CN110269323A - A kind of coating system for sole track identification - Google Patents
A kind of coating system for sole track identification Download PDFInfo
- Publication number
- CN110269323A CN110269323A CN201910646524.0A CN201910646524A CN110269323A CN 110269323 A CN110269323 A CN 110269323A CN 201910646524 A CN201910646524 A CN 201910646524A CN 110269323 A CN110269323 A CN 110269323A
- Authority
- CN
- China
- Prior art keywords
- sole
- conveyer belt
- coated mechanism
- coating system
- joint rubber
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D1/00—Foot or last measuring devices; Measuring devices for shoe parts
- A43D1/08—Measuring devices for shoe parts
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D117/00—Racks for receiving or transporting shoes or shoe parts; Other conveying means
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D25/00—Devices for gluing shoe parts
- A43D25/18—Devices for applying adhesives to shoe parts
- A43D25/183—Devices for applying adhesives to shoe parts by nozzles
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D2200/00—Machines or methods characterised by special features
- A43D2200/10—Fully automated machines, i.e. machines working without human intervention
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- Coating Apparatus (AREA)
Abstract
The invention discloses a kind of coating systems for sole track identification, it includes conveyer belt, the rack on conveyer belt, the scanning sensor in rack, multi-joint rubber-coated mechanism and the controller on assembly line, scanning sensor is scanned the sole on conveyer belt, it detects and identifies sole profile, and communicate this information to controller, controller receives sole information, and according to the information, formulate sole trace information, to control multi-joint rubber-coated mechanism, gluing is carried out to various types sole.Its is adaptable by the present invention, can be widely used in the gluing of different type sole, realize different types of coating technique；And using the mode of static scanning sole and static coating technique, extracted with high accuracy sole profile data, effectively stable spraying can be stablized, in control rubber quality, the uniformity of glue, gluing precision is all secure and adaptable, can save well cost and spraying effect more preferably.
Description
Technical field
The invention belongs to the technical fields of shoemaking, and in particular to a kind of coating system for sole track identification.
Background technique
Currently, traditional industries have gradually introduced automation equipment, to assist people to complete the process of such as shoe-making process.
In entire shoe-making process process, the technique for gluing this part is often the most intensive procedure of manpower, but
It is, since this process is manually to be responsible for, to be very easy to occur in normal productive process, gluing low precision, glue is often
It is coated onto other than normal line, glue is uneven, i.e., each product glue consistency cannot be guaranteed that production capacity cannot be guaranteed.In addition to this,
The smell of glue can cause certain harm to human body.To solve the above-mentioned problems, entire shoe-making process introduces automation equipment
It will be inevitable choice.
Shoe-making industry automation in the market, also have existed it is some relatively early stages application technologies, there are mainly two types of:
First, carrying out image comparison and matching, this mode, behaviour with existing sole data after acquiring sole information by contourgraph
It is more troublesome, the requirement to employee is also relatively high, and yield is relatively low.Second, obtaining sole using laser profile
Profile point cloud data calculates the coordinate value and height coordinate of profile, and rear-guard mobile robot carries out tracking gluing, and the program is only counted
Sole profile coordinate value and height value are calculated, the inclination conditions of sole inward flange out can not be really fed back, for special shoes edge
Type is also unable to satisfy, in addition, robot motion tracks gluing can lose articulated robot gluing precision significantly.
Summary of the invention
The present invention provides a kind of coating system for sole track identification, drawbacks described above can be overcome, by using shoes
The mode of bottom static scanning improves the precision and stability of gluing.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of coating system for sole track identification comprising conveyer belt on assembly line, set on described
Rack on conveyer belt, the scanning sensor in the rack, multi-joint rubber-coated mechanism and controller, the scanning
Sensor is scanned the sole on the conveyer belt, detects and identify sole profile, and communicates this information to institute
The controller stated, the controller receive sole information, and according to the information, sole trace information are formulated, to control institute
The multi-joint rubber-coated mechanism stated carries out gluing to various types sole.
Above-mentioned scanning sensor is the point cloud data by accurately identifying the sole on the conveyer belt, according to sole
The point cloud data calculates the track of the gluing of multi-joint rubber-coated mechanism and the Eulerian angles posture of multi-joint rubber-coated mechanism.
Above-mentioned scanning sensor and multi-joint rubber-coated mechanism carries out data correlation, so that multi-joint rubber-coated mechanism executed
Motion profile and movement posture are all the track datas of current type sole.
The above-mentioned coating system for sole track identification, further comprises screw component, screw component is set
In in rack, scanning sensor is set on screw component, and is moved under screw component drive.
Above-mentioned screw component includes screw rod controller and screw rod, and screw rod controller receives the finger of the controller
Show, control screw rod moves on the rack.
The above-mentioned coating system for sole track identification, further comprises the volume on the conveyer belt
Code device, the encoder reads the distance that the conveyer belt is moved in real time, and records in a storage module.
The above-mentioned coating system for sole track identification, read that conveyer belt moved in real time according to encoder away from
From making the conveyer belt stop at the position that the multi-joint rubber-coated mechanism carries out gluing.
The above-mentioned coating system for sole track identification, further comprises board, and the multi-joint applies
Gluing mechanism is set on the board.
After adopting the above technical scheme, detection is simultaneously in use, scanning sensor is scanned the sole on conveyer belt
It identifies sole profile, and communicates this information to multi-joint rubber-coated mechanism, multi-joint rubber-coated mechanism receives information and according to the letter
Breath carries out gluing to various types sole.I.e. in the use of the present invention, not needing preset in advance sole model, but Dynamic Recognition
And generate real-time sole trace information.Its is adaptable, can be widely used in the gluing of different type sole, realizes different types of
Coating technique；In addition, the present invention uses the mode of static scanning sole, extracted with high accuracy sole profile data can be stablized, it is several
Not by external light influence；Secondly, the present invention is realized using static coating technique, spraying that can be effectively stable, in control glue
Amount, the uniformity of glue, gluing precision is all secure and adaptable, can save cost well, and need not repeat to purchase
Multi-joint rubber-coated mechanism；Furthermore the present invention calculates the normal vector of abutment wall in sole by 3D rendering processing technique, guides more
Joint rubber-coated mechanism is followed by different abutment wall inclination angles and is sprayed, so that spraying effect is more preferably.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Refering to what is shown in Fig. 1, the invention discloses a kind of coating systems for sole track identification comprising be set to flowing water
Conveyer belt 1 on line, the rack 2 on conveyer belt 1, the scanning sensor 3 in rack 2, multi-joint rubber-coated mechanism 4,
Board 5, encoder 6, screw rod 7 and controller 8, in which:
Rack 2 is erected at the top of conveyer belt 1, in this embodiment, it is preferred that being additionally provided with screw component, silk in rack 2
Bar assembly includes screw rod controller and screw rod 7, and scanning sensor 3 is set on screw rod 7, and screw rod controller receives controller 8
Instruction, control screw rod 7 move in rack 2, and screw rod 7 drives scanning sensor 3 to move on the rack.
Scanning sensor 3 is scanned the sole on conveyer belt 1, by 3D rendering processing technique, calculates sole
The normal vector of interior abutment wall detects and identifies sole profile.In the specific implementation, scanning sensor 3, by accurately identifying conveyer belt
The point cloud data of sole on 1, then, according to sole point cloud data calculate the track of the gluing of multi-joint rubber-coated mechanism 4 with
And the Eulerian angles posture of multi-joint rubber-coated mechanism 4, and, 3D scanning sensing 3 carries out data correlation with multi-joint rubber-coated mechanism 4, makes
Obtain the motion profile that multi-joint rubber-coated mechanism 4 executes and the track data that movement posture is all current type sole.That is this hair
It is bright, using the mode of static scanning sole, extracted with high accuracy sole profile data can be stablized, hardly by ambient shadow
It rings.
Controller 8, receives the data of scanning sensor 3, and scanning sensor 3 and multi-joint rubber-coated mechanism 4 are carried out
Data correlation, so that motion profile and movement posture that multi-joint rubber-coated mechanism 4 executes all are the tracks of current type sole
Data.
Multi-joint rubber-coated mechanism 4 is set on board 5, and board 5 is set as needed near conveyer belt 3, in addition, close more
Rubber-coated mechanism 4 is saved, structure, those skilled in the art can be set as needed, and it can be moved under the control of the controller 8
Make.
Encoder 6 is set on conveyer belt 1, and encoder 6 can read the distance that conveyer belt is moved in real time, and be recorded in control
In the memory module of device processed, with the position for specifying sole to stop.Read what conveyer belt 3 was moved in real time according to encoder 6
Distance, makes conveyer belt 1 stop at the position that multi-joint rubber-coated mechanism 4 carries out gluing, and controllable conveyer belt 1 stops right sole just
The position that multi-joint rubber-coated mechanism 4 carries out gluing is stopped at, to realize that the static present invention realizes can have using static coating technique
Stable spraying is imitated, in control rubber quality, the uniformity of glue, gluing precision is all secure and adaptable, can save well
Cost.
When the present invention is implemented, upstream equipment conveying sole A comes, and sole A can arbitrarily be put, and sole A senses scanning
Sensor 3 stops, the screw rod of mobile 3 D scanning sensor, while starting 3D scanning sensor and being scanned, and sole is quiet at this time
Only, the number of contours of sole can be calculated that is, by the scanning sensor 3 being set on conveyer belt 1 by obtaining sole precision highest
According to and sole in abutment wall tilt data normal vector, and be buffered in inside vision system.In addition, also being accurately identified
The point cloud data of sole on conveyer belt 1, according to sole point cloud data calculate the track of the gluing of multi-joint rubber-coated mechanism 4 with
And the Eulerian angles posture of multi-joint rubber-coated mechanism 4, and communicate this information to controller 8；Meanwhile conveyer belt 1 is various in waiting
After being scanned 3 scanning recognition of sensor on type of shoe bottom, 1 assembly line of conveyer belt is continued to rotate, and encoder 6 reads transmission in real time
The distance moved with 1, and be recorded in inside software, the position for specifying sole to stop.Controller 8 receive sole information and
The location information that sole stops, and according to the information, sole trace information is formulated, so that multi-joint rubber-coated mechanism 4 is controlled, to each
Seed type sole carries out gluing.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (8)
1. a kind of coating system for sole track identification, which is characterized in that it includes the conveyer belt being set on assembly line, sets
In the rack on the conveyer belt, the scanning sensor in the rack, multi-joint rubber-coated mechanism and controller, institute
The scanning sensor stated is scanned the sole on the conveyer belt, detects and identify sole profile, and by the information
Sending the controller to, the controller receives sole information, and according to the information, formulates sole trace information, from
And the multi-joint rubber-coated mechanism is controlled, gluing is carried out to various types sole.
2. being used for the coating system of sole track identification as described in claim 1, which is characterized in that the scanning sensor
It is the point cloud data by accurately identifying the sole on the conveyer belt, the point cloud data according to sole calculates more passes
Save the track of the gluing of rubber-coated mechanism and the Eulerian angles posture of multi-joint rubber-coated mechanism.
3. being used for the coating system of sole track identification as claimed in claim 1 or 2, which is characterized in that the scanning passes
Sensor and multi-joint rubber-coated mechanism carry out data correlation, so that motion profile and movement posture that multi-joint rubber-coated mechanism executes
It is all the track data of current type sole.
4. being used for the coating system of sole track identification as claimed in claim 3, which is characterized in that it is further comprised
Screw component, the screw component are set in the rack, and the scanning sensor is set on the screw component,
And it is moved in the case where the screw component drives.
5. being used for the coating system of sole track identification as claimed in claim 4, which is characterized in that the screw component packet
Screw rod controller and screw rod are included, the screw rod controller receives the instruction of the controller, controls the screw rod band
The scanning sensor is moved to move in the rack.
6. being used for the coating system of sole track identification as claimed in claim 5, which is characterized in that it is further comprised
Encoder on the conveyer belt, the encoder reads the distance that the conveyer belt is moved in real time, and remembers
Record is in a storage module.
7. being used for the coating system of sole track identification as claimed in claim 6, which is characterized in that read in real time according to encoder
The distance that conveyer belt is moved is taken, the conveyer belt is made to stop at the position that the multi-joint rubber-coated mechanism carries out gluing.
8. being used for the coating system of sole track identification as claimed in claim 7, which is characterized in that it is further comprised
Board, the multi-joint rubber-coated mechanism are set on the board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910646524.0A CN110269323A (en) | 2019-07-17 | 2019-07-17 | A kind of coating system for sole track identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910646524.0A CN110269323A (en) | 2019-07-17 | 2019-07-17 | A kind of coating system for sole track identification |
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| Publication Number | Publication Date |
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| CN110269323A true CN110269323A (en) | 2019-09-24 |
Family
ID=67964480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910646524.0A Pending CN110269323A (en) | 2019-07-17 | 2019-07-17 | A kind of coating system for sole track identification |
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| CN (1) | CN110269323A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110731581A (en) * | 2019-11-01 | 2020-01-31 | 清远市广硕鞋业有限公司 | method for spraying glue by collecting 3D shape of sole |
| CN110876512A (en) * | 2019-11-13 | 2020-03-13 | 广东工业大学 | Control method of high-precision automatic sole gluing system |
| CN110881748A (en) * | 2019-12-16 | 2020-03-17 | 埃视森智能科技(上海)有限公司 | Robot sole automatic gluing system and method based on 3D scanning |
| CN112700417A (en) * | 2020-12-31 | 2021-04-23 | 广东美的白色家电技术创新中心有限公司 | Sole gluing method and device and computer readable storage medium |
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| CN102527554A (en) * | 2012-02-29 | 2012-07-04 | 清华大学 | Spray gun track planning method for free-form surface spraying robot |
| CN105894120A (en) * | 2016-04-08 | 2016-08-24 | 泉州装备制造研究所 | Attitude control-based sole glue spraying path planning method |
| CN107808415A (en) * | 2017-11-17 | 2018-03-16 | 中国科学院合肥物质科学研究院 | Sole edge track and gluing pose extracting method based on machine vision |
| CN207521212U (en) * | 2017-11-01 | 2018-06-22 | 湖北美洋汽车工业有限公司 | A kind of vehicle spray painting automatic production line secondary detection system |
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| CN109590140A (en) * | 2018-12-26 | 2019-04-09 | 易视智瞳科技（深圳）有限公司 | A kind of coating system and its method, automatic double surface gluer and computer readable storage medium |
| CN109876968A (en) * | 2019-03-22 | 2019-06-14 | 希美埃（芜湖）机器人技术有限公司 | A kind of steel construction Control During Paint Spraying by Robot automatic path planning method |
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Patent Citations (7)
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| CN102527554A (en) * | 2012-02-29 | 2012-07-04 | 清华大学 | Spray gun track planning method for free-form surface spraying robot |
| CN105894120A (en) * | 2016-04-08 | 2016-08-24 | 泉州装备制造研究所 | Attitude control-based sole glue spraying path planning method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110731581A (en) * | 2019-11-01 | 2020-01-31 | 清远市广硕鞋业有限公司 | method for spraying glue by collecting 3D shape of sole |
| CN110876512A (en) * | 2019-11-13 | 2020-03-13 | 广东工业大学 | Control method of high-precision automatic sole gluing system |
| CN110876512B (en) * | 2019-11-13 | 2024-01-12 | 广东工业大学 | Control method of high-precision automatic gluing system for soles |
| CN110881748A (en) * | 2019-12-16 | 2020-03-17 | 埃视森智能科技(上海)有限公司 | Robot sole automatic gluing system and method based on 3D scanning |
| CN112700417A (en) * | 2020-12-31 | 2021-04-23 | 广东美的白色家电技术创新中心有限公司 | Sole gluing method and device and computer readable storage medium |
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Application publication date: 20190924 |