CN110689593B - Contour regenerating method for shoe three-dimensional contour, shoe gluing method and shoe gluing equipment - Google Patents
Contour regenerating method for shoe three-dimensional contour, shoe gluing method and shoe gluing equipment Download PDFInfo
- Publication number
- CN110689593B CN110689593B CN201910870528.7A CN201910870528A CN110689593B CN 110689593 B CN110689593 B CN 110689593B CN 201910870528 A CN201910870528 A CN 201910870528A CN 110689593 B CN110689593 B CN 110689593B
- Authority
- CN
- China
- Prior art keywords
- point
- shoe
- contour
- regeneration
- points
- 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.)
- Active
Links
- 238000004026 adhesive bonding Methods 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000001172 regenerating effect Effects 0.000 title claims abstract description 13
- 238000011069 regeneration method Methods 0.000 claims abstract description 64
- 230000008929 regeneration Effects 0.000 claims abstract description 63
- 239000003292 glue Substances 0.000 claims abstract description 23
- 239000013598 vector Substances 0.000 claims description 53
- 238000004513 sizing Methods 0.000 claims description 8
- 239000000470 constituent Substances 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims 1
- 238000005507 spraying Methods 0.000 description 6
- 230000001680 brushing effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/203—Drawing of straight lines or curves
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
Abstract
The invention discloses a method for regenerating a shoe three-dimensional contour, a method for gluing the shoe and a device for gluing the shoe, wherein the known shoe three-dimensional contour constructed by XYZ axes is composed of a plurality of points, and the distance L on an XY axis plane is retracted in the shoe three-dimensional contour to generate a regenerated contour: (1) In the XY axis plane, taking three adjacent points as P 1 、P 2 And P 3 (ii) a (2) When P is present 1 、P 2 And P 3 The included angle theta of the three-point connecting line is not equal to 180 degrees, and the distance L from one side close to the mass center is parallel to P 2 P 1 And P 2 P 3 Is crossed at point Q 2 ，Q 2 I.e. P 2 A regeneration point corresponding to a regeneration contour; when three points are connected to form a straight line P 1 P 3 Passing through point P 2 And is away from P 1 P 3 Taking the centroid and the point P of the three-dimensional outline of the shoe from the two points of the distance L 2 Point Q 'between' 2 'o Q' 2 I.e. P 2 Corresponding to the regeneration points of the regeneration profile. The method simplifies the operation, and the obtained regenerated contour is smooth as a whole, is suitable for various shoes, and can not generate the phenomena of glue overflow, glue shortage and glue consumption.
Description
Technical Field
The invention relates to a method for gluing shoes, in particular to a method for gluing stereoscopic shoes.
Background
At present, the gluing of the shoes is mostly carried out in a manual gluing mode, the efficiency is low, the quality is mastered by manual experience, and the gluing effect with uniform quality is difficult to control, so that more hidden dangers appear at the gluing position of the shoes in the later period; moreover, the glue is also mostly volatile substances, which can also have certain influence on operators, and if environmental protection equipment is adopted to improve the operation environment, the cost can be invisibly increased.
Even the existing semi-automatic gluing equipment can glue a certain sized product or glue a part of the product, and can not glue a designated part of various changed products.
Disclosure of Invention
In view of the above, the present invention provides a method for regenerating a three-dimensional contour of a shoe, a method for sizing a shoe, and a shoe sizing apparatus, which are capable of efficiently and accurately performing the method.
In order to achieve the above purpose, the solution of the invention is:
a method for regenerating a shoe three-dimensional contour, which is known to be constructed based on XYZ axes, is composed of a plurality of points in sequence, wherein:
setting the distance on the plane of the XY axes as L, and generating a regeneration contour by the retraction distance L of the shoe three-dimensional contour as follows:
(1) In the plane constructed by the XY axes, any adjacent three points in the plurality of points are sequentially P 1 、P 2 And P 3 ；
(2) When P is present 1 、P 2 And P 3 The included angle theta of the three-point connecting line is more than or less than 180 degrees, and the distance L from one side close to the mass center is parallel to the P 2 P 1 And P 2 P 3 Intersect at a point Q 2 Point Q of 2 Z-axis value and P of 2 Match the Z-axis value of (C), point Q 2 I.e. P 2 Corresponding to a regeneration point on the regeneration profile;
point Q 2 The XY coordinates of (a) are obtained as follows:
in the first formula:
Q 2 representing a reproduction point Q on a reproduction profile 2 Corresponding XY coordinates (x) 2 ，y 2 )；
P 2 RepresentPoint P on the shoe profile 2 Corresponding XY coordinates (x) 2 ，y 2 )；
theta denotes a vector
And &>
Theta is in the range of (0 deg., 180 deg.), and theta excludes 0 deg. and 180 deg.;
alpha represents a vector
To or from>
An included angle formed counterclockwise, a ranges from (0 °,360 °), and a does not include 0 °,180 ° and 360 °; when 0 degree<α<180 degrees, plus signs are adopted for +/-in the formula I, and when the plus signs are 180 degrees<α<360 degrees, minus signs are adopted for +/-in the formula I;
(3) When P is present 1 、P 2 And P 3 Three points are connected to form a straight line P 1 P 3 I.e. the angle theta between the three connecting lines is equal to 180 DEG and passes through point P 2 And is away from P 1 P 3 Selecting a centroid O' and a point P in the three-dimensional outline of the shoe from two points of the distance L 2 Point Q 'of' 2 Q 'point' 2 Z-axis value and P of 2 Is matched with the Z-axis value of (c), and is point Q' 2 I.e. P 2 Corresponding to a regeneration point on the regeneration profile;
point Q' 2 (x’ 2 ，y’ 2 ，z’ 2 ) The XY coordinates of (a) are obtained as follows:
the known values of O' (x, y, z), P 1 (x 1 ，y 1 ，z 1 )、P 2 (x 2 ，y 2 ，z 2 )、P 3 (x 3 ，y 3 ，z 3 )；
Straight line P 1 P 3 The included angle between the X axis and the X axis is beta;
according to P 2 Y of (A) to (B) 2 The magnitude relationship of y to centroid O' and the β angle range are determined as follows:
if y 2 >y, then: y' 2 ＝y 2 -L×cosβ；
If beta is<90 degrees, then: x' 2 ＝x 2 +L×sinβ；
If beta is>90, then: x' 2 ＝x 2 -L×sinβ；
If y 2 <y, then: y' 2 ＝y 2 +L×cosβ；
If beta is<90 degrees, then: x' 2 ＝x 2 -L×sinβ；
If beta is>90 degrees, then: x' 2 ＝x 2 +L×sinβ；
(4) Three points P next to each other 2 、P 3 And P 4 Finding the point P as above 3 Corresponding to a regeneration point Q on the regeneration contour 3 Or Q' 3 And in the same way, obtaining a plurality of points on the three-dimensional outline of the shoe, which correspond to the regeneration points on the regeneration outline.
In the method for regenerating the profile of the three-dimensional shoe profile, when any point P on the three-dimensional shoe profile is detected i Clockwise or counterclockwise with the next adjacent point P i+1 ，P i+1 To the next adjacent point P i+2 Respectively correspond to the constituent vectors
The formula I is replaced by a formula II;
the second formula is as follows:
in the second formula:
Q i representing any reproduction point Q on the reproduction profile i Corresponding XY coordinates (x) i ，y i )；
P i Representing any point P on the three-dimensional outline of the shoe i Corresponding XY coordinate (x) i ，y i )；
θ i Representing a vector
And &>
The included angle of (A); theta i Is in the range of (0 °,180 °), and θ i Excluding 0 ° and 180 °;
α i representing a vector
Toward and/or out>
Angle formed counter-clockwise, alpha i In the range of (0 °,360 °) and α i 0 °,180 °, and 360 ° are excluded; when 0 degree<α i <180 degrees, plus signs are adopted for +/-in the formula II, and when the plus signs are 180 degrees<α i <360 degrees, and the plus or minus in the formula II adopts minus signs; />
Said point Q 2 Z-axis value of (A) and the P 2 The Z-axis values are the same.
The shoe gluing method comprises the steps of selecting points in a sole section scanning lattice to construct a shoe three-dimensional profile in XYZ axes, adopting the method to retract a distance L along the shoe three-dimensional profile to generate a regenerated profile, and gluing by a gluing device along the regenerated profile.
The shoe sizing device comprises a sizing terminal and a regenerative contour system for controlling the shoe three-dimensional contour of the running track of the sizing terminal, wherein the regenerative contour system comprises a shoe three-dimensional contour module and a regenerative contour module;
the shoe three-dimensional contour module comprises a section scanning module for scanning the shoe body to obtain the real object section parameters of the shoe body, and a modeling module for establishing the shoe three-dimensional contour according to the real object section parameters;
the regeneration profile module includes: using a reading module as described above, and using a regeneration point calculation module as described above.
After the scheme is adopted, the invention has the following beneficial effects:
1. by adopting the method, the adjacent three points on the three-dimensional outline of the shoe are taken, the unit vectors of all the points on the three-dimensional outline of the shoe are taken for operation to obtain the XY axis coordinates of the corresponding points on the regeneration outline, and the Z axis value of the middle point of the three points on the three-dimensional outline of the shoe is taken as the Z axis value of the corresponding point on the regeneration outline, so that the operation is greatly simplified, the regeneration outline matched with the three-dimensional outline of the shoe can be obtained, and the regeneration outline is smooth as a whole and is widely suitable for various types of shoes.
Secondly, the sole constructs a shoe three-dimensional contour of XYZ axis through section scanning, the inner shrinkage distance L is adopted along the shoe three-dimensional contour by the method, a regeneration contour is generated, and gluing is carried out by gluing equipment along the regeneration contour; by adopting the method, the glue is applied along the regenerated contour matched with the three-dimensional contour of the shoe at the height as high as the three-dimensional contour of the shoe, a circle of glue can be accurately applied to the inner peripheral edge of the three-dimensional contour of the shoe, and no matter what the existing gluing terminal is adopted, such as brushing, spraying, showering, coating, covering, printing and the like, the phenomena of glue overflow, glue shortage and glue waste can be avoided.
Drawings
FIG. 1 is a schematic diagram of a scanned real object in a plane;
FIG. 2 is a view of three non-straight adjacent points P on the contour of FIG. 1 1 、P 2 And P 3 And an intermediate point P 2 Corresponding to a regeneration point Q on the regeneration contour 2 Schematic diagram of the relationship between;
FIG. 3 is a view showing three adjacent collinear three points P on the contour of FIG. 1 1 、P 2 And P 3 And intermediate point P 2 Corresponding to regeneration point Q 'on the regeneration contour' 2 Schematic diagram of the relationship between them.
In the figure:
p is the shoe three-dimensional contour line.
Q is the regeneration profile.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.
As shown in fig. 1 to 3, the method for regenerating the three-dimensional profile of the shoe according to the present invention is mainly applied to footwear, which includes finished shoes and semi-finished shoes, such as sports shoes, casual shoes, business shoes, uppers, soles, midsoles, outsoles, sock shoes, one-piece sock shoes, split sock shoes, and the like.
The following objects are illustrated by taking a shoe sole of a certain shoe type as an example, and when the shoe sole is glued with a shoe upper, the gluing surface of the shoe sole is glued in the following way. The gluing mode can adopt any existing gluing terminal such as brushing, spraying, sprinkling, coating, covering, printing and the like, for example, a five-axis or six-axis manipulator, and the gluing device is equipped, and the gluing device can adopt the existing A glue or AB mixed glue supplying mode.
As shown in FIG. 1, the shoe three-dimensional contour line projected on the XY axis plane of the figure according to the shoe three-dimensional contour generated by the sole is P, and P are arranged on the shoe three-dimensional contour line P in sequence according to the required density 1 、P 2 、P 3 、P 4 、P 5 、P 6 、P 7 、P 8 、P 9 And waiting for a plurality of points. The XYZ-axis coordinates of the points correspond to P 1 (x 1 ，y 1 ，z 1 )、P 2 (x 2 ，y 2 ，z 2 )、P 3 (x 3 ，y 3 ，z 3 )、P 4 (x 4 ，y 4 ，z 4 )、P 5 (x 5 ，y 5 ，z 5 )、P 6 (x 6 ，y 6 ，z 6 )、P 7 (x 7 ，y 7 ，z 7 )、P 8 (x 8 ，y 8 ，z 8 )、P 9 (x 9 ，y 9 ，z 9 ) And the like. In addition, the centroid O 'of the shoe solid outline is represented by O' (x, y, z).
As shown in fig. 1, a distance L in the XY-axis plane is set, and a reproduction contour line Q is generated within the shoe three-dimensional contour line P by the distance L, that is, in the XY-axis plane, the outer ring is the shoe three-dimensional contour line P, the inner ring is the reproduction contour line Q, and the distance between the outer ring and the inner ring is L. Thus, gluing is carried out along the regeneration contour line Q of the inner ring on the inner surface of the sole, and after gluing is finished, the vamp or other materials are glued on the sole along a circle of glue on the regeneration contour line Q. Wherein, the distance L can be set according to specific situations. Generally, the outer periphery of the sole is bent upwards and is higher than the inner area of the sole, the distance L can be set according to gluing parameters such as the spraying radius of a gluing nozzle, and when the spraying radius is increased, the distance L can be correspondingly increased, so that the glue can be prevented from being sprayed or splashed out of the sole.
Q on the reproduction profile Q 1 、Q 2 、Q 3 、Q 4 、Q 5 、Q 6 、Q 7 、Q 8 、Q 9 The equal points respectively correspond to P on the three-dimensional contour line P of the shoe 1 、P 2 、P 3 、P 4 、P 5 、P 6 、P 7 、P 8 、P 9 (ii) a And the XYZ-axis coordinates of the above points are respectively corresponding to Q 1 (x 1 ，y 1 ，z 1 )、Q 2 (x 2 ，y 2 ，z 2 )、Q 3 (x 3 ，y 3 ，z 3 )、Q 4 (x 4 ，y 4 ，z 4 )、Q 5 (x 5 ，y 5 ，z 5 )、Q 6 (x 6 ，y 6 ，z 6 )、Q 7 (x 7 ，y 7 ，z 7 )、Q 8 (x 8 ，y 8 ，z 8 )、Q 9 (x 9 ，y 9 ，z 9 ) And the like.
Next, three adjacent points P of the known XYZ-axis coordinates are taken 1 、P 2 And P 3 For example, an intermediate point P is obtained 2 Corresponding Q 2 (x 2 ，y 2 ，z 2 ). On the plane of XY axes, three adjacent points P 1 、P 2 And P 3 May not be in line or may be in line, as described separately below.
As shown in FIG. 2, when P is 1 、P 2 And P 3 These three points are connected into two straight lines P 2 P 1 And P 2 P 3 And two straight lines P 2 P 1 And P 2 P 3 Is greater than or less than 180 degrees, i.e. P 1 、P 2 And P 3 The three points are not on a straight line, and two parallel lines L are formed by a distance L close to one side of the centroid O 1 、L 2 . One of the parallel lines L 1 Parallel to the straight line P 2 P 1 Another parallel line L 2 Parallel to the straight line P 2 P 3 . Two parallel lines L 1 、L 2 Intersect at a point Q 2 Because the parallel line L is made close to one side of the centroid O 1 、L 2 Such that point Q 2 Is located in the sole, point Q 2 I.e. P 2 Corresponding to a regeneration point on the regeneration contour line Q.
Get point Q 2 Z-axis value and P of 2 The Z-axis values of (A) are the same. In addition, in the XY-axis plane, a point Q 2 The XY coordinates of (a) are obtained as follows:
by
The vector relationship of (a) can be known:
In the formula:
Q 2 represents the point Q 2 Corresponding XY coordinates (x) 2 ，y 2 )；
P 2 Represents the point P 2 Corresponding XY coordinates (x) 2 ，y 2 )；
theta denotes a vector
And &>
Theta is in the range of (0 deg., 180 deg.), and theta excludes 0 deg. and 180 deg.;
alpha represents a vector
Toward and/or out>
An included angle formed counterclockwise, a ranges from (0 °,360 °), and a does not include 0 °,180 ° and 360 °;
when 0 degree<α<180°，α＝θ，
When the temperature reaches 180 °<α<360°，α＝360°-θ，
Thus, it is possible to provide
That is, sin α may be obtained from a cross-multiplication of a vector or a cross-multiplication of a unitized vector;
in summary, as long as the included angle α is not equal to 0 °,180 ° and 360 °,
the point Q can be obtained finally 2 Equation one for XY coordinates of (a):
by any one of the following set of functions in equation one:
Preferably, by
The group of functions utilizes the coordinates and the unitized vectors of the points, thereby simplifying the operation and quickly obtaining the point Q 2 XY coordinates of (a).
When P is shown in FIG. 3 1 、P 2 And P 3 These three points are connected to form a straight line P 1 P 3 I.e. the angle theta between the three connecting lines is equal to 180 DEG, and the middle point P 2 Making a line perpendicular to line P 1 P 3 Of' 2 Q” 2 That is, the point of departure P 2 Two points Q 'at a distance L' 2 、Q” 2 Selecting a centroid O' and a point P located on the three-dimensional outline of the shoe from the two points 2 Point Q 'of' 2 'o Q' 2 I.e. P 2 Corresponding to a regeneration point on the regeneration contour line Q.
Get point Q' 2 Z-axis value and P of 2 The Z-axis values are the same. Additionally point Q' 2 XY coordinates of (a) are obtained as follows:
straight line P 1 P 3 The slope of (a) is k, k = (y) 1 -y 3 )/(x 1 -x 3 )；
Straight line P 1 P 3 β, β = arctan (k) from the X-axis;
according to P 2 Y of (A) to (B) 2 Magnitude relation of y to centroid O 'and angle range of beta, Q' 2 (x’ 2 ，y’ 2 ) The XY coordinates of (a) are determined as follows:
if y 2 >y, then: y' 2 ＝y 2 -L×cosβ；
If beta is<90 degrees, then: x' 2 ＝x 2 +L×sinβ；
If beta is>90, then: x' 2 ＝x 2 -L×sinβ；
If y 2 <y, then: y' 2 ＝y 2 +L×cosβ；
If beta is<90 degrees, then: x' 2 ＝x 2 -L×sinβ；
If beta is>90 degrees, then: x' 2 ＝x 2 +L×sinβ；
Thus, three points P adjacent in successive order 2 、P 3 And P 4 Also as above, point P can be acquired 3 Corresponding regeneration point Q 3 The analogy can be repeated whether the three points are on a straight line or not, and the regeneration point Q is i The regenerated contour lines Q corresponding to the shoe three-dimensional contour lines P are formed by connecting in sequence, and the regenerated contour lines Q keep the same change with the Z-axis direction of the shoe three-dimensional contour lines P in the Z-axis direction, namely the height of the regenerated contour lines Q and the Z-axis direction is equal. Wherein Q i Refers to any point on the raw contour line Q. The subscript i refers to any number or any group number in the corresponding array, or to any point on the corresponding line.
Of course, the regenerated contour line Q may also be changed synchronously with the shoe three-dimensional contour line P in the Z-axis direction, for example, the regenerated contour line Q is located at a set distance above or below the shoe three-dimensional contour line P, that is, the Z-axis values of the points on the regenerated contour line Q correspond to a set value larger or smaller than the Z-axis values of the points on the shoe three-dimensional contour line P, respectively. The set value can be set according to gluing parameters such as gluing pressure, gluing viscosity, fluidity and the like, and for example, when the glue spraying pressure is increased, the set value can be correspondingly increased. When the regenerated contour line Q is equal to the shoe three-dimensional contour line P in height, the gluing parameters can be correspondingly adjusted to achieve an ideal gluing effect.
By adopting the method, three adjacent points on the three-dimensional outline of the shoe are taken, the unit vectors of all the points on the three-dimensional outline of the shoe are taken for operation to obtain the XY-axis coordinates of the corresponding points on the regeneration outline, and the Z-axis value of the middle point of the three points on the three-dimensional outline of the shoe is taken as the Z-axis value of the corresponding point on the regeneration outline, so that the operation is greatly simplified, the regeneration outline matched with the three-dimensional outline of the shoe can be obtained, and the regeneration outline is smooth as a whole.
Example one
The specific calculation method of the regenerated contour line Q corresponding to the shoe three-dimensional contour line P is as follows:
(1) Obtaining a vertex array P i List；
P distributed on the known shoe three-dimensional contour line P in sequence clockwise or anticlockwise 1 、P 2 、P 3 、P 4 、P 5 、P 6 、P 7 、P 8 、P 9 A plurality of points P i The connecting lines form a polygon, P 1 、P 2 、P 3 、P 4 、P 5 、P 6 、P 7 、P 8 、P 9 A plurality of points P i Is the vertex P of the polygon i A plurality of vertices P i Forming a vertex array;
(2) Calculating sequentially adjacent P 1 、P 2 、P 3 、P 4 、P 5 、P 6 、P 7 、P 8 、P 9 Any adjacent P of these vertices i And P i+1 Correspondingly constructed vertex vectors
P 1 P 2 、P 2 P 3 、P 3 P 4 、P 4 P 5 、P 5 P 6 、P 6 P 7 、P 7 P 8 、P 8 P 9 Etc. P 1 P 2 Is expressed as->
P 2 P 3 Is expressed as->
And so on. That is, these vertices P i In one direction, i.e. in clockwise or counterclockwise connectionAnd quantity, the vectors are stored as a set of vertex vector arrays: />
(3) For each vertex vector in the vertex vector array
Respectively unitizing to obtain a unitized vector->
Composed unitized vector array normaize D->
List, get N D->
Preferably, the same array is used to store, i.e. to represent: unitizing vertex vector array substitution Ndee i [De i ]Replacing vertex vector array before unitization i List[P i+1 -P i ]；
(4) If in the above vertex, P i 、P i+1 、P i+2 Included angle theta corresponding to connecting lines of adjacent three points i If it is equal to 180 deg., the point P is calculated by the method mentioned above i Corresponding regeneration point Q i The coordinates are not described again;
when the vertex is P i 、P i+1 、P i+2 The connecting lines of adjacent three points are not on the same straight line, i.e. the included angle theta corresponding to the connecting lines of the three points i When the angle is not equal to 180 degrees, the included angle theta between corresponding unitized vectors i Also not equal to 180 degrees, an array of sin θ can be derived from the cross-product of the vector or the cross-product relationship of the unitized vector: dsin θ i ＝DV i+1 ×DV i (ii) a Of course sin α can also be obtained accordingly i Array Dsin alpha of i . Calculating the point P by adopting a formula II i Corresponding regeneration point Q i XY coordinates of (a).
(5) The formula II is as follows:
in the second formula:
wherein, theta i Representing a vector
And &>
Angle of (a) i Represents a vector pick>
Toward and/or out>
Angle formed counterclockwise, theta i 、α i The relationship between the value range and ± in the second formula, as mentioned above, is not repeated herein.
Replacing Q from the corresponding array i P in the expression i 、
Obtaining each point P on the shoe three-dimensional contour line P i Corresponding to the generated regeneration point Q i Regeneration point Q i Connected in sequence to form a reproduction profile Q.
Example two
According to the shoe gluing method, the three-dimensional lattice of the sole is obtained through scanning the section of the sole, the required points are selected from the three-dimensional lattice, and the XYZ-axis shoe three-dimensional outline is constructed. The step can adopt the existing methods, such as CN201410087213.2 a method and device for measuring three-dimensional profile by line laser scanning, and cn201810443975.X a device and method for scanning three-dimensional profile by two-line laser, which are not included in the improvement of the present disclosure, and therefore, the details are not repeated herein.
And (3) adopting the method to retract the distance L along the three-dimensional outline of the shoe to generate a regenerated outline, and gluing by a gluing device along the regenerated outline.
By adopting the method, the glue is applied along the regenerated contour matched with the three-dimensional contour of the shoe at the height as high as the three-dimensional contour of the shoe, a circle of glue can be accurately applied to the inner peripheral edge of the three-dimensional contour of the shoe, and no matter what the existing gluing terminal is adopted, such as brushing, spraying, showering, coating, covering, printing and the like, the phenomena of glue overflow, glue shortage and glue waste can be avoided.
EXAMPLE III
The shoe sizing apparatus of this embodiment generally includes a sizing terminal and a regenerative contour system.
The gluing terminal can adopt various existing structures as described above, which is not the improvement point of the present case, and therefore, the details are not repeated herein.
The regeneration contour system mainly controls the running track of the gluing terminal.
The regeneration contour system mainly comprises a shoe three-dimensional contour module and a regeneration contour module.
The shoe three-dimensional contour module mainly comprises a section scanning module for scanning the shoe body to obtain the real object section parameters of the shoe body, and a modeling module for establishing the shoe three-dimensional contour according to the real object section parameters. The shoe three-dimensional profile module can adopt the existing structures of various scanners, scanning terminals and the like, which is not the improvement point of the scheme, and therefore, the description is omitted.
The regeneration contour module mainly comprises a reading module for reading coordinates of each point, a vector of a connecting line of two adjacent points, a unitized vector or a corresponding angle from a corresponding array as described above, and a regeneration point calculating module for calculating and obtaining regeneration points on a regeneration contour line Q by judging whether the three adjacent points on the three-dimensional contour line P of the shoe are on a straight line or not on a straight line by using the method as described above. And the gluing terminal is used for gluing according to the regeneration contour formed by the stored regeneration points and generated by the regeneration point calculation module.
Preferably, the device also comprises a display module for displaying the working state, the process and the result.
The during operation starts shoes rubberizing equipment, and a plurality of soles are arranged in a plurality of conveyer belts simultaneously respectively or around respectively, correspond respectively through the scanning zone, get into the rubberizing district, and the following content of selective subregion demonstration is gone up to display module's display screen: real-time scanning states corresponding to all soles, generated XYZ three-dimensional shoe three-dimensional outlines, XY two-dimensional shoe three-dimensional contour lines P, regenerated contour lines Q, real-time gluing states along the regenerated contour lines Q and the like.
By adopting the embodiment, batch and industrialized automatic gluing with high efficiency, accuracy and quick response can be realized.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.
Claims (4)
1. A method for regenerating a shoe three-dimensional contour, which is known to be constructed based on XYZ axes and is composed of a plurality of points in sequence, is characterized in that:
setting the distance on the plane of the XY axes as L, and generating a regeneration contour by the retraction distance L of the shoe three-dimensional contour as follows:
(1) In the plane constructed by the XY axes, any adjacent three points in the plurality of points are sequentially P 1 、P 2 And P 3 ；
(2) When P is present 1 、P 2 And P 3 The included angle theta of the three-point connecting line is more than or less than 180 degrees, and the distance L from one side close to the mass center is parallel to the P 2 P 1 And P 2 P 3 Intersect at a point Q 2 Point Q of 2 Z-axis value and P of 2 Match the Z-axis value of (C), point Q 2 I.e. P 2 Corresponding to a regeneration point on the regeneration contour;
point Q 2 The XY coordinates of (a) are obtained as follows:
in the first formula:
Q 2 representing a regeneration point Q on a regeneration contour 2 Corresponding XY coordinate (x) 2 ，y 2 )；
P 2 Representing a point P on the three-dimensional outline of the shoe 2 Corresponding XY coordinates (x) 2 ，y 2 )；
theta denotes a vector
And &>
Theta is in the range of (0 deg., 180 deg.), and theta excludes 0 deg. and 180 deg.;
alpha represents a vector
To or from>
An included angle formed counterclockwise, a ranges from (0 °,360 °), and a does not include 0 °,180 ° and 360 °; when 0 degree<α<180 degrees, plus signs are adopted for +/-in the formula I, and when the plus signs are 180 degrees<α<360 degrees, minus signs are adopted for +/-in the formula I;
(3) When P is present 1 、P 2 And P 3 Three points are connected to form a straight line P 1 P 3 I.e. the angle theta between the three connecting lines is equal to 180 DEG and passes through point P 2 And is away from P 1 P 3 Selecting a centroid O' and a point P in the three-dimensional outline of the shoe from two points of the distance L 2 Point Q 'between' 2 'o Q' 2 Z axis value and P of 2 Is matched with the Z-axis value of (c), and is point Q' 2 I.e. P 2 Corresponding to a regeneration point on the regeneration contour;
point Q' 2 (x’ 2 ，y’ 2 ，z’ 2 ) XY coordinates of (a) are obtained as follows:
known as O' (x, y, z), P 1 (x 1 ，y 1 ，z 1 )、P 2 (x 2 ，y 2 ，z 2 )、P 3 (x 3 ，y 3 ，z 3 )；
Straight line P 1 P 3 The included angle between the X axis and the X axis is beta;
according to P 2 Y of (a) 2 The magnitude relationship of y to the centroid O' and the β angle range are determined as follows:
if y 2 >y, then: y' 2 ＝y 2 -L×cosβ；
If beta is<90 degrees, then: x' 2 ＝x 2 +L×sinβ；
If beta is>90, then: x' 2 ＝x 2 -L×sinβ；
If y 2 <y, then: y' 2 ＝y 2 +L×cosβ；
If beta is<90 degrees, then: x' 2 ＝x 2 -L×sinβ；
If beta is>90 degrees, then: x' 2 ＝x 2 +L×sinβ；
(4) Three points P adjacent in successive order 2 、P 3 And P 4 Finding the point P as above 3 Corresponding to a regeneration point Q on the regeneration contour 3 Or Q' 3 And in the same way, obtaining the plurality of points on the three-dimensional outline of the shoe corresponding to the regeneration points on the regeneration outline.
2. A method for regenerating the profile of a three-dimensional profile of a shoe as claimed in claim 1, characterized in that: when any point P of the plurality of points is present i Clockwise or counterclockwise with the next adjacent point P i+1 ，P i+1 To the next adjacent point P i+2 Respectively correspond to the constituent vectors
Said formulaReplacing by adopting a formula II;
the second formula is as follows:
in the second formula:
Q i representing any reproduction point Q on the reproduction profile i Corresponding XY coordinates (x) i ，y i )；
P i To represent any point P on the three-dimensional outline of the shoe i Corresponding XY coordinates (x) i ，y i )；
θ i Representing a vector
And &>
The included angle of (A); theta i Is in the range of (0 °,180 °), and θ i 0 ° and 180 ° are excluded;
α i representing a vector
Toward and/or out>
Angle formed counter-clockwise, alpha i In the range of (0 °,360 °) and α i 0 °,180 °, and 360 ° are excluded; when 0 degree<α i <180 degrees, plus signs are adopted for +/-in the formula II, and when the plus signs are 180 degrees<α i <360 degrees, and minus signs are adopted for +/-in the formula II;
3. A method for regenerating the profile of a three-dimensional profile of a shoe as claimed in claim 1, characterized in that: the point Q 2 Z-axis value of (A) and the P 2 The Z-axis values are the same.
4. The shoe sizing method is characterized in that points in a sole section scanning dot matrix are selected to construct a shoe three-dimensional profile with XYZ axes, and the method comprises the following steps: -generating a regenerated contour by receding along said shoe dimensional contour by a distance L according to the method of claim 1, along which said gluing device applies glue.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910870528.7A CN110689593B (en) | 2019-09-16 | 2019-09-16 | Contour regenerating method for shoe three-dimensional contour, shoe gluing method and shoe gluing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910870528.7A CN110689593B (en) | 2019-09-16 | 2019-09-16 | Contour regenerating method for shoe three-dimensional contour, shoe gluing method and shoe gluing equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110689593A CN110689593A (en) | 2020-01-14 |
| CN110689593B true CN110689593B (en) | 2023-04-07 |
Family
ID=69109335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910870528.7A Active CN110689593B (en) | 2019-09-16 | 2019-09-16 | Contour regenerating method for shoe three-dimensional contour, shoe gluing method and shoe gluing equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110689593B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0515687D0 (en) * | 2001-08-04 | 2005-09-07 | Korea Advanced Inst Sci & Tech | A method for generating an actual cementing operation trajectory |
| CN102142142A (en) * | 2010-01-29 | 2011-08-03 | 鸿富锦精密工业（深圳）有限公司 | Product contour process capability verification system and method |
| CN105225272A (en) * | 2015-09-01 | 2016-01-06 | 成都理工大学 | A kind of tri-dimensional entity modelling method based on the reconstruct of many outline lines triangulation network |
| CN105913444A (en) * | 2016-05-03 | 2016-08-31 | 华南农业大学 | Livestock body contour reconstruction method and body condition scoring method based on soft laser ranging |
| CN108089544A (en) * | 2017-12-25 | 2018-05-29 | 厦门大学嘉庚学院 | A kind of orbit generation method and control system of sole glue spraying robot |
| CN109872396A (en) * | 2019-01-29 | 2019-06-11 | 北京理工大学珠海学院 | A kind of quick cross section profile generation method suitable for triangle grid model |
-
2019
- 2019-09-16 CN CN201910870528.7A patent/CN110689593B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0515687D0 (en) * | 2001-08-04 | 2005-09-07 | Korea Advanced Inst Sci & Tech | A method for generating an actual cementing operation trajectory |
| CN102142142A (en) * | 2010-01-29 | 2011-08-03 | 鸿富锦精密工业（深圳）有限公司 | Product contour process capability verification system and method |
| CN105225272A (en) * | 2015-09-01 | 2016-01-06 | 成都理工大学 | A kind of tri-dimensional entity modelling method based on the reconstruct of many outline lines triangulation network |
| CN105913444A (en) * | 2016-05-03 | 2016-08-31 | 华南农业大学 | Livestock body contour reconstruction method and body condition scoring method based on soft laser ranging |
| CN108089544A (en) * | 2017-12-25 | 2018-05-29 | 厦门大学嘉庚学院 | A kind of orbit generation method and control system of sole glue spraying robot |
| CN109872396A (en) * | 2019-01-29 | 2019-06-11 | 北京理工大学珠海学院 | A kind of quick cross section profile generation method suitable for triangle grid model |
Non-Patent Citations (4)
| Title |
|---|
| 基于CAD模型的鞋底喷胶轨迹生成方法;武传宇等;《计算机辅助设计与图形学学报》;20080515;第20卷(第05期);第678-682页 * |
| 曲线拟合与特征点相结合的鞋印外轮廓特征提取算法;管燕等;《长沙大学学报》;20100331;第24卷(第2期);第50-52页 * |
| 鞋底曲面数据提取与喷胶轨迹的自动生成方法;武传宇等;《机械工程学报》;20080815;第44卷(第08期);第85-89页 * |
| 鞋楦楦底轮廓提取及展平;刘成林等;《激光杂志》;20081215;第29卷(第06期);第45-46页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110689593A (en) | 2020-01-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11763045B2 (en) | Generation of tool paths for shoe assembly | |
| CN109671123B (en) | Sole glue spraying equipment and method based on monocular vision | |
| DE69636693T2 (en) | Method for interference monitoring | |
| CN110876512B (en) | Control method of high-precision automatic gluing system for soles | |
| CN104463851B (en) | A kind of sole edge line automatic tracking method based on robot | |
| CN109523603B (en) | Drawing method and device based on chap style, terminal equipment and storage medium | |
| CN109967292A (en) | A kind of automatic spraying system and its method based on the reconstruct of workpiece profile information three-dimensional | |
| CN105894120A (en) | Attitude control-based sole glue spraying path planning method | |
| CN102348551B (en) | Method and device for creating surface treatment data | |
| CN103983963B (en) | A kind of autoegistration method of multistation ground laser radar data | |
| CN104647377B (en) | A kind of industrial robot based on cognitive system and control method thereof | |
| WO2015076947A1 (en) | Generation of tool paths for shoe assembly | |
| CN105538723B (en) | Utilize the manufacturing method of shoes of 3D printing | |
| CN101847173A (en) | Method of three-dimensional scanning free-shape design and plate-making and molding of clothes or accessories | |
| CN104249221B (en) | The method of processing mould surface by using laser | |
| CN108089544A (en) | A kind of orbit generation method and control system of sole glue spraying robot | |
| CN104190936B (en) | Optimized 3D printing method | |
| CN110689593B (en) | Contour regenerating method for shoe three-dimensional contour, shoe gluing method and shoe gluing equipment | |
| US20210315324A1 (en) | Shoe manufacturing system and method of controlling shoe manufacturing system | |
| CN111127596A (en) | Incremental Voronoi sequence-based layered oil painting brush drawing method | |
| CN105479740B (en) | A kind of object automatic colouring device and method | |
| CN114794665A (en) | Vamp gluing method, device, system and computer readable storage medium | |
| CN101188018A (en) | An automatic land return method and device in typeset | |
| CN110153582A (en) | Welding scheme generation method, device and welding system | |
| CN102101405A (en) | Automatic machining method of color embossment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |