CN111109766A - Shoe upper grinding device - Google Patents
Shoe upper grinding device Download PDFInfo
- Publication number
- CN111109766A CN111109766A CN201911293795.9A CN201911293795A CN111109766A CN 111109766 A CN111109766 A CN 111109766A CN 201911293795 A CN201911293795 A CN 201911293795A CN 111109766 A CN111109766 A CN 111109766A
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- China
- Prior art keywords
- shoe
- camera
- polishing
- main shaft
- moving platform
- 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
- A43D8/00—Machines for cutting, ornamenting, marking or otherwise working up shoe part blanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The invention relates to an upper polishing device, comprising: product carrier, 3D vision mechanism and grinding machanism. The product carrier includes: the device comprises a guide rail, a moving platform, a feeding driver and a shoe tree; the feeding driver is used for driving the moving platform to move on the guide rail so as to convey the shoes from the upper outline scanning station to the upper polishing station; the 3D vision mechanism includes: a spindle, a main drive, and a 3D camera; the main driver is used for driving the main shaft to rotate around the shoe positioned at the upper profile scanning station; the 3D camera is used for scanning the outline of the upper of the shoe to generate a 3D track required by polishing; the grinding mechanism grinds the upper of the shoe according to the 3D track generated by the 3D vision mechanism. Above-mentioned upper of a shoe grinding device adopts autoloading, 3D visual scanning to confirm the orbit of polishing and mechanized polishing, realizes the automatic operation that the upper of a shoe of shoes was polished, replaces artifical polishing to improve the productivity, reduce cost promotes the production environment, improves the product quality.
Description
Technical Field
The invention relates to the technical field of industrial processing equipment, in particular to an upper polishing device.
Background
The shoes are a necessity in daily life, the production and manufacturing industry of the shoes also becomes a traditional industry closely related to human life, the manufacturing process is complex, and the quality requirement is high. Generally, when a shoe is manufactured, the sole and the upper are ground to modify the contour of the shoe.
Aiming at polishing the upper, the traditional method is that when manual polishing is used, the efficiency is low, time is consumed for manually teaching point positions, the quality is unstable, polishing ash generates a large amount of dust, and long-term suction is harmful to human bodies. Therefore, it is necessary to develop a device capable of automatically polishing shoe uppers to replace manual polishing, so as to improve productivity, reduce cost, improve production environment and improve product quality.
Disclosure of Invention
Based on the technical scheme, the upper polishing device provided by the invention has the advantages that the polishing track is determined by adopting automatic feeding and 3D visual scanning, and the polishing is mechanical, so that the automatic operation of polishing the upper of the shoe is realized, the manual polishing is replaced, the productivity is improved, the cost is reduced, the production environment is improved, and the product quality is improved.
An upper grinding device comprising:
a product carrier; the product carrier includes: the device comprises a guide rail, a moving platform connected with the guide rail in a sliding manner, a feeding driver connected with the moving platform, and a shoe tree installed on the moving platform; the shoe tree is used for loading shoes needing to be polished so as to polish the upper; the feeding driver is used for driving the moving platform to move on the guide rail so as to convey the shoes from the upper outline scanning station to the upper polishing station;
a 3D vision mechanism; the 3D vision mechanism includes: the device comprises a main shaft, a main driver connected with the main shaft and a 3D camera arranged on the main shaft; the main driver is used for driving the main shaft to rotate around the shoe positioned at the upper profile scanning station; the 3D camera is used for scanning the outline of the upper of the shoe to generate a 3D track required by polishing; and
a polishing mechanism; and the grinding mechanism grinds the upper of the shoe positioned at the upper grinding station according to the 3D track generated by the 3D vision mechanism.
Above-mentioned upper of a shoe grinding device, the during operation, the shoes that will polish the upper of a shoe are placed on the shoe tree of product carrier, and the pay-off driver drives moving platform and removes to upper of a shoe profile scanning station. Then, a main shaft driver of the 3D vision mechanism drives a main shaft to rotate around the shoe at the upper contour scanning station, and the 3D camera visually scans the upper contour to generate a 3D track required for polishing in the rotating process of the main shaft and sends the 3D track to the polishing mechanism. Then, the feeding driver drives the moving platform to move to an upper polishing station, and the polishing mechanism polishes the upper of the shoe according to the received 3D track, so that automatic upper polishing operation is completed. Through above-mentioned design, adopt autoloading, 3D visual scanning to confirm the orbit of polishing and mechanized polishing, realize the automation mechanized operation that the upper of a shoe was polished of shoes, replace artifical polishing to improve the productivity, reduce cost promotes the production environment, improves the product quality.
In one embodiment, the 3D camera is a 3D structured light binocular camera; the 3D camera is provided with a laser lens and a camera lens; the camera lens is a CCD or a CMOS. The 3D structured light binocular camera is mature in technology, the camera base line can be made smaller, miniaturization is facilitated, resource consumption is low, power consumption is low, accuracy is high, and resolution is high.
In one embodiment, the 3D vision mechanism further comprises: a sub-driver connected to the main shaft; the 3D camera is mounted on the secondary drive; the auxiliary driver is used for driving the 3D camera to rotate by taking the laser lens of the 3D camera as an axis so as to adjust an included angle between the main shaft and the camera lens of the 3D camera. Considering shoes of different styles, the outlines of the uppers of the shoes are different, and under certain conditions, when the 3D camera is driven to move only by the rotation of the main shaft, light rays emitted by the laser lens are shielded by the uppers after being reflected by the uppers, so that the camera lens cannot receive feedback signals, and scanning blind areas occur. Therefore, the auxiliary driver can be arranged, so that the 3D camera can rotate by taking the laser lens as an axis to adjust the included angle between the camera lens and the main shaft, and the scanning blind area is avoided.
In one embodiment, the upper grinding device further comprises: a frame; the frame is located upper of a shoe profile scanning station, and 3D vision mechanism hangs and installs in the frame. The frame can provide the environment of stable upper of a shoe profile scanning, is favorable to improving the stability of the scanning effect of 3D camera.
In one embodiment, the frame is provided with an illumination source. The illumination light source is used to supplement illumination to ensure that the 3D camera has a good working environment.
In one embodiment, the sharpening mechanism comprises: an industrial robot and a polishing head mounted on the industrial robot; the industrial robot is located the upper of a shoe station of polishing. Industrial robot's controllability is strong to possess the high flexibility of multiaxis action, can drive the operation of polishing that the head realized the accuracy.
In one embodiment, the last is a contoured shoe mold. The profiling shoe mold can enable the positioning of the shoes to be more stable, and the shoes are prevented from shaking in the polishing process to reduce the polishing effect.
In one embodiment, the last is provided with suction cups. The sucking disc can improve the positional stability of shoes.
In one embodiment, the shoe tree is removably attached to the mobile platform. According to shoes of different styles, the matched shoe tree can be replaced in a detachable mode.
In one embodiment, the feeder drive comprises: the motor, a screw rod connected with the motor and a nut sleeve sleeved with the screw rod; the nut sleeve is connected with the moving platform. Adopt the actuating mechanism that motor and lead screw constitute, can provide stable and accurate drive power to when polishing the upper of a shoe, shoes are difficult to appear rocking.
Drawings
FIG. 1 is a schematic view of an upper grinding device according to an embodiment of the present invention;
FIG. 2 is a schematic view of one embodiment of a 3D vision mechanism in the upper grinding device of FIG. 1;
FIG. 3 is a schematic diagram of the operation of the 3D vision mechanism shown in FIG. 2;
FIG. 4 is a schematic view of another embodiment of the 3D vision mechanism shown in FIG. 2;
fig. 5 is a schematic diagram of the operation of the 3D vision mechanism shown in fig. 4.
The meaning of the reference symbols in the drawings is:
100-upper grinding device;
10-product carrier, 11-guide rail, 12-moving platform, 13-shoe tree;
20-3D vision mechanism, 21-main shaft, 22-main driver, 23-3D camera, 24-auxiliary driver;
and 30-a frame.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As shown in fig. 1 to 5, an upper grinding device 100 according to an embodiment of the present invention is provided.
As shown in fig. 1, the upper grinding device 100 includes: a product carrier 10, a 3D vision mechanism 20, and a sanding mechanism (not shown). The product carrier 10 is used for loading shoes to be upper-polished and driving the shoes to move from the upper contour scanning station to the upper polishing station. The 3D vision mechanism 20 is located at the upper profile grinding station and is used to scan the upper profile of the shoe to generate the 3D trajectory required for grinding. The grinding mechanism is located at an upper grinding station and is used for grinding the upper of the shoe according to the 3D track.
Hereinafter, the above-mentioned upper polishing device 100 will be further described with reference to fig. 2 to 5 on the basis of fig. 1.
As shown in fig. 1, the product carrier 10 includes: a guide rail 11, a moving platform 12 slidably connected to the guide rail 11, a feeding driver (not shown) connected to the moving platform 12, and a shoe last 13 mounted on the moving platform 12. The shoe tree 13 is used for loading shoes to be ground to grind the upper, and the feeding driver is used for driving the moving platform 12 to move on the guide rail 11 to convey the shoes from the upper contour scanning station to the upper grinding station. In this embodiment, the shoe tree 13 is mounted upside down on the mobile platform 12, i.e. the shoes are loaded on the product carrier 10 with their soles facing upwards.
In this embodiment, the feed driver includes: the motor, the lead screw of connecting the motor and cup joint the nut cover of lead screw. The nut sleeve is connected with the moving platform 12. Adopt the actuating mechanism that motor and lead screw constitute, can provide stable and accurate drive power to when polishing the upper of a shoe, shoes are difficult to appear rocking.
It will be appreciated that in other embodiments, the feed drive may be a feed drive comprising: a cylinder connected to the moving platform 12. But based on the stroke restriction of cylinder, its actuating mechanism that builds than motor and lead screw is slightly poor, but its simple structure, control is simple, is applicable to the scene of little stroke.
As shown in FIG. 1, in this embodiment, last 13 is a contoured shoe mold. The profiling shoe mold can enable the positioning of the shoes to be more stable, and the shoes are prevented from shaking in the polishing process to reduce the polishing effect. In other embodiments, last 13 may also be provided with suction cups. The sucking disc can improve the positional stability of shoes. The suction cups are plural in number and may be sequentially disposed on the top of the footwear last 13 in the length direction of the footwear last 13.
In addition, the fitting effect can be achieved by considering that shoes of different styles need shoe trees 13 of different shapes. Therefore, in this embodiment, the shoe tree 13 is detachably attached to the moving platform 12. According to the shoes with different styles, the matched shoe tree 13 can be replaced in a detachable mode.
As shown in fig. 2, in the present embodiment, the 3D vision mechanism 20 includes: a main shaft 21, a main driver 22 connected to the main shaft 21, and a 3D camera 23 mounted on the main shaft 21. The main driver 22 is used for driving the main shaft 21 to rotate around the shoe at the upper outline scanning station. The 3D camera 23 is used to scan the upper contour of the shoe to generate the 3D trajectory required for the grinding.
In the present embodiment, the 3D camera 23 is a 3D structured light binocular camera. The 3D camera 23 is provided with a laser lens and an imaging lens. The camera lens is a CCD or a CMOS. The 3D structured light binocular camera is mature in technology, the camera base line can be made smaller, miniaturization is facilitated, resource consumption is low, power consumption is low, accuracy is high, and resolution is high.
As shown in fig. 3, based on the working principle of the 3D structured light binocular camera, when the 3D camera 23 follows the main shaft 21 to wind around the shoe (for example, rotate around the shoe for one turn), at some positions of the upper, for example, some areas of the toe cap and the tail of the shoe, light emitted from the laser lens is reflected by the upper and then blocked by the upper, so that the camera lens cannot receive a feedback signal, and a scanning blind area occurs, therefore, the single-shaft design has a problem of scanning blind area.
In order to solve the problem of the scanning blind area of the single-axis design 3D vision mechanism 20, another implementation manner of the 3D vision mechanism 20 is provided in the present embodiment.
As shown in fig. 4, the 3D vision mechanism 20 further includes: and a sub-driver 24 connected to the main shaft 21. The 3D camera 23 is mounted on the sub-driver 24. The sub-driver 24 is configured to drive the 3D camera 23 to rotate around a laser lens of the 3D camera 23, so as to adjust an included angle between the main shaft 21 and a camera lens of the 3D camera 23.
As shown in fig. 5, the elliptical trajectory is an upper simulation contour of a shoe obtained according to a shoe of a current style, during scanning, the main driver 22 drives the main shaft 21 to rotate around the shoe, and the sub driver 24 is used as a reference, and at this time, the moving trajectory of the sub driver 24 is a circle. When the 3D camera 23 moves to the scanning blind area with the single-axis design, the sub-driver 24 drives the 3D camera 23 to rotate, so as to adjust an included angle between the camera lens and the main shaft 21, that is, to change the orientation of the camera lens so that the camera lens can receive light rays which are emitted by the laser lens to the upper and reflected back.
Considering shoes of different styles, the outlines of the uppers of the shoes are different, and in some cases, when the 3D camera 23 is driven to move only by the rotation of the main shaft 21, light emitted by the laser lens is shielded by the uppers after being reflected by the uppers, so that the camera lens cannot receive feedback signals, and scanning blind areas occur. Therefore, the sub-driver 24 may be provided so that the 3D camera 23 may rotate around its laser lens to adjust an included angle between the camera lens and the main shaft 21, thereby avoiding a scanning blind area.
In this embodiment, the grinding mechanism includes: an industrial robot and a polishing head mounted on the industrial robot; the industrial robot is located the upper of a shoe station of polishing. Industrial robot's controllability is strong to possess the high flexibility of multiaxis action, can drive the operation of polishing that the head realized the accuracy.
As shown in fig. 1, in this embodiment, the upper grinding device 100 may further include: a housing 30. The frame 30 is located at the upper profile scanning station and the 3D vision mechanism 20 is mounted suspended from the frame 30. The chassis 30 may provide a stable environment for scanning the upper profile, which is beneficial to improving the stability of the scanning effect of the 3D camera 23.
Further, the housing 30 may be provided with an illumination light source. The illumination light source is used to supplement the illuminance to ensure that the 3D camera 23 has a good working environment.
In the upper polishing device 100, when the shoe polishing device works, shoes to be polished are placed on the shoe tree 13 of the product carrier 10, and the feeding driver drives the moving platform 12 to move to the upper contour scanning station. Then, the spindle 21 driver of the 3D vision mechanism 20 drives the spindle 21 to rotate around the shoe at the upper contour scanning station, and the 3D camera 23 visually scans the upper contour during the rotation of the spindle 21 to generate a 3D track required for polishing and sends the 3D track to the polishing mechanism. Then, the feeding driver drives the moving platform 12 to move to an upper polishing station, and the polishing mechanism polishes the upper of the shoe according to the received 3D track, so that the automatic upper polishing operation is completed. Through above-mentioned design, adopt autoloading, 3D visual scanning to confirm the orbit of polishing and mechanized polishing, realize the automation mechanized operation that the upper of a shoe was polished of shoes, replace artifical polishing to improve the productivity, reduce cost promotes the production environment, improves the product quality.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express preferred embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides an upper of a shoe grinding device which characterized in that: the method comprises the following steps:
a product carrier; the product carrier includes: the device comprises a guide rail, a moving platform connected with the guide rail in a sliding manner, a feeding driver connected with the moving platform, and a shoe tree installed on the moving platform; the shoe tree is used for loading shoes needing to be polished so as to polish the upper; the feeding driver is used for driving the moving platform to move on the guide rail so as to convey the shoes from the upper outline scanning station to the upper polishing station;
a 3D vision mechanism; the 3D vision mechanism includes: the device comprises a main shaft, a main driver connected with the main shaft and a 3D camera installed on the main shaft; the main driver is used for driving the main shaft to rotate around the shoe positioned at the upper profile scanning station; the 3D camera is used for scanning the outline of the upper of the shoe to generate a 3D track required by polishing; and
a polishing mechanism; and the grinding mechanism grinds the upper of the shoe positioned at the upper grinding station according to the 3D track generated by the 3D vision mechanism.
2. The upper grinding device of claim 1, wherein the 3D camera is a 3D structured light binocular camera; the 3D camera is provided with a laser lens and a camera lens; the camera lens is a CCD or a CMOS.
3. The upper grinding apparatus of claim 2, wherein the 3D vision mechanism further comprises: a secondary drive connected to the main shaft; the 3D camera is mounted on the secondary drive; the auxiliary driver is used for driving the 3D camera to rotate by taking the laser lens of the 3D camera as an axis so as to adjust an included angle between the main shaft and the camera lens of the 3D camera.
4. The upper grinding apparatus of claim 1, further comprising: a frame; the frame is located upper of a shoe profile scanning station, just 3D vision mechanism hangs and installs in the frame.
5. The upper grinding apparatus of claim 4, wherein the frame is provided with an illumination source.
6. The upper grinding apparatus of claim 1, wherein the grinding mechanism comprises: the polishing head is arranged on the industrial robot; the industrial robot is located an upper polishing station.
7. The upper buffing apparatus of claim 1 wherein the shoe last is a contoured shoe mold.
8. Upper grinding device according to claim 7, characterized in that the shoe tree is provided with suction cups.
9. The upper grinding apparatus of claim 7 wherein the shoe tree is removably attached to the mobile platform.
10. The upper grinding apparatus of claim 1 wherein the feed drive comprises: the nut sleeve is sleeved on the screw rod; the nut sleeve is connected with the moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911293795.9A CN111109766B (en) | 2019-12-16 | 2019-12-16 | Shoe upper grinding device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911293795.9A CN111109766B (en) | 2019-12-16 | 2019-12-16 | Shoe upper grinding device |
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| CN111109766A true CN111109766A (en) | 2020-05-08 |
| CN111109766B CN111109766B (en) | 2021-10-22 |
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| CN201911293795.9A Active CN111109766B (en) | 2019-12-16 | 2019-12-16 | Shoe upper grinding device |
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Cited By (3)
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| CN113601333A (en) * | 2021-07-22 | 2021-11-05 | 深圳市九丞技术有限公司 | Intelligent flexible polishing method, device and equipment |
| CN114176290A (en) * | 2020-09-14 | 2022-03-15 | 广东天机工业智能系统有限公司 | Template-free full-automatic sole glue spraying method and device and storage medium |
| CN114536156A (en) * | 2020-11-25 | 2022-05-27 | 广东天机工业智能系统有限公司 | Shoe upper grinding track generation method |
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Address after: 523000 building 3, no.6, West Third Industrial Road, Songshanhu Park, Dongguan City, Guangdong Province Patentee after: Guangdong Tianji Intelligent System Co.,Ltd. Address before: 523000 building 3, no.6, West Third Industrial Road, Songshanhu Park, Dongguan City, Guangdong Province Patentee before: GUANGDONG TIANJI INDUSTRIAL INTELLIGENT SYSTEM Co.,Ltd. |