CN110253829B

CN110253829B - Molding method of multicolor sole and robot

Info

Publication number: CN110253829B
Application number: CN201910380388.5A
Authority: CN
Inventors: 顾立志; 李明睿; 陈四海; 黄伟程; 林湧池; 李�杰; 郑守强; 沈珍珠
Original assignee: Quanzhou Institute of Information Engineering
Current assignee: Quanzhou Institute of Information Engineering
Priority date: 2019-05-08
Filing date: 2019-05-08
Publication date: 2021-06-29
Anticipated expiration: 2039-05-08
Also published as: CN110253829A

Abstract

The invention provides a molding method of a multicolor sole, which comprises the steps of cleaning a double-color mold, and closing a first color mold; heating the first color material, and injecting the molten first color material into a cavity of the two-color mold; cleaning the flash or excess material formed after the first color material is injected; opening the first color mold, and inspecting a first color part formed by the first color material in the cavity; closing the second color mold; heating the second color material, and injecting the molten second color material into a cavity of the two-color mold; carrying out heat preservation, pressure maintaining and cooling treatment on the mold injected with the first color material and the second color material; cleaning the flash or excess material formed after the second color material is injected; demolding the second color mold, and inspecting a second color part formed by the second color material in the cavity; and taking out the bicolor workpiece and carrying out final inspection. The invention also provides a robot capable of mechanically and automatically turning the mould, which can be used for manufacturing a structure which has a double-color sole and is connected with the vamp into a whole at one time, thereby reducing the manufacturing cost and being convenient and easy to automate.

Description

Molding method of multicolor sole and robot

Technical Field

The invention relates to the technical field of automatic molding processes, in particular to a novel molding process of a multicolor sole and a robot for realizing the novel process.

Background

Currently, the soles of many shoes are made by molding. In the molding process, for a single-color sole, the main technical links of the process used are generally:

preparing a sole mold (closing the mold); heat treatment of materials (rubber or plastic); injection molding; preserving heat and pressure; cooling; cleaning the outside of the mold; demolding; taking a workpiece; and (6) checking the workpiece.

The steps of preparing (closing) the sole mold, cleaning the outside of the mold, demolding, taking a workpiece, checking the workpiece and the like are finished manually, so that the labor intensity is high, the production rate is low, and the finished product rate of the workpiece is low. In addition, labor costs increase significantly as payroll treatment continues to increase. If the sole with two or more colors is molded, the self weight of the mold is obviously increased and can reach more than 50 kilograms; the process is further complicated because the layered and staged injection molding is needed, repeated manual operation is needed for mold closing and mold opening, and the labor intensity is further increased; the finished product rate is further reduced.

Disclosure of Invention

In order to solve the technical problems, the invention discloses a novel multi-color sole molding process and an operating robot for realizing the main process links of the novel process.

The embodiment of the invention provides a molding method of a multicolor sole, which comprises the steps of cleaning a double-color mold, and closing a first color mold;

heating the first color material, and injecting the molten first color material into a cavity of the two-color mold; cleaning the flash or excess material formed after the first color material is injected;

opening the first color mold, and inspecting a first color part formed by the first color material in the cavity;

closing the second color mold; heating the second color material, and injecting the molten second color material into a cavity of the two-color mold; carrying out heat preservation, pressure maintaining and cooling treatment on the mold injected with the first color material and the second color material;

cleaning the flash or excess material formed after the second color material is injected; demolding the second color mold, and inspecting a second color part formed by the second color material in the cavity;

and taking out the bicolor workpiece and carrying out final inspection.

Preferably, the double-color mold comprises a middle upper mold, a middle and upper mold hinge, a bottom mold, a middle and lower mold hinge, a middle and lower mold and an upper mold, wherein the upper mold and the middle and upper mold are longitudinally overturned by 0-120 degrees, the middle and lower mold is laterally overturned by 0-180 degrees, and the bottom mold, the middle and lower mold, the middle and upper mold and the upper mold of the double-color mold are respectively hinged into a whole through the middle and lower mold hinge and two sides of the middle and upper mold hinge, so that the middle and upper mold, the.

Preferably, the heating the first color material and injecting the melted first color material into the cavity of the two-color mold further comprises injecting the first color material into the cavity through an injection port.

Preferably, the step of cleaning the flash or the excess material formed after the first color material is injected further comprises the steps of installing crocodile fingers on a robot arm, driving the crocodile fingers to clean the flash and the excess material by the robot arm, grabbing the flash and the excess material by the robot fingers, grabbing the flash and the excess material by the fingers for two to three times, enabling the finger grabbing pressure to reach a set value, starting to pull, and cleaning the pulled object.

Preferably, the first color mold is opened, and the inspection of the first color product formed by the first color material in the cavity further comprises opening the middle and lower molds, and turning the middle and lower molds to the left by 0-180 degrees, namely, the middle and lower molds are completely opened; the middle lower die is opened, and the first color product part is exposed; and (4) adopting machine vision to check the integrity of the workpiece, namely judging whether the working cavity is filled.

Preferably, heating the second color material, and injecting the molten second color material into the cavity of the two-color mold further comprises closing the middle upper mold and the upper mold 6 from the open position, performing second color injection, according to the structural composition of the sole mold, opening the middle lower mold, closing the middle upper mold and the middle upper mold, keeping the bottom mold in place, forming a working cavity through the first color part, and preparing for second layer injection.

Preferably, the step of taking out the bi-color workpiece and performing the final inspection further comprises arranging a workpiece area and a mold area in proximity, the workpiece being in the mold, and specifically referring to the figure, the workpiece is removed from the mold by using a specially-made robot palm and arm, and the robot body is rotated at a certain angle, so that the workpiece synchronously reaches the workpiece area along with the robot palm and arm; and releasing the workpiece, enabling the workpiece to fall into the workpiece collecting box, and enabling the robot to return to the original position.

The robot is applied to the molding forming method of the multi-color sole, comprises a shifting rod, a crocodile, a combined hinge, an upper jaw and a lower jaw, and separates and blanks from a mold when taking out a piece; the workpiece is clamped and moved to a workpiece collecting area for feeding.

Preferably, the step of separating the blanking from the die comprises the steps of acquiring the shape of the part by using a CCD (charge coupled device), calculating the gravity center of the part and determining the position of the part pulled out of the die; the robot arm pulls the workpiece down at the position of the gravity center of the workpiece.

Preferably, after the workpiece is clamped and moved to the workpiece collecting area, the feeding comprises alligator action of a connecting piece, and the workpiece is moved to the position right below the workpiece according to the gravity center information of the workpiece; the workpiece falls and contacts with the lower jaw of the connecting piece alligator, and the upper jaw acts to clamp the workpiece together with the lower jaw; the crocodile of the robot trunk communicating with the holding piece rotates a certain angle and enters a piece collecting area; the jaw is turned over at a certain angle and opened, the workpiece is put into the workpiece collecting groove, and the robot resets, so that the workpiece is automatically taken by the robot.

The technical scheme of the invention replaces manual work, and realizes automation of the injection molding process; and the production rate, the quality stability of the finished piece and the qualification rate are ensured by adopting a robot technology.

Drawings

FIG. 1 is a step diagram of a method for molding a multi-colored shoe sole according to the present invention;

FIG. 2 is a schematic view of the two-color mold of FIG. 1;

FIG. 3 is a diagram of a mold set during injection of a first material of the two-color mold of FIG. 2;

FIG. 4 is a process diagram of the first material of FIG. 3 as it is being injection molded;

FIG. 5 is a process diagram of the first material of FIG. 4 after injection molding to remove first flash and residue;

FIG. 6 is a diagram of the state of the mold set during injection of the second material of the two-color mold of FIG. 2;

FIG. 7 is a process diagram of the second material of FIG. 6 as it is being injection molded;

FIG. 8 is a diagram of a process for removing second color flash and residue after injection molding of the second material of FIG. 7;

FIG. 9 is a process diagram of the demolding of the article after injection molding of the second material of FIG. 8;

fig. 10 is a process diagram of the robotic pick-up of the second material of fig. 8 after injection molding.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.

Referring to fig. 1, the present invention discloses a molding method 100 for multi-color shoe soles, which is mainly described below by taking a two-color mold structure for preparing two-color shoe soles as an example, wherein two sets of single-color forming molds are integrated to form a mold set, and the mold sets are respectively placed on two end points of the diameter of a worktable to form one color at a time and are divided into two times to form two colors. The scheme takes the molding of the double-color sole as an example, and the principle method is suitable for manufacturing the multi-color sole. And (3) injection molding sequence: the lower part is suitable for double colors and layering; and (3) injection molding sequence: the color is suitable for multi-color layering firstly, then, sequentially upwards and finally, upwards.

The method comprises the following steps: cleaning a double-color mold, and molding and closing a first color layer;

specifically, referring to fig. 2 in combination, the two-color mold includes an upper middle mold 1, an upper middle mold hinge 2, a bottom mold 3, a lower middle mold hinge 4, a lower middle mold 5 and an upper mold 6, for molding of the two-color sole, the upper mold and the upper middle mold are required to be longitudinally turned by 0-120 degrees, see fig. 2a, and the lower middle mold is required to be laterally turned by 0-180 degrees, see fig. 2 b. The double-color mold set mainly comprises a bottom mold 3, a middle lower mold 5, an upper middle mold 1 and an upper mold 6, wherein the bottom mold, the middle lower mold 5, the upper middle mold 1 and the upper mold 6 are respectively hinged into a whole through a middle lower mold hinge 4 and two sides of the middle upper mold hinge 2, the middle upper mold 1, the middle lower mold 5 and the upper mold 6 can be turned over, and fig. 2c is a top view of the double-color mold.

And the upper die 6 and the middle upper die 1 are opened, and the middle lower die 5 and the bottom die 3 are closed to prepare for the first-layer injection molding.

Step two, heating the first color material, and injecting the molten first color material into a cavity of the two-color mold;

referring specifically to fig. 3, in use, the styrene particles are heated to form a melt and the first layer of footwear sole is formed from a material of a first color. At this time, the two-color mold is in a state that the middle lower mold 5 and the bottom mold 3 are in the working position (fig. 3 a); the upper mold 6 and the middle upper mold 1 are in an open position (fig. 3b), and are tilted up and down by 0 to 120 degrees relative to the mold clamping position. After the manipulator shoulder joint of the robot is turned for 0-120 degrees, the manipulator shoulder joint can rotate for 90 degrees around the axis of the manipulator shoulder joint; and then continuing to execute the overturning instruction to realize the overturning of 0-180 degrees. The turnover mechanism not only can well meet the turnover of the upper die, the middle and lower dies, but also saves space and has lower cost.

First color material injection process referring to fig. 4, a first color material is injected into a cavity 54 through an injection port 7, and a robot arm 55 is mounted on a robot body 56. In the step, the injection mould is matched with the injection machine, and the heated material fluid is injected into a bottom-layer cavity of the mould through an injection opening and a channel communicated with a working cavity under the action of certain pressure.

Step three, cleaning the flash or excess material formed after the first color material is injected;

specifically, after the first colored sole is injection molded, the flash overflowing from the solidified material of the two-color mold outer surface and the injection port channel 7 is cleaned. This action at least breaks down the cleaning of the upper surface of the middle and lower molds 5 and the extraction and removal of the solidified material in the injection holes.

Referring to fig. 5, an eight-crocodile finger 53 is mounted on a robot arm 55, and the robot arm 55 drives the eight-crocodile finger 53 to remove the first color flash and the excess material 52. And grabbing the flash excess material by using the fingers of the robot, applying two to three grabbing actions, enabling the grabbing pressure of the fingers to reach a set value, starting to pull, and clearing the pulled object.

Furthermore, referring to octopus caging, bounding and grabbing objects (organisms) by means of eight tentacles of the octopus, the invention designs a flexible eight-finger palm to grab and remove fins and fillets by imitating the functional characteristics. In order to ensure accuracy and reliability, the eight-finger palm takes the injection molding hole as the center and gathers the fingers together at a certain speed, and in the process, each finger is connected with the upper surface of the die to be cleaned at a certain pressure under the action of an internal spring to form certain flexibility so as to adapt to the fluctuation details on the finger. With the further folding of the eight fingers, the eight fingers extrude possible flash and leftover materials in the area near the injection molding opening of the mold into a cylindrical shape to form 8-mouth pliers, and the eight fingers stop gathering and pull upwards after the diameter of the eight fingers is reduced to a set value; after the action is finished, the mechanical arm drives the eight-finger palm to be communicated with the drawing object to rotate by an angle, and then the moving object is thrown into the corner trough.

opening the middle lower die 5, and turning the middle lower die 5 leftwards until Q is 0-180 degrees, namely, the middle lower die 5 is completely opened; the middle lower die 5 is opened, and the first color part is partially exposed;

inspecting the first color part: the integrity of the workpiece is checked by machine vision, namely whether the working cavity is full or not is judged, the workpiece occupies the working cavity, and the edge of the workpiece is checked to be complete; if the requirements are met, the inspection is continued.

The specific situation that the workpiece is full is detected by adopting the touch sense, namely, representative limit points are detected, seven representative limit points are arranged in the embodiment, the limit points can be properly increased or decreased according to actual needs, and the scheme is not limited. If the requirements are met, the next step is carried out; otherwise, the idle operation goes to the next step.

The double-color sole is divided from the material and layered from the sole perspective. Assuming AB two colors, theoretically, it is possible to inject A first and then B, or to inject B first and then A, and it is also possible in technical aspect. But in consideration of the habit and the convenience of subsequent inspection, the bottom layer of the sole is preferably injected first, and then the second layer is injected.

From the process point of view, at least two times of mold closing and mold opening are needed, and the mold is cleaned twice.

In terms of the overall process, each major process step must be automatically inspected to ensure quality and unnecessary losses, according to the requirements of automation.

Particularly, two complicated and important process links of mold cleaning and secondary demolding are high in intelligentization degree, manual actions of operators are simulated, and the two process links are realized in multiple cycles of inspection, judgment and actions. For example, a method combining machine vision and touch is used.

Step five, the second color mode is matched;

specifically, referring to fig. 6 in combination, the middle and upper molds 1 and 6 (fig. 6b) are closed from the open position (fig. 6a) and the second color injection is performed. According to the structure of the sole mold, the middle lower mold 5 is opened, the upper mold 1 and the middle upper mold 6 are closed, and the bottom mold 3 keeps the original position. Thus, the upper mold 1, the upper mold 6 and the bottom mold 3 form a new working cavity through the first color part, and are ready for the second layer of injection molding.

Step six, heating the second color material, and injecting the molten second color material into a cavity of the two-color mold;

specifically, the injection mold is matched with the injection molding machine in position, and the heated second color material fluid is injected into the upper cavity of the mold through the injection port 7 and the channel communicated with the working cavity under certain pressure.

Second color material injection process referring to fig. 7, a second color material is injected into a new working cavity through an injection port 7, and a robot arm 55 is mounted on a robot body 56.

Seventhly, performing heat preservation, pressure maintaining and cooling treatment on the mold injected with the first color material and the second color material;

and after the second color material is subjected to injection molding, keeping the temperature and the pressure in a mold together with the first color material for a set time, and cooling to solidify the workpiece in the cavity. The air cooling method is adopted, not only can the expected effect be achieved, but also the realization is easy, safe and environment-friendly.

Step eight, cleaning the flash or excess material formed after the second color material is injected;

referring to fig. 8, the excess material of the flash 8 is grabbed by using robot fingers, namely eight alligator fingers 71, grabbing pressure of the fingers reaches a set value by using two to three grabbing actions, then pulling is started, and the pulled object is removed.

Step nine, demolding the second color mold, and inspecting a second color part formed by the second color material in the cavity;

the upper die 6 and the middle upper die 1 are opened, and the second color part is partially exposed;

and (3) inspecting the second color piece: the integrity of the workpiece is checked by machine vision, namely whether the working cavity is full or not is judged, the workpiece occupies the working cavity, and the edge of the workpiece is checked to be complete; if the requirements are met, continuing to check; otherwise, the mould is removed according to the unqualified product.

The specific situation that the workpiece is full is detected by adopting the touch sense, namely, representative limit points are detected, seven representative limit points are arranged in the embodiment, the limit points can be properly increased or decreased according to actual needs, and the scheme is not limited. If the requirements are met, the next step is carried out; otherwise, the mould is removed according to the unqualified product.

Step ten, taking out the double-color workpiece, and carrying out final inspection;

referring to fig. 9, the workpiece area 10 and the mold area 11 are disposed adjacent to each other, the workpiece 9 is placed in the mold, the workpiece 9 is removed from the mold by using a specially-made robot palm and arm, and the robot body 56 is rotated at an angle, so that the workpiece 9 synchronously reaches the workpiece area 10 along with the robot palm and arm; the object 9 is released and the object 9 falls into the container. The robot returns to the original position.

One cycle is completed and the next cycle begins.

Specifically, the process of taking out the workpiece is the most complicated, and the workpiece 9 is required to be separated from the upper die and the middle-upper die by applying force to the obliquely lower part on the workpiece 9 in the die opening process; the upper and middle upper moulds continue to open to the final position and the piece should be moved laterally out of the mould zone 11 into the piece collection zone.

Referring to fig. 10, the robot includes a dial bar 83; an alligator 84; a combination hinge 85; an upper jaw 86; a lower jaw 87. When taking a piece, two stages are needed: (a) separating and blanking from the die; (b) the workpiece 9 is held and moved to the workpiece collecting area 93 for feeding.

The first stage is as follows: acquiring the shape of the workpiece 9 by using a CCD (charge coupled device), calculating the gravity center of the workpiece 9, and determining the position of the workpiece 9 pulled out of the die; the robot arm pulls the workpiece 9 down at the position of the gravity center of the workpiece 9;

and a second stage: meanwhile, the alligator is connected to move to the position right below the workpiece 9 according to the gravity center information of the workpiece; the piece 9 falls and comes into contact with the union alligator lower jaw 87, the upper jaw 86 acts to grip the piece 9 together with the lower jaw 87; the crocodile of the robot trunk communicating with the holding piece rotates a certain angle and enters a piece collecting area; the jaws are turned over at a certain angle and opened, and the workpiece is thrown into the workpiece collecting groove 91. The robot resets to realize the automation of robot and get a piece.

Any action of the mould, detection in the whole cycle, demoulding of the finished piece and the like are finished by the robot manipulator. Therefore, the difficulties of the logical actions of the robot, other than the turning and closing, are concentrated on the inspection, cleaning and the demoulding of the workpiece. Lifting and turning the upper mold for 180 deg, covering the lower mold with the other upper mold with mold cavity, injecting the material of the other color to form the second layer of sole, cooling, lifting the upper mold to take out the formed double-color sole, and adhering the double-color sole with one vamp to form one shoe body; wherein the moulds are placed on a workbench to manually operate the lifting and turning actions of the two upper moulds, so that the moulds have considerable weight, the manual operation takes time and labor, the sole and the vamp are bonded by an adhesive, the production speed is faster, for the manufacturer, the labor cost is high, the production speed is slow, and the manufacturing cost cannot be reduced, so that the two upper dies must have a proper turning space, the turning space is influenced and limited by the feeding arm at the center of the worktable, if an automatic process is designed, the placing position and the number of the moulds on the worktable must be considered clearly, and if the stroke of the die is long, it will waste time, if it is desired to actually have a significant benefit in increasing the yield and reducing the manufacturing cost, and to accelerate the advancement and upgrading of the industry, the above-mentioned drawbacks are a goal to be solved and improved as soon as possible.

The mold turning and taking robot adopts a logic algorithm to convert the complex actions and processes of manual operation into the intelligent logic actions of the robot, thereby integrally realizing the automatic operation of the double-color shoe bottom mold. The quality of the finished piece is further improved, the production efficiency is improved, and the consistency is good. The robot is controlled by a PLC to realize system functions.

The invention also provides a forming machine for forming the double-color sole, which is provided with a circular machine table, wherein a plurality of groups of sole molds, in the embodiment, 24 sole molds are arranged on the machine table, 2-3 injection molding machines are respectively arranged across the working tables, and the injection molding operation is carried out on each group of molds.

Several rails with preset width and dovetail-shaped protrusion are arranged around the machine at the circumferential side of the machine, hollow holes with preset size are arranged on the rails, oil pressure telescopic rods are respectively arranged at the positions corresponding to the multiple sets of dies at the inner side of the machine, an oil pressure arm capable of extending up and down is arranged at the center of each rod, a top block is arranged at the upper end of each oil pressure arm, a rotating shaft is pivoted in a penetrating manner, the outer end part of the rotating shaft extending outwards is spanned on a supporting column, the inner end part extending reversely is connected with a gear, and a first oil pressure cylinder is arranged at the side edge of the top block.

The method can mechanically and automatically turn over the die, and the die is manufactured into a structure which has a double-color sole and is connected with the vamp into a whole at one time, so that the manufacturing cost is reduced, and the automatic operation is convenient and easy.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention.

Claims

1. A molding method of a multi-color sole is characterized in that: the method comprises the following steps: cleaning the double-color mold, and closing the first color mold;

the method comprises the following steps of injecting a first color material into a cavity of a mold, wherein the first color material is injected into the cavity of the mold, and then the first color material is injected into the cavity of the mold;

and taking out the bicolor workpiece and carrying out final inspection.

2. The method of molding a multicolor shoe sole according to claim 1, wherein: the double-color mold comprises a middle upper mold, an upper middle mold hinge, a bottom mold, a middle lower mold hinge, a middle lower mold and an upper mold, wherein the upper mold and the middle upper mold are longitudinally overturned for 0-120 degrees, the middle lower mold is laterally overturned for 0-180 degrees, and the bottom mold, the middle lower mold, the middle upper mold and the upper mold of the double-color mold are respectively hinged with the two sides of the middle upper mold hinge and the middle lower mold hinge into a whole, so that the middle upper mold, the middle lower mold and the upper mold can be.

3. The method of molding a multicolor shoe sole according to claim 2, wherein: the heating treatment of the first color material and the injection of the molten first color material into the cavity of the two-color mold further comprise the injection of the first color material into the cavity through an injection port.

4. The method of molding a multicolor shoe sole according to claim 1, wherein: opening the first color mold, and inspecting a first color product formed by the first color material in the cavity further comprises opening the middle and lower molds, and turning the middle and lower molds to the left to 0-180 degrees, namely, completely opening the middle and lower molds; the middle lower die is opened, and the first color product part is exposed; and (4) adopting machine vision to check the integrity of the workpiece, namely judging whether the working cavity is filled.

5. The method of molding a multicolor shoe sole according to claim 1, wherein: the second color material is heated, the melted second color material is injected into the cavity of the two-color mold, the middle upper mold and the upper mold are closed from the opening position, the second color injection is carried out, the middle lower mold is opened, the upper mold and the middle upper mold are closed, the bottom mold keeps the original position unchanged, the upper mold, the middle upper mold and the bottom mold form a working cavity through the first color part, and the preparation is prepared for the second layer injection.

6. The method of molding a multicolor shoe sole according to claim 1, wherein: taking out the double-color workpiece, and performing final inspection, wherein the step of taking out the double-color workpiece further comprises that a workpiece area and a die area are arranged in a close manner, the workpiece is placed in the die, a specially-made robot palm and arm are used for separating the workpiece from the die, and a robot body is rotated at a certain angle, so that the workpiece synchronously reaches the workpiece area along with the robot palm and arm; and releasing the workpiece, enabling the workpiece to fall into the workpiece collecting box, and enabling the robot to return to the original position.