CN109805516B - Mask vamp-based glue spraying method and automatic glue spraying system - Google Patents
Mask vamp-based glue spraying method and automatic glue spraying system Download PDFInfo
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- CN109805516B CN109805516B CN201910223738.7A CN201910223738A CN109805516B CN 109805516 B CN109805516 B CN 109805516B CN 201910223738 A CN201910223738 A CN 201910223738A CN 109805516 B CN109805516 B CN 109805516B
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- 238000005507 spraying Methods 0.000 title claims abstract description 191
- 239000003292 glue Substances 0.000 title claims abstract description 121
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 238000001035 drying Methods 0.000 claims abstract description 65
- 239000002904 solvent Substances 0.000 claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 27
- 230000000873 masking effect Effects 0.000 claims abstract description 25
- 238000007710 freezing Methods 0.000 claims abstract description 17
- 230000008014 freezing Effects 0.000 claims abstract description 17
- 238000004519 manufacturing process Methods 0.000 claims abstract description 12
- 239000007921 spray Substances 0.000 claims description 23
- 230000001502 supplementing effect Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 13
- 230000006872 improvement Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 239000000853 adhesive Substances 0.000 description 3
- 230000001070 adhesive effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 229940045860 white wax Drugs 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000000084 colloidal system Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention provides a masking vamp-based glue spraying method and an automatic glue spraying system, wherein the masking vamp-based glue spraying method and the automatic glue spraying system are reasonable in design and easy to operate, and the masking vamp-based glue spraying method comprises a frame, a driving belt, a three-dimensional scanning device, a masking solvent spraying mechanism, a first clamping mechanism, a treated water spraying mechanism, a first drying device, a first automatic glue spraying mechanism, a second drying device, a second automatic glue spraying mechanism, a third drying device, a second clamping mechanism, a freezing device and a wind-heat remover, wherein the driving belt is arranged on the frame and is sequentially arranged above the driving belt of the frame according to a production line.
Description
Technical Field
The invention relates to the technical field of shoe manufacturing industry, in particular to a masking vamp-based glue spraying method and an automatic glue spraying system.
Background
At present, the shoe manufacturing industry in China is still in a stage of low automation level, the manufacturing of a pair of shoes comprises a large number of working procedures, and the working procedures are all needed to be completed by manpower, wherein the glue spraying process is relatively complex in the whole shoe manufacturing process, the working procedure is long in processing time, the glue spraying precision of manpower is relatively poor, the quality of the shoes is directly influenced, the overall performance and quality of the shoes are influenced, the labor cost is continuously increased along with the development of social economy, meanwhile, the problems of wasted labor, difficulty in labor and the like are increasingly severe, on the other hand, the adhesive for manufacturing the shoes contains components harmful to human bodies, and a mature automatic vamp glue spraying production line is required to be developed by workers for a long time in the current shoe manufacturing industry so as to replace the traditional manpower, and the production efficiency is improved to promote the sustainable and healthy development of the industry.
In order to solve the technical problem, a glue spraying device is already on the market, wherein a mechanical arm is arranged on a conveying belt, a camera and a spray gun are arranged at the tail end of the mechanical arm, and a sole on the conveying belt is sampled and sprayed with glue, but the unit has the following problems in the operation process:
1. the use cost of the camera is high, and the sampling precision of the camera is not high due to the influence of the actual working condition and other aspects of some sites;
2. Because the precision of the camera is not high, the adhesive sprayed by the spray gun has larger error, the precision error of the adhesive sprayed by the spray gun is about 4mm, the requirement that the precision error is about 2mm cannot be met, and the actual precision requirement cannot be met, so that the finished shoe cannot meet the requirement of high quality;
3. the existing glue spraying equipment cannot avoid the specific area to locally spray glue.
Disclosure of Invention
Therefore, the invention provides a masking vamp-based glue spraying method and an automatic glue spraying system which are reasonable in design and simple to operate.
In order to solve the technical problems, the invention adopts the following solution: a glue spraying method based on a mask vamp comprises the following steps:
s1, feeding: firstly, sleeving an vamp on a shoe last, then assembling the shoe last on a conveyor belt through a vacancy of a shoe last head, and finally aligning a corresponding special sole model with the shoe last front and back, left and right, and installing the special sole model on the vamp of the shoe last;
S2, three-dimensional scanning: the vamp on the shoe tree is scanned in a non-contact mode by utilizing the three-dimensional scanning device, the obtained data information is transmitted to a second controller, and the second controller analyzes and calculates the data information;
S3, spraying a mask solvent: the second controller transmits the data information analyzed and calculated in the step S2 to a third controller of the masking solvent spraying mechanism, and the third controller controls the first spraying device to spray the masking solvent on the vamp on the shoe tree according to the data information transmitted by the second controller;
S4, removing the sole model, namely transmitting the data information analyzed and calculated in the step S2 to a fourth controller of the first clamping mechanism by a second controller, and controlling a first clamping device to remove the sole model on the shoe tree and place the sole model on a first workbench by the fourth controller according to the data information transmitted by the second controller;
S5, spraying treatment liquid: the second controller transmits the data information analyzed and calculated in the step S2 to a fifth controller of the water treatment spraying mechanism, and the fifth controller controls the second spraying device to spray the water treatment on the vamp according to the data information transmitted by the second controller;
S6, primary drying: drying the treated water on the vamp by using a first drying device;
S7, spraying glue for the first time: the second controller transmits the data information analyzed and calculated in the step S2 to a sixth controller of the first automatic glue spraying mechanism, and the sixth controller controls a third spraying device to spray glue on the vamp on the shoe tree according to the data information transmitted by the second controller;
s8, drying for the second time: drying the glue on the vamp by using a second drying device;
S9, spraying glue for the second time: the second controller transmits the data information analyzed and calculated in the step S2 to a seventh controller of the second automatic glue spraying mechanism, and the seventh controller controls a fourth spraying device to spray glue on the vamp on the shoe tree according to the data information transmitted by the second controller;
s10, third drying: drying the glue on the vamp by using a third drying device;
s11, installing a sole: the second controller transmits the data information analyzed and calculated in the step S2 to an eighth controller of the second clamping mechanism, and the eighth controller controls the second clamping device to clamp the sole from the second workbench according to the data information transmitted by the second controller and installs the sole on the vamp coated with the glue;
s12, freezing: freezing the sole and the vamp by utilizing a freezing device;
S13, hot air remover: hot air removing is carried out on the masking solvent on the vamp by utilizing a hot air remover;
s14, unloading: the last is removed from the belt.
The further improvement is that: the three-dimensional scanning device comprises a shell, the shell is fixedly arranged on the frame, a plurality of image collecting devices are rotatably arranged in the shell, each image collecting device comprises a plurality of cameras and light supplementing lamps, and the cameras and the light supplementing lamps are rotatably arranged in the shell.
The further improvement is that: the first spraying device, the second spraying device, the third spraying device and the fourth spraying device are respectively glue guns for spraying glue, the glue guns are rotatably arranged at the tail end of the manipulator, the first clamping device and the second clamping device respectively comprise a first clamping block and a second clamping block, the first clamping block and the second clamping block can be slidably arranged at the tail end of the manipulator, and a first driving device for controlling the first clamping block and the second clamping block to slide is arranged between the first clamping block, the second clamping block and the tail end of the manipulator.
An automatic glue spraying system based on a glue spraying method of a mask vamp comprises a frame, a transmission belt arranged on the frame and used for conveying shoe trees, and a three-dimensional scanning device, a mask solvent spraying mechanism, a first clamping mechanism, a treatment water spraying mechanism, a first drying device, a first automatic glue spraying mechanism, a second drying device, a second automatic glue spraying mechanism, a third drying device, a second clamping mechanism, a freezing device and an air-heating agent removing device which are sequentially arranged above the transmission belt of the frame according to a production line.
The further improvement is that: the three-dimensional scanning device comprises a shell, the shell is fixed set up in the frame, rotatable a plurality of image collection device that are provided with in the shell, image collection device includes a plurality of cameras, light filling lamp, the camera, the rotatable set up in the shell, be provided with on the shell and be used for the drive camera, light filling lamp pivoted second drive arrangement, be provided with the second controller that is used for receiving and handling image information on the shell, the second controller with camera, first controller electric connection.
The further improvement is that: the mask solvent spraying mechanism comprises a first manipulator, a first spraying device for spraying mask solvent is arranged at the tail end of the first manipulator, a third controller for controlling the first manipulator and the first spraying device is arranged on the first manipulator, and the third controller is electrically connected with the first manipulator, the first spraying device, the first controller and the second controller.
The further improvement is that: the first clamping mechanism comprises a second manipulator and a first workbench, the first workbench is arranged in the operation range of the second manipulator, a first clamping device for clamping soles is arranged at the tail end of the second manipulator, a fourth controller for controlling the second manipulator and the first clamping device is arranged on the second manipulator, and the fourth controller is electrically connected with the second manipulator, the first clamping device, the first controller and the second controller.
The further improvement is that: the first clamping device comprises a first clamping block and a second clamping block, the first clamping block and the second clamping block can be slidably arranged at the tail end of the manipulator, and a first driving device for controlling the first clamping block and the second clamping block to slide is arranged between the first clamping block and the second clamping block and the tail end of the manipulator.
The further improvement is that: the treatment water spraying mechanism comprises a third manipulator, a second spraying device for spraying treatment water is arranged at the tail end of the third manipulator, a fifth controller for controlling the third manipulator and the second spraying device is arranged on the third manipulator, and the fifth controller is electrically connected with the third manipulator, the second spraying device, the first controller and the second controller.
The further improvement is that: the first automatic glue spraying mechanism comprises a fourth manipulator, a third spraying device is arranged at the tail end of the fourth manipulator, a sixth controller used for controlling the fourth manipulator and the third spraying device is arranged on the fourth manipulator, and the sixth controller is electrically connected with the fourth manipulator, the third spraying device, the first controller and the second controller.
By adopting the technical scheme, the invention has the beneficial effects that: the invention overcomes the defects of insufficient glue spraying precision, poor glue spraying consistency and incapability of avoiding local glue spraying in specific areas of the existing glue spraying equipment, and has the following advantages:
1. The invention has simple structure and strong practicability, the three-dimensional contour model of the spraying area can be obtained rapidly by scanning the vamp through the non-contact three-dimensional scanner, the corresponding motion track can be calculated by a preset track algorithm after the three-dimensional contour model is transmitted to the controller, and the motion track is transmitted to the manipulator to control the spraying gun to spray solvent and glue, so that the spraying precision of the spraying gun is greatly improved;
2. The invention can effectively improve the glue spraying precision, the traditional glue spraying technology is influenced by the movement precision of a spray gun device and a manipulator, the spray precision can be controlled to be about 4mm at most, but strict process requirements are provided for the glue spraying process in the footwear manufacturing industry, the glue spraying precision of 2mm is the general standard of the industry, the vamp glue spraying method through the solvent mask can meet the process requirements of the high standard, and the improvement of the glue spraying precision reaches 100 percent, and the effect is obvious;
3. the invention can meet the process requirement on the basis of not upgrading the equipment on a large scale, has outstanding economic effect compared with imported and foreign imported equipment for upgrading software and hardware such as systems, equipment and the like, and can save a large amount of equipment cost and test cost in the upgrading and updating process for enterprises;
4. The invention can greatly improve the precision of the glue spraying area, reduce the waste of glue, and improve the integrity of the glue spraying effect of the vamp, thereby improving the firmness degree of the adhesion of the vamp and the sole and the overall quality of the shoe.
Drawings
FIG. 1 is a top view of a masking shoe upper based glue spray method and an automatic glue spray system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a masking vamp-based glue spraying method and an automatic glue spraying system according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a masking vamp-based glue spraying method and a three-dimensional scanning device in an automatic glue spraying system according to an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of a first clamping device or a second clamping device in an automatic glue spraying system and a glue spraying method based on a mask vamp according to an embodiment of the present invention.
Detailed Description
The invention will now be further described with reference to the drawings and specific examples.
Referring to fig. 1 to 4, disclosed in an embodiment of the invention is a masking vamp-based glue spraying method and an automatic glue spraying system, wherein the glue spraying steps are as follows:
S1, feeding: the method comprises the steps that an operator firstly sleeves an vamp on a shoe tree 1, then assembles the shoe tree 1 on a transmission device through a vacancy of the head of the shoe tree 1, finally aligns a corresponding special sole model with the shoe tree 1 front and back and left and right, and installs the special sole model on the vamp of the shoe tree 1; the transmission device comprises a conveyor belt 22, a driving roller (not shown in the figure) and a plurality of driven rollers (not shown in the figure) are rotatably arranged on a frame 21, the conveyor belt 22 is wound on the driving roller and the driven rollers, a driving motor (not shown in the figure) for driving the driving roller to rotate and a first controller (not shown in the figure) for controlling the driving motor to rotate are arranged on the frame 21 (the controller in the embodiment is a well-known product and can be purchased directly from the market, and the controllers capable of realizing programming control in the market meet the requirements, so that the repeated description is omitted), and the shoe tree 1 is fixedly arranged on the conveyor belt 22; the conveyor belt 22 is sequentially provided with a three-dimensional scanning device, a mask solvent spraying mechanism, a first clamping mechanism, a treated water spraying mechanism, a first drying device, a first automatic glue spraying mechanism, a second drying device, a second automatic glue spraying mechanism, a third drying device, a second clamping mechanism, a refrigerating device and an air heat remover according to the processing process;
S2, three-dimensional scanning: non-contact scanning is carried out on the vamp on the shoe tree 1 by utilizing the three-dimensional scanning device, and the obtained data information is transmitted to a second controller (not shown in the figure), and the second controller analyzes and calculates the data information; the three-dimensional scanning device comprises a shell 31, wherein the shell 31 is fixedly arranged on the frame 21, two groups of image collecting devices are rotatably arranged in the shell 31, each image collecting device comprises two cameras 32 and a light supplementing lamp 33, each camera 32 and each light supplementing lamp 33 are rotatably arranged in the shell 31, a second driving device for driving each camera 32 and each light supplementing lamp 33 to rotate is arranged on the shell 31, each second driving device comprises a servo motor 34, a shell of each servo motor 34 is fixedly arranged on the shell 31, a connecting rod 35 is fixedly arranged on a rotating shaft of each servo motor 34, each connecting rod 35 is rotatably arranged on the corresponding shell 31, a sliding rail 36 is arranged on each connecting rod 35, two sliding blocks 37 are slidably arranged on each sliding rail 36, each camera 32 and each light supplementing lamp 33 are fixedly arranged on each sliding block 37, a second controller (not shown in the figure) for receiving and processing image information is arranged on the shell 31, and each second controller is electrically connected with each camera 32 and each first controller 34;
S3, spraying a mask solvent: the second controller transmits the data information analyzed and calculated in the step S2 to the mask solvent spraying mechanism, wherein the mask solvent spraying mechanism comprises a first manipulator 41, a first spraying device for spraying the mask solvent is arranged at the tail end of the first manipulator 41, a third controller (not shown in the figure) for controlling the first manipulator 41 and the first spraying device is arranged on the first manipulator 41, and the third controller is electrically connected with the first manipulator 41, the first spraying device, the first controller and the second controller; the second controller transmits the data information analyzed and calculated in the step S2 to a third controller, and the third controller controls the first manipulator 41 and the first spraying device to spray a mask solvent on the vamp on the shoe tree 1 according to the data information transmitted by the second controller, wherein the mask solvent is white wax;
S4, removing the sole model, wherein a second controller transmits the data information analyzed and calculated in the step S2 to a first clamping mechanism, the first clamping mechanism comprises a second manipulator 51 and a first workbench 52, the first workbench 52 is arranged in the operation range of the second manipulator 51, a first clamping device for clamping soles is arranged at the tail end of the second manipulator 51, a fourth controller (not shown in the figure) for controlling the second manipulator 51 and the first clamping device is arranged on the second manipulator 51, and the fourth controller is electrically connected with the second manipulator 51, the first clamping device, the first controller and the second controller; the second controller transmits the data information analyzed and calculated in the step S2 to a fourth controller, and the fourth controller controls the second manipulator 51 and the first clamping device to remove the sole model on the shoe tree 1 and place the sole model on the first workbench 52 according to the data information transmitted by the second controller;
S5, spraying treatment liquid: the second controller transmits the data information analyzed and calculated in the step S2 to the treatment water spraying mechanism, the treatment water spraying mechanism comprises a third manipulator 61, a second spraying device for spraying treatment water is arranged at the tail end of the third manipulator 61, a fifth controller (not shown in the figure) for controlling the third manipulator 61 and the second spraying device is arranged on the third manipulator 61, and the fifth controller is electrically connected with the third manipulator 61, the second spraying device, the first controller and the second controller; the second controller transmits the data information analyzed and calculated in the step S2 to a fifth controller, and the fifth controller controls the third manipulator 61 and the second spraying device to spray the vamp with the treatment water (the treatment water in the embodiment is a well-known product, and is 770 model surface pretreatment water of Dongguan chemical technology company, inc.) according to the data information transmitted by the second controller;
s6, primary drying: drying the treated water on the vamp by using a first drying device; the first drying device includes a first drying box 62 (the drying box in this embodiment is a well-known product, and is a product that can be purchased directly from the market, and drying equipment that can dry the colloid in the market meets the requirements, so that details are not repeated here), the first drying box 62 is fixedly disposed above the frame 21, and a first channel 621 through which the conveyor belt 22 passes is formed in the first drying box 62;
S7, spraying glue for the first time: the second controller transmits the data information analyzed and calculated in the step S2 to the first automatic glue spraying mechanism, wherein the first automatic glue spraying mechanism comprises a fourth manipulator 71, a third spraying device is arranged at the tail end of the fourth manipulator 71, a sixth controller (not shown in the figure) for controlling the fourth manipulator 71 and the third spraying device is arranged on the fourth manipulator 71, and the sixth controller is electrically connected with the fourth manipulator 71, the third spraying device, the first controller and the second controller; the second controller transmits the data information analyzed and calculated in the step S2 to a sixth controller, and the sixth controller controls the fourth manipulator 71 and the third spraying device to spray glue on the vamp on the shoe tree 1 according to the data information transmitted by the second controller;
S8, drying for the second time: drying the glue on the vamp by using a second drying device; the second drying device comprises a second drying box 72, the second drying box 72 is fixedly arranged above the frame 21, and the second drying box 72 is provided with a fourth channel 721 for the conveyor belt 22 to pass through;
S9, spraying glue for the second time: the second controller transmits the data information analyzed and calculated in the step S2 to a second automatic glue spraying mechanism, wherein the second automatic glue spraying mechanism comprises a fifth manipulator 81, a fourth spraying device is arranged at the tail end of the fifth manipulator 81, a seventh controller (not shown in the figure) for controlling the fifth manipulator 81 and the fourth spraying device is arranged on the fifth manipulator 81, and the seventh controller is electrically connected with the fifth manipulator 81, the fourth spraying device, the first controller and the second controller; the second controller transmits the data information analyzed and calculated in the step S2 to a seventh controller, and the seventh controller controls the fifth manipulator 81 and the fourth spraying device to spray glue on the vamp on the shoe tree 1 according to the data information transmitted by the second controller;
s10, third drying: drying the glue on the vamp by using a third drying device; the third drying device comprises a third drying box 82, the third drying box 82 is fixedly arranged above the frame 21, and the third drying box 82 is provided with a fifth channel 821 for the conveyor belt 22 to pass through;
S11, installing a sole: the second controller transmits the data information analyzed and calculated in the step S2 to a second clamping mechanism, the second clamping mechanism comprises a sixth manipulator 91 and a second workbench 92, the second workbench 92 is arranged in the operation range of the sixth manipulator 91, a second clamping device for clamping soles is arranged at the tail end of the sixth manipulator 91, an eighth controller (not shown in the figure) for controlling the sixth manipulator 91 and the second clamping device is arranged on the sixth manipulator 91, and the eighth controller is electrically connected with the sixth manipulator 91, the second clamping device, the first controller and the second controller; the second controller transmits the data information analyzed and calculated in the step S2 to an eighth controller, and the fourth controller controls the sixth manipulator 91 and the second clamping device to clamp the sole from the second workbench 92 according to the data information transmitted by the second controller and installs the sole on the vamp coated with glue;
S12, freezing: freezing the sole and the vamp by utilizing a freezing device; the refrigerating device comprises a refrigerating box 93 (the refrigerating box in the embodiment is a well-known product, and can be purchased directly from the market, and the equipment for realizing rapid cooling and freezing in the market meets the requirements, so that details are not repeated here), the refrigerating box 93 is arranged above the frame, and a second channel 931 for the conveyor belt 22 to pass through is formed in the refrigerating box 93;
S13, hot air remover: the mask solvent on the vamp is removed by using a hot air remover device, wherein the hot air remover device comprises a hot air box 94 (the hot air box in the embodiment is a known product, can be purchased directly from the market, and can realize that the equipment for heating the fusible substances on the surface of the article and taking away the fusible substances through air flow meets the requirements in the market, so that details are not repeated herein), the hot air box 94 is fixedly arranged above the frame 21, and the hot air box 94 is provided with a third channel 941 for the conveyor belt 22 to pass through;
S14, unloading: the operator removes the last 1 from the conveyor belt 22;
The first spraying device, the second spraying device, the third spraying device, or the fourth spraying device are glue guns (not shown in the figure) for spraying glue (the glue guns in the embodiment are known products, are products which can be purchased directly from the market, and the glue guns which can realize spraying actions in the market meet the requirements, so that details are not needed here), and the glue guns can be rotatably arranged at the tail end of the manipulator; the first clamping device or the second clamping device comprises a first clamping block 11 and a second clamping block 12, the first clamping block 11 and the second clamping block 12 can be slidably arranged at the tail end of the manipulator, and a first driving device for controlling the first clamping block 11 and the second clamping block 12 to slide is arranged between the first clamping block 11, the second clamping block 12 and the tail end of the manipulator; the first driving device comprises an air cylinder 13, the tail end of the manipulator is rotatably provided with an installation block 14, the outer shell of the air cylinder 13 is fixedly arranged on the installation block 14, a first curved bar 131 and a second curved bar 132 are hinged on a telescopic rod of the air cylinder 13, the middle parts of the first curved bar 131 and the second curved bar 132 are hinged on the installation block 14, the free ends of the first curved bar 131 and the second curved bar 132 are respectively hinged with the first clamping block 11 and the second clamping block 12, and the opening and closing of the free ends of the first curved bar 131 and the second curved bar 132 are controlled to drive the first clamping block 11 and the second clamping block 12 to be clamped or loosened through the stretching and the contracting of the air cylinder 13.
Firstly, an operator sleeves the shoe upper and the sole model on the shoe tree 1, then the shoe tree 1 is fixed on the conveyor belt 22, the first controller controls the conveyor belt 22 to convey the shoe tree 1, the shoe tree 1 is conveyed to the three-dimensional scanning device to stop, the second controller starts to control the servo motor 34 to rotate to drive the camera 32 and the light supplementing plate 33 to rotate to perform non-contact scanning on the shoe tree 1 after receiving stop information transmitted by the first controller, the camera 32 generates a three-dimensional model and feeds back to the second controller, the second controller analyzes and calculates data information, then the first controller controls the conveyor belt 22 to continue conveying, the shoe tree 1 is transferred to the front of the mask solvent spraying mechanism to stop, the third controller starts to control the first manipulator 41 and the first spraying device to spray the mask solvent on the shoe tree 1 after receiving the stop information transmitted by the first controller and the data information transmitted by the second controller, then the first controller controls the conveyor belt 22 to continue to transfer, the shoe tree 1 is transferred to the front of the first gripping mechanism to stop, the fourth controller starts to control the second manipulator 51 and the first gripping device to act after receiving the stop information transmitted by the first controller and the data information transmitted by the second controller, The second manipulator drives the first clamping device to remove the sole model from the shoe tree 1 and place the sole model on the first workbench 52, then the first controller controls the conveyor belt 22 to continue to convey, the shoe tree 1 is stopped before the treatment water spraying mechanism, the fifth controller starts to control the third manipulator 61 and the second spraying device to act after receiving the stopping information transmitted by the first controller and the data information transmitted by the second controller, the first controller controls the conveyor belt 22 to convey the shoe tree 1 to the first drying device to spray treatment water on the shoe upper, The first controller controls the shoe tree 1 to slowly pass through the first channel 621 of the first drying box 62 to dry the treatment water on the shoe upper, then the first controller controls the conveyor belt 22 to convey the shoe tree 1 to the front of the first automatic glue spraying mechanism to stop, the sixth controller starts to control the fourth manipulator 71 and the third spraying device to act after receiving the stop information transmitted by the first controller and the data information transmitted by the second controller, and performs first glue spraying on the shoe upper, the first controller controls the conveyor belt 22 to convey the shoe tree 1 to the second drying device, The first controller controls the shoe tree 1 to slowly pass through the fourth channel 721 of the second drying box 72 to dry the glue on the shoe upper, then the first controller controls the conveyor belt 22 to convey the shoe tree 1 to the front of the second automatic glue spraying mechanism to stop, the seventh controller starts to control the fifth manipulator 81 and the fourth spraying device to act after receiving the stopping information transmitted by the first controller and the data information transmitted by the second controller, the first controller controls the conveyor belt 22 to convey the shoe tree 1 to the third drying device, the first controller controls the shoe tree 1 to slowly pass through the fifth channel 821 of the third drying box 82 to dry the glue on the vamp, then the first controller controls the conveyor belt 22 to convey the shoe tree 1 to the front of the second clamping mechanism to stop, the eighth controller starts to control the sixth manipulator 91 and the second clamping device to act after receiving the stopping information transmitted by the first controller and the data information transmitted by the second controller, the sixth manipulator 91 drives the second clamping device to clamp the clean sole from the second workbench 92 and install the clean sole on the vamp on the shoe tree 1, the first controller controls the conveyor belt 22 to convey the shoe tree 1 to the freezing device, the first controller controls the shoe tree 1 to slowly pass through 931 from the second channel of the freezing box 93 to freeze the shoe upper and the shoe sole on the shoe tree 1, then the first controller controls the conveyor belt 22 to convey the shoe tree to the wind heat remover, the first controller controls the conveyor belt 22 to slowly pass through 941 from the third channel of the wind heat box 94 to remove the mask solvent on the shoe upper on the shoe tree 1 through hot air, and finally the operator removes the shoe tree 1 from the conveyor belt 22.
The working principle of the invention is as follows: the shoe upper and sole model are firstly installed on a shoe last by an operator, the shoe last is then installed on a conveyor belt, the conveyor belt drives the shoe last to drive, the matching edge lines of the shoe upper and the sole model are firstly scanned by a three-dimensional scanning device, scanning information is transmitted to other devices by the three-dimensional scanning device, white wax is sprayed on the shoe upper by a mask solvent spraying mechanism, the sole model is removed by a first clamping mechanism, the shoe upper is sprayed with treatment water by a treatment water spraying mechanism, mask solvent of the shoe upper is then dried by a first drying device, the shoe upper is then subjected to first glue spraying by a first automatic glue spraying mechanism, the shoe upper is then dried by a second drying device, the shoe upper is subjected to second glue spraying by a second automatic glue spraying mechanism, the shoe upper is then dried by a third drying device, a new sole is installed for the shoe upper by a second clamping mechanism, the shoe upper and the sole are subjected to freezing treatment by a freezing device, the solvent on the shoe upper is removed by a wind-heat mask remover device, and finally the operator removes the shoe upper from a fixing bracket on the conveyor belt to carry out subsequent other operations.
Based on the above technical scheme, the first driving device may also be an oil cylinder, the tail end of the manipulator is rotatably provided with a mounting block, the oil cylinder housing is fixedly arranged on the mounting block, a telescopic rod of the oil cylinder is hinged with a first curved rod and a second curved rod, the middle parts of the first curved rod and the second curved rod are hinged on the mounting block, the free ends of the first curved rod and the second curved rod are hinged with the first clamping block and the second clamping block respectively, and the opening and the closing of the free ends of the first curved rod and the second curved rod are controlled to drive the first clamping block and the second clamping block to clamp or loosen through the telescopic of the oil cylinder; the second driving device can also comprise an asynchronous motor or a direct current motor, wherein a shell of the asynchronous motor or the direct current motor is fixedly arranged on a shell of the three-dimensional scanning device, and a connecting rod is fixedly arranged on a rotating shaft of the asynchronous motor or the direct current motor.
Modifications and variations made by the subject matter are intended to be within the scope of the claims and are not limited to the embodiments disclosed.
Claims (10)
1. A glue spraying method based on a mask vamp is characterized by comprising the following steps of: the glue spraying step comprises the following steps:
s1, feeding: firstly, sleeving an vamp on a shoe last, then assembling the shoe last on a conveyor belt through a vacancy of a shoe last head, and finally aligning a corresponding special sole model with the shoe last front and back, left and right, and installing the special sole model on the vamp of the shoe last;
S2, three-dimensional scanning: the vamp on the shoe tree is scanned in a non-contact mode by utilizing the three-dimensional scanning device, the obtained data information is transmitted to a second controller, and the second controller analyzes and calculates the data information;
S3, spraying a mask solvent: the second controller transmits the data information analyzed and calculated in the step S2 to a third controller of the masking solvent spraying mechanism, and the third controller controls the first spraying device to spray the masking solvent on the vamp on the shoe tree according to the data information transmitted by the second controller;
S4, removing the sole model, namely transmitting the data information analyzed and calculated in the step S2 to a fourth controller of the first clamping mechanism by a second controller, and controlling a first clamping device to remove the sole model on the shoe tree and place the sole model on a first workbench by the fourth controller according to the data information transmitted by the second controller; the first clamping mechanism comprises a second manipulator, and the tail end of the second manipulator is provided with a first clamping device for clamping soles;
S5, spraying treatment liquid: the second controller transmits the data information analyzed and calculated in the step S2 to a fifth controller of the water treatment spraying mechanism, and the fifth controller controls the second spraying device to spray the water treatment on the vamp according to the data information transmitted by the second controller;
S6, primary drying: drying the treated water on the vamp by using a first drying device;
S7, spraying glue for the first time: the second controller transmits the data information analyzed and calculated in the step S2 to a sixth controller of the first automatic glue spraying mechanism, and the sixth controller controls a third spraying device to spray glue on the vamp on the shoe tree according to the data information transmitted by the second controller;
s8, drying for the second time: drying the glue on the vamp by using a second drying device;
S9, spraying glue for the second time: the second controller transmits the data information analyzed and calculated in the step S2 to a seventh controller of the second automatic glue spraying mechanism, and the seventh controller controls a fourth spraying device to spray glue on the vamp on the shoe tree according to the data information transmitted by the second controller;
s10, third drying: drying the glue on the vamp by using a third drying device;
S11, installing a sole: the second controller transmits the data information analyzed and calculated in the step S2 to an eighth controller of the second clamping mechanism, and the eighth controller controls the second clamping device to clamp the sole from the second workbench according to the data information transmitted by the second controller and installs the sole on the vamp coated with the glue; the second clamping mechanism comprises a sixth manipulator, and the tail end of the sixth manipulator is provided with a second clamping device for clamping soles;
s12, freezing: freezing the sole and the vamp by utilizing a freezing device;
S13, hot air remover: hot air removing is carried out on the masking solvent on the vamp by utilizing a hot air remover;
s14, unloading: the last is removed from the belt.
2. A masking shoe upper based glue spraying method according to claim 1, characterized in that: the three-dimensional scanning device comprises a shell, the shell is fixedly arranged on the frame, a plurality of image collecting devices are rotatably arranged in the shell, each image collecting device comprises a plurality of cameras and light supplementing lamps, and the cameras and the light supplementing lamps are rotatably arranged in the shell.
3. A masking shoe upper based glue spraying method according to claim 1, characterized in that: the first spraying device, the second spraying device, the third spraying device and the fourth spraying device are respectively glue guns for spraying glue, the glue guns are rotatably arranged at the tail end of the manipulator, the first clamping device and the second clamping device respectively comprise a first clamping block and a second clamping block, the first clamping block and the second clamping block can be slidably arranged at the tail end of the manipulator, and a first driving device for controlling the first clamping block and the second clamping block to slide is arranged between the first clamping block, the second clamping block and the tail end of the manipulator.
4. An automatic glue spraying system for a glue spraying method based on a masking shoe upper as claimed in any one of the preceding claims 1-3, characterized in that: the device comprises a frame, a conveyor belt arranged on the frame and used for conveying shoe trees, a three-dimensional scanning device, a mask solvent spraying mechanism, a first clamping mechanism, a treatment water spraying mechanism, a first drying device, a first automatic glue spraying mechanism, a second drying device, a second automatic glue spraying mechanism, a third drying device, a second clamping mechanism, a freezing device and a hot air remover, wherein the three-dimensional scanning device, the mask solvent spraying mechanism, the first clamping mechanism, the treatment water spraying mechanism, the first drying device, the first automatic glue spraying mechanism, the second drying device, the second automatic glue spraying mechanism, the third drying device, the second clamping mechanism and the hot air remover are sequentially arranged above the conveyor belt of the frame according to a production line; the automatic transmission device is characterized in that a driving roller and a plurality of driven rollers are rotatably arranged on the frame, a conveyor belt is wound on the driving roller and the driven rollers, and a driving motor for driving the driving roller to rotate and a first controller for controlling the driving motor to rotate are arranged on the frame.
5. An automatic glue spraying system based on a masking vamp as claimed in claim 4, wherein: the three-dimensional scanning device comprises a shell, the shell is fixed set up in the frame, rotatable a plurality of image collection device that are provided with in the shell, image collection device includes a plurality of cameras, light filling lamp, the camera, the rotatable set up in the shell, be provided with on the shell and be used for the drive camera, light filling lamp pivoted second drive arrangement, be provided with the second controller that is used for receiving and handling image information on the shell, the second controller with camera, first controller electric connection.
6. An automatic glue spraying system based on a masking vamp as claimed in claim 4, wherein: the mask solvent spraying mechanism comprises a first manipulator, a first spraying device for spraying mask solvent is arranged at the tail end of the first manipulator, a third controller for controlling the first manipulator and the first spraying device is arranged on the first manipulator, and the third controller is electrically connected with the first manipulator, the first spraying device, the first controller and the second controller.
7. An automatic glue spraying system based on a masking vamp as claimed in claim 4, wherein: the first clamping mechanism comprises a second manipulator and a first workbench, the first workbench is arranged in the operation range of the second manipulator, a first clamping device for clamping soles is arranged at the tail end of the second manipulator, a fourth controller for controlling the second manipulator and the first clamping device is arranged on the second manipulator, and the fourth controller is electrically connected with the second manipulator, the first clamping device, the first controller and the second controller.
8. An automatic glue spraying system based on a masking vamp as claimed in claim 7, wherein: the first clamping device comprises a first clamping block and a second clamping block, the first clamping block and the second clamping block can be slidably arranged at the tail end of the manipulator, and a first driving device for controlling the first clamping block and the second clamping block to slide is arranged between the first clamping block and the second clamping block and the tail end of the manipulator.
9. An automatic glue spraying system based on a masking vamp as claimed in claim 4, wherein: the treatment water spraying mechanism comprises a third manipulator, a second spraying device for spraying treatment water is arranged at the tail end of the third manipulator, a fifth controller for controlling the third manipulator and the second spraying device is arranged on the third manipulator, and the fifth controller is electrically connected with the third manipulator, the second spraying device, the first controller and the second controller.
10. An automatic glue spraying system based on a masking vamp as claimed in claim 4, wherein: the first automatic glue spraying mechanism comprises a fourth manipulator, a third spraying device is arranged at the tail end of the fourth manipulator, a sixth controller used for controlling the fourth manipulator and the third spraying device is arranged on the fourth manipulator, and the sixth controller is electrically connected with the fourth manipulator, the third spraying device, the first controller and the second controller.
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| CN112077427B (en) * | 2020-08-14 | 2021-11-05 | 芜湖市中天管桩股份有限公司 | Tubular pile steel reinforcement framework seam welding device |
| CN112120355B (en) * | 2020-10-09 | 2022-02-08 | 华中科技大学 | Shoemaking spraying equipment and method based on industrial robot |
| CN112137247B (en) * | 2020-10-28 | 2023-07-25 | 泉州华中科技大学智能制造研究院 | Sole vamp attaching and compacting device and method |
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