CN109938454A - Footwear material automatic spraying device - Google Patents
Footwear material automatic spraying device Download PDFInfo
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- CN109938454A CN109938454A CN201910330831.8A CN201910330831A CN109938454A CN 109938454 A CN109938454 A CN 109938454A CN 201910330831 A CN201910330831 A CN 201910330831A CN 109938454 A CN109938454 A CN 109938454A
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- footwear material
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Abstract
The invention discloses a kind of footwear material automatic spraying devices, including board；Conveying mechanism, the side along the table top of board are arranged, and conveying mechanism is used to convey footwear material；Scanning recognition mechanism, it includes 3-D scanning camera, 3-D scanning camera is fixed by the bracket in the other side relative to conveying mechanism of the table top of board, 3-D scanning camera is in the top of conveying mechanism, when conveying mechanism conveys footwear material to the lower section of three-dimensional galvanometer camera, 3-D scanning camera scans footwear material directly to obtain footwear material three-dimensional information and location information；The top of the conveying mechanism of the rear side of scanning recognition mechanism is arranged in glue-spraying mechanism, and glue-spraying mechanism is connect with scanning recognition organization data, the three-dimensional information and location information glue spraying of the footwear material that glue-spraying mechanism is recognized according to scanning recognition mechanism.The device can directly acquire the three-dimensional information of object, and execute glue spraying by the three-dimensional information of sweep object, so that being directed to the glue spraying of sweep object more simply, precisely, efficiently.
Description
Technical field
The present invention relates to shoe-making fields, more particularly to a kind of footwear material automatic spraying device.
Background technique
During automating shoemaking, need to sole or other semi-finished product brush coatings or glue spraying, glue has toxicity, institute
To use robot automatic glue-spraying, the injury that glue volatilizees to worker is avoided.It there is one during robot glue spraying
A difficult point is how accurately to position object, then glue spraying.
Existing technology is using camera two dimension identification object then according to the information glue spraying recognized, or to use line
The mode swept obtains the data of two axis directions of Y, Z, then so that object and line is swept camera relative movement by other mechanisms, another
A X-direction obtains data, is sprayed by the way that tri- axis Data Integration of X, Y, Z to be obtained to object three-dimensional information so that robot identifies
Glue.These modes have the shortcomings that scanning obtains three-dimensional information inaccuracy, mechanism complexity, low efficiency.
Authorization Notice No. is CN203762426U, a kind of entitled utility model of the sole positioning mechanism of automatic glue sprayer
Patent, including board, the board are equipped with sliding rail, support column, driving motor and controller, and the upper and lower faces of sliding rail are set respectively
There is sliding slot, support column cooperation is slidably arranged in the sliding slot, and a laser scanner is also fixed on support column, which sweeps
Retouch instrument, support column is connect with controller respectively, driving motor and support column drive connection.The utility model utilizes automatic glue-spraying
The sole positioning mechanism of machine is scanned positioning to sole by laser scanner before sole automatic glue-spraying, determines that it is specific
Three-dimensional location data, then for controller according to these data, the spray gun for controlling automatic glue sprayer carries out glue spraying operation.But
When being scanned positioning to sole by laser scanner, scanning obtains three-dimensional information inaccuracy, mechanism complexity, low efficiency.It awards
Power notification number is CN203969453U, the utility model patent of a kind of entitled follow-on sole positioning and glue-spraying device, packet
A board is included, the positioning device for sole positioning is installed on board, for the glue-spraying device and conveyer belt of sole glue spraying,
Conveyer belt and a driving motor are drivingly connected, and driving motor, positioning device and glue-spraying device are distinguished mutual by a controller
Controller control；Positioning device includes a support frame being fixed on board, and support frame is equipped with an infrared line scanner, red
Outer Line scanner is located at the top of conveyer belt, and with controller controller control, infrared line scanner provides sole Y direction and Z
The running fix data parameters of axis direction, driving motor provide the running fix data parameters of sole X-direction.But this patent
In the three-dimensional data of sole, and complicated for operation, low efficiency could be obtained based on infrared line scanner and driving motor, acquisition
Three-dimensional data is not accurate enough.
Summary of the invention
In order to solve problems in the prior art, the present invention provides a kind of footwear material automatic spraying device, can directly acquire
The three-dimensional information of footwear material obtains three-dimensional information simpler, accurate, efficient.
Technical solution provided by the invention is as follows:
A kind of footwear material automatic spraying device, including board；Conveying mechanism, the side along the table top of board is arranged, defeated
Mechanism is sent to be used to convey footwear material；Scanning recognition mechanism comprising 3-D scanning camera, 3-D scanning camera are fixed by the bracket ground
The other side relative to the conveying mechanism of the table top of board is set, 3-D scanning camera is in the top of conveying mechanism,
When conveying mechanism conveys footwear material to the lower section of three-dimensional galvanometer camera, 3-D scanning camera scans footwear material directly to obtain the three of footwear material
Tie up information and location information；Glue-spraying mechanism, be arranged conveying mechanism top, the rear side of scanning recognition mechanism, glue-spraying mechanism with
The connection of scanning recognition organization data, the three-dimensional information and location information of the footwear material that glue-spraying mechanism is recognized according to scanning recognition mechanism
To footwear material glue spraying.
It is optional or preferred, after the complete three-dimensional information and location information for obtaining footwear material of 3-D scanning camera scanning, conveying
The lower section that footwear material is transported to glue-spraying mechanism is carried out glue spraying by mechanism.
Optional or preferred, glue-spraying mechanism includes six degree of freedom manipulator and is mounted on six degree of freedom robot end
FE Glue Gun.
Optional or preferred, glue-spraying mechanism includes for colloid system.
Optional or preferred, conveying mechanism includes conveyer belt and driving motor.
Optional or preferred, conveying mechanism includes two conveyer belts being set side by side, and the number of scanning recognition mechanism is
Two, which is respectively used to the footwear material moved on two conveyer belts of scanning recognition.
Optional or preferred, conveying mechanism includes two conveyer belts being set side by side, and the number of scanning recognition mechanism is
One, which is used to mixed sweep and identifies the footwear material moved on two conveyer belts.
It is optional or preferred, a scanning recognition mechanism installation on the slide rail, a scanning recognition mechanism by
The footwear material for move on mixed sweep two conveyer belts of identification is slided on sliding rail.
Optional or preferred, glue-spraying mechanism includes mounting seat, and six degree of freedom manipulator is mounted in mounting seat, peace
Dress pedestal is fixed on the other side relative to conveying mechanism of the table top of board.
Technical solution provided by the invention has the benefit that
1, by setting conveying mechanism, the side along the table top of board is arranged, and conveying mechanism is used to convey footwear material, scans
Identification mechanism and glue-spraying mechanism are separately positioned on the top of conveying mechanism, and scanning recognition mechanism is used for scanning recognition conveying mechanism
The rear side of scanning recognition mechanism is arranged in mobile footwear material and the three-dimensional information and location information for generating footwear material, glue-spraying mechanism, sprays
Gluing mechanism is connect with scanning recognition organization data, the three-dimensional information for the footwear material that glue-spraying mechanism is recognized according to scanning recognition mechanism and
Location information carries out glue spraying to footwear material, and multiple footwear materials can realize the identification and spray of three-dimensional information respectively during translation
Glue reduces the scanning camera and object relative moving mechanism done to obtain three-dimensional information data, improves scan efficiency and standard
True property.
2, scanning recognition mechanism includes 3-D scanning camera, and 3-D scanning camera is fixed by the bracket the table top in board
Relative to the other side of conveying mechanism, 3-D scanning camera is in the top of conveying mechanism, and conveying mechanism conveys footwear material to three-dimensional
When the lower section of scanning camera, 3-D scanning camera directly scans the three-dimensional information and location information of footwear material, using 3-D scanning phase
The 3-D scanning object of machine, can directly acquire object three-dimensional information and location information, and 3-D scanning camera is by footwear material
Three-dimensional information and location information data are transferred to glue-spraying mechanism so that glue-spraying mechanism improves glue spraying to footwear material progress glue spraying
Efficiency and accuracy.Specifically, 3-D scanning camera includes projection arrangement, projection arrangement by laser, lens, micro- galvanometer,
Combined spectroscope, laser control chip and micro- galvanometer control chip are constituted, and laser control chip controls laser issues
Laser beam is integrated or is focused by lens by laser beam, and laser beam is incident on micro- galvanometer, and laser beam passes through micro- vibration
Single laser beam is changed into multiple laser beams by Combined spectroscope by the reflection of mirror, and micro- galvanometer is controlled in micro- galvanometer
It under the control of chip, is quickly swung along fast axis direction or so, laser beam is formed into line laser, line laser is divided by combined type
Mirror generates multi-thread laser, realizes that laser control chip and micro- galvanometer control the Collaborative Control of chip, micro- vibration by timing alorithm
The time of slow axis control the line laser stepping and hovering of mirror, when the system is operating, micro- galvanometer beam splitting type projection arrangement is to measured object
A plurality of line laser is projected, camera carries out data acquisition simultaneously, line laser center of gravity matrix is then calculated by gradient gravity model appoach, according to
Line laser center of gravity matrix and camera parameter reconstruct the threedimensional model of camera, and three-dimensional information and the position of sweep object are obtained with this
Set information data.
3, conveying mechanism includes two conveyer belts being set side by side, and the number of scanning recognition mechanism is two, this two are swept
It retouches identification mechanism and is respectively used to the footwear material moved on two conveyer belts of scanning recognition, namely use two cameras, lose-lose line sending,
It can be carried out continuously scanning operation, improved efficiency.
4, conveying mechanism includes two conveyer belts being set side by side, and the number of scanning recognition mechanism is one, this is swept
It retouches identification mechanism and identifies the footwear material moved on two conveyer belts for mixed sweep, that is, use lose-lose line sending, single camera exists
The object on two pipelines of mixed sweep is slided on sliding rail, can be carried out continuously scanning operation, be improved efficiency.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of footwear material automatic spraying device provided in an embodiment of the present invention；
Fig. 2 is another structural schematic diagram of footwear material automatic spraying device provided in an embodiment of the present invention；
Fig. 3 is another structural schematic diagram of footwear material automatic spraying device provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
In the description of the present application, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the application and creates and simplify description, rather than indicate
Or imply that signified mechanism or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation created to the application.
Term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, be also possible to removable
Connection is unloaded, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be in
Between medium be indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, can pass through
Concrete condition understands concrete meaning of the above-mentioned term in the application creation.
Further detailed description is done to the application combined with specific embodiments below, but presently filed embodiment is not limited to
This.
Embodiment 1
As shown in Figure 1, being a kind of single pipeline list galvanometer camera the present embodiment provides a kind of footwear material automatic spraying device
Scanning means reduces to obtain three-dimensional data and the scanning camera and object relative moving mechanism that do, improve scan efficiency and
Accuracy.Specifically, include board 1, glue-spraying mechanism 3, scanning recognition mechanism 2, conveying mechanism 11, certainly also include control system
System.Wherein glue-spraying mechanism 3, scanning recognition mechanism 2, conveying mechanism 11 are mounted on the table top of board 1.Reality as one preferred
Example is applied, scanning recognition mechanism includes a 3-D scanning camera (can select three-dimensional vibration mirror scanning camera, abbreviation galvanometer camera)
And the bracket for fixing galvanometer camera, and this 3-D scanning camera is located at the top of conveying mechanism 11, is used for scanning recognition
Object (footwear material) on conveying mechanism.Conveying mechanism includes conveyer belt, driving motor and its attachment.Galvanometer camera is fixed on bracket
On, threedimensional model can be scanned and established to the object moved on transmission mechanism, and galvanometer camera again transmits three-dimensional modeling data
To glue-spraying mechanism, glue-spraying mechanism carries out glue spraying to the object on transmission mechanism according to three-dimensional modeling data.Glue-spraying mechanism includes one
For colloid system, a six degree of freedom manipulator 31 and FE Glue Gun 32 and its attachment.The FE Glue Gun of glue-spraying mechanism 3 is also set to conveying mechanism
11 tops, and behind the scanning recognition mechanism relative to conveying direction, for the object glue spraying recognized.When work, control
Object is transported to below scanning recognition mechanism by system control conveying mechanism motor driving conveying belt processed, and then galvanometer camera is direct
Scanning obtains the three-dimensional information and location information of object.Then control system controls conveying mechanism and object is transported to glue-spraying mechanism
Below glue rifle, glue-spraying mechanism carries out accurate glue spraying to object according to the three-dimensional information and location information got.
Embodiment 2
As shown in Fig. 2, being a kind of double galvanometer cameras of lose-lose line sending the present embodiment provides a kind of footwear material automatic spraying device
Scanning means reduces to obtain three-dimensional data and the scanning camera and object relative moving mechanism that do, improve scan efficiency and
Accuracy.Specifically, include board 1, glue-spraying mechanism 3, scanning recognition mechanism 2, conveying mechanism 11, certainly also include control system
System.Wherein glue-spraying mechanism 3, scanning recognition mechanism 2, conveying mechanism 11 are mounted on the table top of board 1.Reality as one preferred
Example is applied, scanning recognition mechanism includes two 3-D scanning cameras (abbreviation galvanometer camera) and the branch for fixing galvanometer camera
Frame, and this 3-D scanning camera is located at the top of conveying mechanism 11, for the object on scanning recognition conveying mechanism.Conveying mechanism
Include conveyer belt, driving motor and its attachment.Two galvanometer cameras are separately fixed on bracket, to moving on two conveying mechanisms
Object scan and establish threedimensional model respectively, which is transferred to glue sprayer for three-dimensional modeling data again respectively
Structure, then glue spraying is distinguished to the object on two transmission mechanisms according to the three-dimensional modeling data received by glue-spraying device mechanism.Spray
Gluing mechanism includes one for colloid system, a six degree of freedom manipulator 31 and FE Glue Gun 32 and its attachment.The FE Glue Gun of glue-spraying mechanism 3
Above conveying mechanism 11, and behind the scanning recognition mechanism relative to conveying direction, for being sprayed to the object recognized
Glue.In the present embodiment, conveying mechanism includes two conveyer belts being set side by side, and the number of scanning recognition mechanism is two, this two
A scanning recognition mechanism is respectively used to the footwear material moved on two conveyer belts of scanning recognition.Namely use two cameras, lose-lose
Line sending, can work continuously scanning, improve efficiency.
Embodiment 3
As shown in figure 3, being a kind of lose-lose line sending one camera alternating the present embodiment provides a kind of footwear material automatic spraying device
Scanning means reduces to obtain three-dimensional data and the scanning camera and object relative moving mechanism that do, improve scan efficiency and
Accuracy.Specifically, include board 1, glue-spraying mechanism 3, scanning recognition mechanism 2, conveying mechanism 11, certainly also include control system
System.Wherein glue-spraying mechanism 3, scanning recognition mechanism 2, conveying mechanism 11 are mounted on the table top of board 1.Reality as one preferred
Example is applied, scanning recognition mechanism includes a 3-D scanning camera (abbreviation galvanometer camera) and the branch for fixing galvanometer camera
Frame, and this 3-D scanning camera is located at the top of conveying mechanism 11, for the object on scanning recognition conveying mechanism.Conveying mechanism
Include conveyer belt, driving motor and its attachment.Galvanometer camera is rack-mount by sliding rail, which can be by cunning
The mode slided on rail realizes the mixed sweep to the object moved on two transmission mechanisms and establishes threedimensional model, then will be three-dimensional
Model data is transferred to glue-spraying mechanism respectively, and then two are transmitted according to the three-dimensional modeling data got in glue-spraying device mechanism
Object in mechanism carries out glue spraying.Glue-spraying mechanism include one for colloid system, a six degree of freedom manipulator 31 and FE Glue Gun 32 and its
Attachment.The FE Glue Gun of glue-spraying mechanism 3 is also set to 11 top of conveying mechanism, and after the scanning recognition mechanism relative to conveying direction
Face, for the object glue spraying recognized.In the present embodiment, conveying mechanism includes two conveyer belts being set side by side, and scanning is known
The number of other mechanism is one, which is used to the object moved on the described two conveyer belts of mixed sweep
(footwear material).Glue-spraying mechanism, the data obtained based on galvanometer camera scanning position object, then take 6DOF mechanical
Hand glue spraying.Galvanometer camera is rack-mount by sliding rail, can carry out mixed sweep simultaneously to the object moved on transmission mechanism
Threedimensional model is established respectively, and then glue-spraying mechanism carries out glue spraying according to the three-dimensional modeling data got.The present embodiment uses
Lose-lose line sending, separate unit galvanometer camera slide object (footwear material) on two pipelines of mixed sweep on the slide rail.It can be carried out continuously and sweep
Operation is retouched, is improved efficiency.
It should be understood that
The identification glue spraying process of the present embodiment is probably as follows:
1, the position of calibration for cameras and robot makes the two coordinate that unified standard be taken to set；
2, when footwear material reaches camera camera site, camera shooting obtains the data information of footwear material and carries out in inside three-dimensional
Modeling is restored, to obtain the three-dimensional information and location information of footwear material；
3, the computing device inside three-dimensional camera counts the three-dimensional information and location information of footwear material according to preset rules
Calculation processing, generates footwear material automatic spraying machining path, and be sent to the communication module of glue-spraying mechanism；
4, simultaneously, footwear material is sent to the lower section of glue-spraying mechanism by transmission mechanism；
5, glue-spraying mechanism executes spraying with based on the spray process path in communication module.Unless otherwise defined, make herein
The personage that technical term or scientific term should be in the application fields with general technical ability is understood usual
Meaning." first ", " second " used in the application patent application specification and claims and similar word are simultaneously
Any sequence, quantity or importance are not indicated, and are used only to distinguish different component parts.Equally, "one" or
The similar word such as " one " does not indicate that quantity limits yet, but indicates that there are at least one." connection " or " connected " etc. are similar
Word is not limited to physics or mechanical connection, but may include electrical connection, it is either direct or between
It connects.
The foregoing is merely the example embodiments of the application, not to limit the application, it is all in spirit herein and
Within principle, any modification, equivalent replacement, improvement and so on be should be included within the scope of protection of this application.
Claims (9)
1. a kind of footwear material automatic spraying device characterized by comprising board；Conveying mechanism, along the table top of the board
Side setting, the conveying mechanism be used to convey footwear material；Scanning recognition mechanism comprising 3-D scanning camera, the three-dimensional
Scanning camera is arranged in the other side relative to the conveying mechanism of the table top of the board with being fixed by the bracket, and described three
Dimension scanning camera is in the top of the conveying mechanism, and the conveying mechanism conveys footwear material to the lower section of the three-dimensional galvanometer camera
When, the 3-D scanning camera scans the footwear material directly to obtain the footwear material three-dimensional information and location information；And glue spraying
The top of the conveying mechanism, the rear side of the scanning recognition mechanism, the glue-spraying mechanism and the scanning is arranged in mechanism
Identification mechanism data connection, the three-dimensional information for the footwear material that the glue-spraying mechanism is recognized according to the scanning recognition mechanism and position
Information carries out glue spraying to the footwear material.
2. footwear material automatic spraying device according to claim 1, which is characterized in that the 3-D scanning camera scanning obtains
After the three-dimensional information and location information of the footwear material, the conveying mechanism by footwear material be transported to the lower section of the glue-spraying mechanism into
Row glue spraying.
3. footwear material automatic spraying device according to claim 2, which is characterized in that the glue-spraying mechanism includes six free
Degree manipulator and the FE Glue Gun for being mounted on the six degree of freedom robot end.
4. footwear material automatic spraying device according to claim 3, which is characterized in that the glue-spraying mechanism includes for glue system
System.
5. footwear material automatic spraying device according to claim 1, which is characterized in that the conveying mechanism includes conveyer belt
And driving motor.
6. footwear material automatic spraying device according to claim 5, which is characterized in that the conveying mechanism includes setting side by side
Two conveyer belts set, the number of the scanning recognition mechanism are two, which is respectively used to scanning and knows
The footwear material moved on not described two conveyer belts.
7. footwear material automatic spraying device according to claim 5, which is characterized in that the conveying mechanism includes setting side by side
Two conveyer belts set, the number of the scanning recognition mechanism are one, and a scanning recognition mechanism is for mixed sweep knowledge
The footwear material moved on not described two conveyer belts.
8. footwear material automatic spraying device according to claim 7, which is characterized in that a scanning recognition mechanism installation
On the slide rail, which is identified on described two conveyer belts by sliding on the sliding rail come mixed sweep
Mobile footwear material.
9. footwear material automatic spraying device according to claim 3, which is characterized in that the glue-spraying mechanism includes installation bottom
Seat, the six degree of freedom manipulator are mounted in the mounting seat, and the mounting seat is fixed on the table top of the board
The other side relative to the conveying mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910330831.8A CN109938454A (en) | 2019-04-23 | 2019-04-23 | Footwear material automatic spraying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910330831.8A CN109938454A (en) | 2019-04-23 | 2019-04-23 | Footwear material automatic spraying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109938454A true CN109938454A (en) | 2019-06-28 |
Family
ID=67015915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910330831.8A Pending CN109938454A (en) | 2019-04-23 | 2019-04-23 | Footwear material automatic spraying device |
Country Status (1)
| Country | Link |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112189947A (en) * | 2019-07-08 | 2021-01-08 | 欧利速精密工业股份有限公司 | Spraying position calculation system |
| CN112869304A (en) * | 2019-11-29 | 2021-06-01 | 瞿志行 | Multi-axis intelligent glue spraying system for sole mixed line production |
| CN114304815A (en) * | 2022-03-14 | 2022-04-12 | 泉州华中科技大学智能制造研究院 | Five numerical control system sole workstations of polishing based on machine vision |
| CN115155857A (en) * | 2022-06-01 | 2022-10-11 | 深圳群宾精密工业有限公司 | Sole spraying method, device and system |
| CN115155858A (en) * | 2022-06-01 | 2022-10-11 | 深圳群宾精密工业有限公司 | Sole spraying device |
| CN116713820A (en) * | 2023-05-29 | 2023-09-08 | 东莞市捷圣智能科技有限公司 | Polishing method, polishing system, polishing medium and polishing device for shoe upper processing |
-
2019
- 2019-04-23 CN CN201910330831.8A patent/CN109938454A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112189947A (en) * | 2019-07-08 | 2021-01-08 | 欧利速精密工业股份有限公司 | Spraying position calculation system |
| CN112189947B (en) * | 2019-07-08 | 2022-03-25 | 欧利速精密工业股份有限公司 | Spraying position calculation system |
| CN112869304A (en) * | 2019-11-29 | 2021-06-01 | 瞿志行 | Multi-axis intelligent glue spraying system for sole mixed line production |
| CN114304815A (en) * | 2022-03-14 | 2022-04-12 | 泉州华中科技大学智能制造研究院 | Five numerical control system sole workstations of polishing based on machine vision |
| CN115155857A (en) * | 2022-06-01 | 2022-10-11 | 深圳群宾精密工业有限公司 | Sole spraying method, device and system |
| CN115155858A (en) * | 2022-06-01 | 2022-10-11 | 深圳群宾精密工业有限公司 | Sole spraying device |
| CN116713820A (en) * | 2023-05-29 | 2023-09-08 | 东莞市捷圣智能科技有限公司 | Polishing method, polishing system, polishing medium and polishing device for shoe upper processing |
| CN116713820B (en) * | 2023-05-29 | 2024-03-26 | 东莞市捷圣智能科技有限公司 | Polishing method, polishing system, polishing medium and polishing device for shoe upper processing |
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