automatic last putting machine for illustrating another embodiment of the present invention；
Fig. 2 B are another schematic perspective views for the automatic last putting machine for illustrating Fig. 2A；
Fig. 2 C are the top views for the automatic last putting machine for illustrating Fig. 2A；
Fig. 2 D are that the automatic last putting machine for illustrating Fig. 2A rotates against the side view of device；
Fig. 2 E are the block diagrams for the automatic last putting machine for illustrating Fig. 2A；
Fig. 3 A are a schematic perspective views of the automatic last putting machine for illustrating further embodiment of this invention；
Fig. 3 B are another schematic perspective views for the automatic last putting machine for illustrating Fig. 3 A；
Fig. 3 C are the side views for the automatic last putting machine for illustrating Fig. 3 A；
Fig. 3 D are the block diagrams for the automatic last putting machine for illustrating Fig. 3 A；
Fig. 4 is the flow diagram of the control method for the automatic last putting machine for illustrating one embodiment of the invention；
Fig. 5 is the flow diagram of the control method for the automatic last putting machine for illustrating another embodiment of the present invention；
Fig. 6 is the flow diagram of the control method for the automatic last putting machine for illustrating further embodiment of this invention.
Embodiment
It the following drawings illustrate multiple embodiments of the present invention.As clearly stated, the details in many practices
It will be explained in the following description.It should be appreciated, however, that the details in these practices is not applied to limit the present invention.Also
It is to say, in section Example of the present invention, the details in these practices is non-essential.In addition, for the sake of simplifying attached drawing, some
Known usual structure will be illustrated in a manner of simply illustrating in the accompanying drawings with element；And the element repeated will likely use phase
Same numbering represents.
Also referring to Figure 1A~Fig. 1 E, Figure 1A is the schematic diagram for the automatic last putting machine 100 for illustrating one embodiment of the invention.
Figure 1B is the explosive view for the automatic last putting machine 100 for illustrating Figure 1A.Fig. 1 C are the top views for the automatic last putting machine 100 for illustrating Figure 1A.
Fig. 1 D are that the automatic last putting machine 100 for illustrating Figure 1A rotates against the side view of device 400.Fig. 1 E are the automatic put-on lasts for illustrating Figure 1A
The block diagram of machine 100.As shown in the figure, automatic last putting machine 100 to gluing shoe material 102 exactly on shoe last 104, and enter automatically
Last carving machine 100 includes sliding rail 200, drive displacement device 300, abutment means 400, camera treatment device 500 and frame body
600。
Sliding rail 200 is arranged on frame body 600 and corresponding shoe last 104.The extending direction of sliding rail 200 parallel to X-axis,
And shoe last 104 is towards the extending direction of sliding rail 200.
Drive displacement device 300 is limited shift reciprocately on sliding rail 200 and corresponding by from shoe last 104.In detail,
Drive displacement device 300 includes sliding seat 310, bottomed cylinder 320, motor 330, scroll bar turbine 340 and gripper cylinder 350.
Sliding seat 310 displaceably connects sliding rail 200.Bottomed cylinder 320 connects sliding seat 310, this sliding seat 310 is by bottom gas
Cylinder 320 drives and along sliding rail 200 along X-direction displacement.Furthermore motor 330 is arranged on sliding seat 310.Scroll bar turbine
340 are arranged on sliding seat 310 and connect motor 330, and scroll bar turbine 340 is driven by motor 330.As for gripper cylinder 350 then
It is connected between scroll bar turbine 340 and abutment means 400.This 350 drive displacement abutment means 400 of gripper cylinder, and by motor
The scroll bar turbine 340 of 330 drivings rotates gripper cylinder 350, so as to making abutment means 400 along YZ Plane Rotations.In other words, drive
Dynamic gearshift 300 drives abutment means 400 along YZ Plane Rotations.In addition, sliding rail 200 combines the structure of sliding seat 310
Have enough sliding distances, can allow abutment means 400 displacement range cover the front end of footwear material 102 and shoe last 104 with most
Rear end, that is, the sliding distance of sliding seat 310 is more than or equal to the length of shoe last 104.
Abutment means 400 connect drive displacement device 300, and the gearshift 300 driven of abutment means 400 is interlocked and supported
By footwear material 102, footwear material 102 is caused to fit closely shoe last 104.In detail, abutment means 400 include two corresponding fixations
Seat 410a, 410b and two corresponding front end fixture 420a, 420b.Wherein two fixed seat 410a, 410b is all connected with driving
The gripper cylinder 350 of gearshift 300.In addition, two front ends fixture 420a, 420b be respectively arranged on two fixed seat 410a,
410b, and the direction of displacement of two front ends fixture 420a, 420b are opposite each other, but that is, two front ends fixture 420a, 420b that
This relatively close or separation.The outer surface of front end fixture 420a, 420b clamping footwear material 102, the inner surface so as to making footwear material 102 are tight
The closely connected outer surface for closing shoe last 104.In other words, 350 displacement fixed seat 410a, 410b of gripper cylinder and interlock front end fixture
420a, 420b, cause front end fixture 420a, 420b pushing and pressing to clamp footwear material 102 to be close to shoe last 104.In addition it is noted that
Front end fixture 420a, 420b not only can synchronously towards it is equidirectional along YZ Plane Rotations, it is relatively close cramping or relative separation unclamp it
Outside, can also move up and down position relative to shoe last 104, that is, front end fixture 420a, 420b can along Z-direction displacement, into
And enable any position of medial surface 422a, 422b gluing shoe material 102 of front end fixture 420a, 420b.In addition, front end presss from both sides
The shape of tool 420a, 420b can correspond to different shoe styles, shoe-shaped or shoe last 104 and suitably plan, and user may be selected
The abutment means 400 of different structure are changed to meet demand.Whereby, drive displacement device 300 of the invention collocation abutment means
400 can be such that both corresponding each positions of footwear material 102 and shoe last 104 are completely and correctly bonded.
500 signal of camera treatment device connection drive displacement device 300, camera treatment device 500 is towards shoe last 104 and takes the photograph
Shadow footwear material 102 and export an actual vamp image.The photography direction of camera treatment device 500 is parallel to Z axis.Camera treatment device
500 one predetermined vamp images of storage, and compare predetermined vamp image and actual vamp image and computing one image error value of output.
Drive displacement device 300 and abutment means 400 according to the displacement of image error value against footwear material 102, so as to making image error value subtract
It is small.In detail, camera treatment device 500 includes photographing module 510, memory module 520, processing and control module 530 and screen
Curtain 540.Wherein photographing module 510 has a photography direction, and photography direction corresponds to an outer surface of footwear material 102, photographing module 510
Footwear material 102 of photographing and export actual vamp image.Memory module 520 stores predetermined vamp image.And processing and control module 530 is then
Signal connection photographing module 510, memory module 520 and drive displacement device 300.Processing and control module 530 is received and compared
Actual vamp image and predetermined vamp image and computing image output error amount, and processing and control module 530 is according to image error
Bottomed cylinder 320, motor 330 and the gripper cylinder 350 of value control drive displacement device 300.That is, work as image error value
During not equal to zero, processing and control module 530 can first judge and export a vamp error position, then according to vamp error position control
Bottomed cylinder 320 processed and move against device 400, cause abutment means 400 to move on to the actual vamp error position of footwear material 102,
This actual vamp error position is corresponding vamp error position.After abutment means 400 move to actual vamp error position,
Processing and control module 530 can control motor 330 and gripper cylinder 350 and reduce image error value, until image error value etc.
Untill zero.In addition, 540 signal connection processing control module 530 of screen, and show actual vamp image, predetermined vamp image
And image error value, it can allow what user immediately observed footwear material 102 and shoe last 104 to be bonded situation.
Frame body 600 is equipped with sliding rail 200, drive displacement device 300, abutment means 400 and camera treatment device
500.In detail, frame body 600 includes a frame body platform 610 and a top fixed part 620.Top fixed part 620 connects frame body
Platform 610 and the top for being located at frame body platform 610.Frame body platform 610 installs shoe last 104, sliding rail 200, drive displacement dress
300 and abutment means 400 are put, and frame body platform 610 is located on X/Y plane.And top fixed part 620 then installs shooting processing dress
Put 500.In addition it is noted that the camera treatment device 500 of the present invention is also displaceably arranged on top fixed part 620,
And it is corresponding 400 synchronous shift of abutment means.Therefore, camera treatment device 500 can pass through various angles observation footwear material 102
Each position situation about being bonded with shoe last 104, and return the actual vamp image of these different angles and position immediately to handling
Control module 530, so that its analysis judges whether to need adjustment footwear material 102.
Also referring to Fig. 2A~Fig. 2 E, Fig. 2A is the one vertical of the automatic last putting machine 100a for illustrating another embodiment of the present invention
Body schematic diagram.Fig. 2 B are another schematic perspective views for the automatic last putting machine 100a for illustrating Fig. 2A.Fig. 2 C are illustrate Fig. 2A automatic
The top view of last putting machine 100a.Fig. 2 D are that the automatic last putting machine 100a for illustrating Fig. 2A rotates against the side view of device 400.Fig. 2 E
It is the block diagram for the automatic last putting machine 100a for illustrating Fig. 2A.As shown in the figure, automatic last putting machine 100a includes sliding rail 200, drives
Dynamic gearshift 300, abutment means 400, camera treatment device 500, frame body 600, rear end abutment means 700 and rear end shooting
Module 510a.
Cooperation refers to Figure 1A, in the embodiment of Fig. 2A, sliding rail 200, drive displacement device 300, abutment means
400th, camera treatment device 500 and frame body 600 are identical with corresponding square in Figure 1A, repeat no more.Specifically, Tu2AShi
The abutment means 400 for applying mode are to clamp the leading exterior surface of footwear material 102, and rear end abutment means 700 are to clamp footwear material 102
Back end outer surface.Furthermore automatic last putting machine 100a is also comprising rear end abutment means 700 and rear end photographing module 510a.After wherein
Hold abutment means 700 to connect drive displacement device 300, and rear end abutment means 700 include two rear end fixed seat 710a,
710b, two rear end motor 720a, 720b, two rear ends cylinder 730a, 730b and two rear ends roller 740a, 740b.Afterwards
Hold fixed seat 710a, rear end motor 720a, rear end cylinder 730a and rear end roller 740a respectively with rear end fixed seat 710b, rear end
Motor 720b, rear end cylinder 730b and rear end roller 740b is corresponded and symmetrical X-axis.Rear end fixed seat 710a, 710b difference
Connect abutment means 400 fixed seat 410a, 410b, and rear end fixed seat 710a, 710b it is synchronous with fixed seat 410a, 410b by
350 command displacement of gripper cylinder and interlock.Rear end motor 720a, 720b are respectively arranged on one end of rear end fixed seat 710a, 710b,
And rear end motor 720a, 720b drive rear end roller 740a, 740b rotation respectively.In addition, rear end cylinder 730a, 730b are set respectively
In the other end of rear end fixed seat 710a, 710b, rear end cylinder 730a command displacements rear end roller 740a and rear end motor 720a,
And rear end cylinder 730b command displacements rear end roller 740b and rear end motor 720b.Rear end motor 720a, 720b and rear end cylinder
The equal signal connection processing control module 530 of 730a, 730b and it is subject to processing control module 530 and controls.Rear end roller 740a, 740b points
Not She Yu rear end fixed seat 710a, 710b, and the rotation direction of rear end roller 740a, 740b are opposite each other and roll footwear material 102
Back end outer surface.In addition, rear end photographing module 510a is arranged on the frame body platform 610 of frame body 600 and at signal connection shooting
Device 500 is managed, and also signal connects camera treatment device 500 to rear end abutment means 700, and rear end photographing module 510a corresponds to last carving
Simultaneously photograph back end outer surface and export an actual rear end vamp image in first 104 rear end.The memory module of camera treatment device 500
520 one predetermined rear end vamp images of storage, and the processing and control module 530 of camera treatment device 500 compares predetermined rear end vamp
Image and actual rear end vamp image and computing one rear end image error value of output.Drive displacement device 300 and rear end are against dress
700 are put according to rear end image error value against footwear material 102 is clamped, so as to making rear end image error value reduce.In addition, rear end images
Module 510a is identical with 510 structure of photographing module of camera treatment device 500, and so it will not be repeated.And it is noted that rear end
The photographing module 510 of photographing module 510a and camera treatment device 500 can share same group of memory module 520 and processing control mould
Block 530 exports corresponding error amount to compare image union.Whereby, automatic last putting machine 100a of the invention is utilized at double shootings
Reason device adjusts the first half of footwear material 102 with latter half of with double abutment means, the energy completely and synchronously footwear at each position of adjustment
Material 102.
It is the one vertical of the automatic last putting machine 100b for illustrating further embodiment of this invention also referring to Fig. 3 A~Fig. 3 D, Fig. 3 A
Body schematic diagram.Fig. 3 B are another schematic perspective views for the automatic last putting machine 100b for illustrating Fig. 3 A.Fig. 3 C are illustrate Fig. 3 A automatic
The side view of last putting machine 100b.Fig. 3 D are the block diagrams for the automatic last putting machine 100b for illustrating Fig. 3 A.As shown in the figure, automatic last putting machine
100b includes sliding rail 200, drive displacement device 300, abutment means 400, camera treatment device 500, frame body 600, rear end
Drive displacement device 700a, rear end abutment means 700b and rear end photographing module 510a.
Cooperation refers to Fig. 2A, in the embodiment of Fig. 3 A, sliding rail 200, drive displacement device 300, abutment means
400th, camera treatment device 500, frame body 600 and rear end photographing module 510a are identical with corresponding square in Fig. 2A, no longer superfluous
State.Specifically, the abutment means 400 of Fig. 3 A embodiments are to clamp the leading exterior surface of footwear material 102, and rear end abutment means
700b is the back end outer surface for clamping footwear material 102.Furthermore automatic last putting machine 100b also comprising rear end drive displacement device 700a with
Rear end abutment means 700b.This rear end drive displacement device 700a is arranged on frame body 600 and connects rear end abutment means 700b, and
Rear end abutment means 700b clamps the back end outer surface of footwear material 102.The rear end drive displacement device 700a of the present embodiment is one
Can be along the back end grip cylinder that Y direction is stretched, it is to drive displacement rear end abutment means 700b.And rear end abutment means
700b is then comprising two rear end fixed seat 710a, 710b, two rear end motor 720a, 720b, two rear ends cylinder 730a, 730b
And two rear ends roller 740a, 740b.Wherein rear end fixed seat 710a, rear end motor 720a, rear end cylinder 730a and rear end
Roller 740a is corresponded with rear end fixed seat 710b, rear end motor 720b, rear end cylinder 730b and rear end roller 740b respectively
And symmetrical Z axis.In addition, the both ends of rear end drive displacement device 700a connect rear end fixed seat 710a, 710b respectively, and after control
Hold the relative displacement of fixed seat 710a, 710b.In other words, rear end drive displacement device 700a fixes to reduce or increase rear end
Distance between seat 710a, 710b, and then change the distance between rear end roller 740a, 740b.Whereby, it is of the invention
Automatic last putting machine 100b using double camera treatment devices and pair abutment means come adjust the first half of footwear material 102 with it is latter half of.By
It is not quite similar in the leading exterior surface of footwear material 102 and soft or hard degree, shape and the position of back end outer surface, therefore the present invention is thoroughly
Different cramping mechanism is crossed to realize the fitting at different position, can the completely and synchronously footwear material 102 at each position of adjustment.
In addition, the rear end drive displacement device 700a of automatic last putting machine 100b (can be also not illustrated in comprising rear end sliding rail
In figure), this rear end sliding rail is arranged on the top fixed part 620 of frame body 600 and connection rear end drive displacement device 700a.Afterwards
End sliding rail can allow rear end drive displacement device 700a to be slid along X-direction, and then make rear end roller 740a, 740b along X-axis
Direction is mobile and clamps the footwear material 102 of diverse location.Certainly, drive displacement device 300 and rear end drive displacement device 700a meetings
Abutment means 400 and rear end abutment means 700b is controlled respectively, makes abutment means 400 and rear end abutment means 700b will not be each other
Bump against or touch, to avoid the damage of generating means.
Also referring to Figure 1A and Fig. 4, Fig. 4 is the control method 900 for the automatic last putting machine for illustrating one embodiment of the invention
Flow diagram.To gluing shoe material 102 on shoe last 104, it includes image to pick the control method 900 of this automatic last putting machine
Take step S12, calculation error step S14 and drive displacement step S16.Wherein image capture step S12 is using at shooting
Device 500 is managed to capture footwear material 102 and export an actual vamp image.Calculation error step S14 be compare actual vamp image and
One predetermined vamp image and calculate output one image error value.Drive displacement step S16 is according to the control movement of image error value
Abutment means 400, cause image error value to reduce.Whereby, the control method 900 of automatic last putting machine of the invention can pass through image
Comparison, which comes automatic decision put-on last position, zero deflection, and utilizes 400 adjust automatically footwear material 102 of abutment means and the patch of shoe last 104
Conjunction state.
Also referring to Figure 1A and Fig. 5.Fig. 5 is the control method for the automatic last putting machine for illustrating another embodiment of the present invention
The flow diagram of 900a.The control method 900a of this automatic last putting machine includes image capture step S22, calculation error step
S24 and drive displacement step S26.Wherein image capture step S22 be using camera treatment device 500 capture footwear material 102 and
Export an actual vamp image.Calculation error step S24 is to compare actual vamp image and a predetermined vamp image and calculate defeated
Go out an image error value.Drive displacement step S26 is to move against device 400 according to the control of image error value, causes image to miss
Difference reduces.In detail, drive displacement step S26 can control mobile drive displacement device 300 and connect according to image error value
Dynamic abutment means 400, the image error value so as to making camera treatment device 500 reduce.Drive displacement step S26 includes first and drives
Dynamic displacement sub-step S262, the second drive displacement sub-step S264 and the 3rd drive displacement sub-step S266.First driving position
Move the bottomed cylinder 320 that sub-step S262 is driving drive displacement device 300, the sliding seat so as to making drive displacement device 300
310 displacements are on sliding rail 200.Second drive displacement sub-step S264 be drive drive displacement device 300 motor 330 and
Rotate scroll bar turbine 340, so as to make the gripper cylinder 350 of drive displacement device 300 by scroll bar turbine 340 interlock and along YZ planes
Rotation.3rd drive displacement sub-step S266 is to drive gripper cylinder 350, two fixed seats so as to making abutment means 400
410a, 410b relative displacement, and then drive front end fixture 420a, 420b to clamp the outer surface of footwear material 102 and make the interior of footwear material 102
Surface fits on shoe last 104 exactly.
It is the control method for the automatic last putting machine for illustrating further embodiment of this invention also referring to Fig. 3 A and Fig. 6, Fig. 6
The flow diagram of 900b.The control method 900b of automatic last putting machine, which is included, starts step S32, front-end control step S34, rear end
Rate-determining steps S36 and end step S38.Wherein front-end control step S34 includes front end image capture step S342, front end is counted
Calculate error step S344 and front-end driven displacement step S346.And rear end rate-determining steps S36 is then walked comprising rear end image capture
Rapid S362, rear end calculation error step S364 and rear end drive displacement step S366.Front-end control step S34 is controlled with rear end
The difference of step S36 is that front-end control step S34 is control drive displacement device 300, abutment means 400 and shooting processing
The start of device 500, and rear end rate-determining steps S36 is then control rear end drive displacement device 700a, rear end abutment means 700b
And the start of rear end photographing module 510a.Furthermore front end image capture step S342 is captured using camera treatment device 500
Footwear material 102 and export an actual vamp image.Front end calculation error step S344 is to compare actual vamp image and a predetermined footwear
Face picture and calculate output one image error value.Front-end driven displacement step S346 is moved against according to the control of image error value
Device 400, causes image error value to reduce.In addition, rear end image capture step S362 is to utilize a rear end photographing module 510a
Capture footwear material 102 and export an actual rear end vamp image.Rear end calculation error step S364 is to compare actual rear end vamp shadow
As with a predetermined rear end vamp image and calculate output one rear end image error value.As for rear end drive displacement step S366 then according to
Mobile rear end drive displacement device 700a and rear end abutment means 700b is controlled according to rear end image error value, causes rear end image to miss
Difference reduces.Whereby, the control method 900b of automatic last putting machine of the invention can double image-taking devices adjusted respectively with double rollers device
The first half of whole shoes is with latter half of, and then the complete and synchronously footwear material 102 at each position of adjustment.
From the above embodiment, the present invention has following advantages：First, can automatic decision put-on last through image comparison
There is a zero deflection in position, and using roller devices energy adjust automatically footwear material and the fit-state of shoe last, with realize it is agonic from
Dynamic adjustment, and then allow footwear material to fit in exactly on shoe last.Second, double image-taking devices can adjust shoes respectively with double rollers device
First half with latter half of, can complete and synchronously each position of adjustment footwear material.Third, front-end driven gearshift drives with rear end
Gearshift can control front end abutment means and rear end abutment means respectively, it is ensured that front end abutment means and rear end abutment means are not
It can bump against or touch each other, to avoid the damage of generating means.
Although the present invention is disclosed above with embodiment, so it is not limited to the present invention, any to be familiar with this skill
Person, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations, therefore protection scope of the present invention is worked as
Subject to the scope of which is defined in the appended claims.
Claims (10)
1. a kind of automatic last putting machine, it is characterised in that include：
One sliding rail, a corresponding shoe last；
One drive displacement device, is limited shift reciprocately on the sliding rail and corresponding by from the shoe last；
One abutment means, connect the drive displacement device, the abutment means by the drive displacement device interlock and against a footwear material,
The footwear material is caused to fit closely the shoe last；And
One camera treatment device, signal connect the drive displacement device, and the camera treatment device is towards the shoe last and the footwear of photographing
Material and export an actual vamp image, and the camera treatment device stores a predetermined vamp image, and compares the predetermined vamp shadow
As exporting an image error value with the actual vamp image and computing, the drive displacement device and the abutment means are according to the image
Error amount is against the footwear material, so as to making the image error value reduce.
2. automatic last putting machine according to claim 1, it is characterised in that the extending direction of the sliding rail is parallel to an X
Axis, the drive displacement device drive the abutment means parallel along a YZ Plane Rotations, a photography direction of the camera treatment device
In a Z axis, extending direction of the shoe last towards the sliding rail.
3. automatic last putting machine according to claim 1, it is characterised in that the camera treatment device includes：
One photographing module, has a photography direction, which corresponds to an outer surface of the footwear material, and photographing module photography should
Footwear material and export the actual vamp image；
One memory module, stores the predetermined vamp image；And
One processing and control module, signal connect the photographing module, the memory module and the drive displacement device, processing control mould
Block receives and compares the actual vamp image and the predetermined vamp image and computing exports the image error value, and the processing controls
Module controls the drive displacement device according to the image error value.
4. automatic last putting machine according to claim 1, it is characterised in that the abutment means include：
Two corresponding fixed seats, connect the drive displacement device；And
Two corresponding front end fixtures, are respectively arranged on two fixed seat, and the direction of displacement of the two front ends fixture is opposite each other, and should
Two front end fixtures clamp an outer surface of the footwear material, and the inner surface so as to making the footwear material fits closely the shoe last.
5. automatic last putting machine according to claim 1, it is characterised in that also include：
One frame body, equipped with the sliding rail, the drive displacement device, the abutment means and the camera treatment device；
One rear end abutment means, connect the abutment means, which clamps a back end outer surface of the footwear material；And
One rear end photographing module, on the frame body and signal connects the camera treatment device, which corresponds to should
The rear end of shoe last simultaneously photographs the back end outer surface and exports an actual rear end vamp image, and camera treatment device storage one is predetermined
Rear end vamp image simultaneously compares the predetermined rear end vamp image and the actual rear end vamp image and computing one rear end image of output
Error amount；
Wherein the drive displacement device and the rear end abutment means according to the rear end image error value against clamping the footwear material, so as to
The rear end image error value is made to reduce.
6. automatic last putting machine according to claim 1, it is characterised in that also include：
One frame body, equipped with the sliding rail, the drive displacement device, the abutment means and the camera treatment device；
One rear end abutment means, on the frame body, which clamps a back end outer surface of the footwear material；And
One rear end photographing module, on the frame body and signal connects the camera treatment device, which corresponds to should
The rear end of shoe last simultaneously photographs the back end outer surface and exports an actual rear end vamp image, and camera treatment device storage one is predetermined
Rear end vamp image simultaneously compares the predetermined rear end vamp image and the actual rear end vamp image and computing one rear end image of output
Error amount；
Wherein the rear end abutment means according to the rear end image error value against clamp the footwear material, so as to making the rear end image error
Value reduces.
A kind of 7. control method of automatic last putting machine, to be bonded a footwear material on a shoe last, it is characterised in that the automatic put-on last
The control method of machine comprises the steps of：
One image capture step, is to be captured the footwear material using a camera treatment device and exported an actual vamp image；
One calculation error step, is to compare the actual vamp image and a predetermined vamp image and calculate one image error of output
Value；And
One drive displacement step, is to control a mobile abutment means according to the image error value, causes the image error value to reduce.
8. the control method of automatic last putting machine according to claim 7, it is characterised in that the drive displacement step is foundation
The mobile drive displacement device of image error value control, causes the image error value to reduce.
9. the control method of automatic last putting machine according to claim 8, it is characterised in that the drive displacement step includes：
One first drive displacement sub-step, is the bottomed cylinder for driving the drive displacement device, so as to making the drive displacement fill
The sliding seat displacement put is on a sliding rail；
One second drive displacement sub-step, is to drive a motor of the drive displacement device and rotate a scroll bar turbine, so as to order
One gripper cylinder of the drive displacement device is interlocked by the scroll bar turbine to be rotated；And
One the 3rd drive displacement sub-step, is to drive the gripper cylinder, the two fixed seat relative displacements so as to making the abutment means.
10. the control method of automatic last putting machine according to claim 7, it is characterised in that also include：
One rear end image capture step, is to be captured the footwear material using a rear end photographing module and exported an actual rear end vamp shadow
Picture；
One rear end calculation error step, is to compare the actual rear end vamp image and a predetermined rear end vamp image and calculate output
One rear end image error value；And
One rear end drive displacement step, is according to after the mobile rear end drive displacement device and one of rear end image error value control
Abutment means are held, cause the rear end image error value to reduce.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610916998.9A CN107969762B (en) | 2016-10-21 | 2016-10-21 | Automatic shoe last feeding machine and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610916998.9A CN107969762B (en) | 2016-10-21 | 2016-10-21 | Automatic shoe last feeding machine and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107969762A true CN107969762A (en) | 2018-05-01 |
| CN107969762B CN107969762B (en) | 2020-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610916998.9A Active CN107969762B (en) | 2016-10-21 | 2016-10-21 | Automatic shoe last feeding machine and control method thereof |
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| CN (1) | CN107969762B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109247661A (en) * | 2018-11-09 | 2019-01-22 | 诚锋兴业股份有限公司 | A kind of vamp detection device and vamp detection method |
| CN110367646A (en) * | 2019-05-23 | 2019-10-25 | 东莞市诚锋机械有限公司 | Vamp position indicator and its vamp method for indicating position |
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| CN202890728U (en) * | 2012-10-29 | 2013-04-24 | 东莞市意利自动化科技有限公司 | Automatic last putting machine |
| CN205006088U (en) * | 2015-09-06 | 2016-02-03 | 安踏（中国）有限公司 | Shoe last or hat block device is gone into to semi -manufactured goods vamp |
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| EP0509475A1 (en) * | 1991-04-19 | 1992-10-21 | OFFICINE MECCANICHE MOLINA & BIANCHI S.p.A. | A machine for molding and stretching lining, buttress, uppers, and forefoot pieces of footwear |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109247661A (en) * | 2018-11-09 | 2019-01-22 | 诚锋兴业股份有限公司 | A kind of vamp detection device and vamp detection method |
| CN110367646A (en) * | 2019-05-23 | 2019-10-25 | 东莞市诚锋机械有限公司 | Vamp position indicator and its vamp method for indicating position |
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| Publication number | Publication date |
|---|---|
| CN107969762B (en) | 2020-06-12 |
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