CN113446961A - Method and equipment for determining processing track by visually scanning three-dimensional adhesive surface - Google Patents
Method and equipment for determining processing track by visually scanning three-dimensional adhesive surface Download PDFInfo
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- CN113446961A CN113446961A CN202110752470.3A CN202110752470A CN113446961A CN 113446961 A CN113446961 A CN 113446961A CN 202110752470 A CN202110752470 A CN 202110752470A CN 113446961 A CN113446961 A CN 113446961A
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- dimensional
- shoe body
- sole
- adhesive surface
- control center
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The invention discloses a method and equipment for determining a processing track by visually scanning a three-dimensional adhesive surface, which comprises the following steps: establishing a shoe body three-dimensional space for accommodating a shoe body above a workbench, wherein a shoe body clamping device is arranged in the space, a three-dimensional structure optical camera and a projector are arranged outside the space and connected with a control center, and the control center drives the projector to emit stripe light to irradiate on a graphical interface of a pressed shoe body and a sole; the control center drives the clamping mechanism connected with the rotating mechanism to rotate, more than three strip light bending images are shot and combined into a 360-degree graph, after the black sole part is removed, the curve at the junction of the sole and the shoe body is left, the curve is processed by the control center program module, and the curve used in the polishing and glue brushing process is the target polishing and glue brushing curve. The method provides the most accurate sole polishing and glue brushing line, achieves one sole line, is convenient for subsequent automatic processing, and has the advantages of simple operation and high efficiency.
Description
Technical Field
The invention relates to a shoe processing equipment technology, in particular to a method and equipment for determining a processing track by visually scanning a three-dimensional bonding surface.
Background
In the current processing technology of shoes, most processing methods are that a sole and a vamp are bonded together, the bonding part of the vamp must be polished into a rough surface during bonding, otherwise, the bright vamp is easy to be degummed.
The traditional polishing process is to uniformly set polishing tracks for a type of shoes, and actually, each of soles, vamps and shoe trees has an error, and the polishing tracks have deviation, so that the shoe is not beautiful and the bonding is not firm.
The sole, vamp and shoe tree of every shoes are marked out the line and are markd the line of polishing in the manual work, then manual operation polisher is polished along the line of calibrating, and efficiency is too low.
Thus, the industry calls for an efficient and accurate thread-on-the-shoe process.
The prior art does not have such a technique.
After being inquired, no relevant report is found.
Disclosure of Invention
The invention provides a method and equipment for determining a processing track by visually scanning a three-dimensional bonding surface, which aims at solving the problems that polishing tracks of shoes in the prior art are uniformly set, and actually, each of soles, vamps and shoe trees has an error, and the polishing tracks have deviation, are not attractive and cause poor bonding.
The method is developed according to the principle that objects with different colors have different absorption and reflection effects on light.
It is well known that black is non-reflective in all colors, and that black absorbs light. The structured light camera projects light onto an object in the shooting process, and reflected light is collected and processed by software, so that three-dimensional reconstruction is realized.
Since black absorbs light, when a three-dimensional reconstruction is performed using a specific black and white lens structured light camera, the black portion cannot be displayed at the time of the three-dimensional reconstruction.
Based on the method, when the sole is found to be polished and brushed with the rubber lines (the position where the vamp is overlapped with the sole), black soles or black sole moulds can be used and placed on the vamp and pressed tightly. And a specific black-and-white lens structured light camera is used for shooting, and the black sole part cannot be identified and is automatically omitted in the next three-dimensional reconstruction process. The outline of the uppermost circle of the point cloud obtained by the people is the vamp polishing glue line which needs to be searched. Because the sole, the vamp and the shoe tree have errors, the sole and the vamp have to be pressed together to obtain the most accurate grinding and glue brushing line. If the polishing brush glue line is not accurately found, the polishing trace is exposed when the polishing brush glue line is exceeded, and the shoe upper is scrapped. If the glue is not polished and brushed along the heel line, the vamp is easy to be degummed and cracked. The method can obtain the most accurate sole polishing and brushing rubber lines, and is more convenient for subsequent automatic processing.
In order to achieve the purpose, the invention provides the following technical scheme:
implementing a method for visually scanning a three-dimensional adhesive surface to determine a processing track, the method comprising:
firstly, establishing a shoe body three-dimensional space for accommodating a shoe body, wherein a shoe body clamping device is arranged in the space, the shoe body clamping device is provided with a clamping mechanism and a rotating mechanism, and the clamping mechanism and the rotating mechanism are connected with a control center; the sole is pressed at the bottom of the shoe body, and the junction of the sole and the shoe body is the subsequent polishing and glue brushing curve;
secondly, arranging a three-dimensional structure optical camera beside the three-dimensional space of the shoe body, aligning a camera lens with the pressed shoe body and the sole, and connecting a data interface of the three-dimensional structure optical camera with a control center;
a projector is connected with the control center, and drives the projector to emit stripe light by a stripe light driving signal generated by a stripe generation program module in the control center, and the stripe light irradiates a graphical interface of the pressed shoe body and the sole;
starting a three-dimensional structure optical camera, and shooting modulated light images of the bent stripes of the pressed shoe body and the sole; the curved stripe light image is transmitted to a control center, a demodulation program module demodulates the curved stripes to obtain phase data of each part in the images of the pressed shoe body and the sole, and then the phase data of each part in the images is converted into the height of each part in the images to form three-dimensional images, wherein each point in the three-dimensional images has own three-dimensional coordinates;
fourthly, the control center drives the clamping mechanism connected with the rotating mechanism to rotate, more than three stripe light bending images are shot, and the three-dimensional stereo images of the pressed shoe body and the sole are closed at 360 degrees through a fusion program module of the control center; in the fusion process, because the sole is prepared into the color with extremely weak light reflection, no light rays enter the three-dimensional structure light camera, and thus, the fused three-dimensional images of the pressed shoe body and the sole only reserve the image of the shoe body with the sole cut off;
and step five, searching the three-dimensional coordinates of the complete boundary of the image of the shoe body with the sole cut out by the control center through the edge searching program module and the height screening program module to obtain the three-dimensional coordinates of each point of the intersection line of the vamp and the sole, and forming a target polishing and glue brushing curve.
In the method, the sole in the step one is prepared into a color which is strongly contrasted with the color of the shoe body and is close to black before being pressed on the bottom of the shoe body.
In the above method, the three-dimensional structured light camera in the second step is a binocular three-dimensional structured light camera.
Of course, the single shot will also accomplish the same task.
In the method, the sole in the step one is pressed at the bottom of the shoe body, and the pressure is applied by external force.
In the method, the gluing edge curve aligned with the lens of the three-dimensional structured light camera in the step two is a starting point for determining the coordinate of the three-dimensional structured light camera according to the three-dimensional space geometric coordinate origin of the shoe body in a scanning program module of the control center.
And step two, the fringe light emitted by the projector comprises data parameters related to the three-dimensional space geometric coordinate origin of the shoe body.
And step four, the rotating mechanism rotates, namely the motor drives the clamping mechanism to rotate for 45 degrees every time. Of course, the angle may be larger or smaller.
The sole is pressed on the bottom of the shoe body, and a pressing die connected with the clamping mechanism is pressed on the sole.
The sole is prepared to have strong contrast with the color of the shoe body before being pressed at the bottom of the shoe body, namely the sole is black, and the shoe body is light color.
Or, the sole is prepared to have strong contrast with the color of the shoe body before being pressed on the bottom of the shoe body, namely, the shoe body is black, and the sole is light.
In order to realize the method, the equipment for determining the processing track by visually scanning the three-dimensional adhesive surface is designed and manufactured, and comprises the following steps:
the clamping mechanism is provided with a side pressure plate which clamps the shoe body through a colloid clamping plate;
the rotating mechanism is provided with a servo motor and a gear box and drives the clamping mechanism to rotate;
the optical system comprises a projector and a three-dimensional structured light camera, and a lens is aligned to clamp a three-dimensional space;
and the control center is connected with and drives the servo motor and the optical system.
The three-dimensional structure light camera comprises a first three-dimensional structure light camera and a second three-dimensional structure light camera, and the two cameras are arranged on two sides of the projector.
The optical system has an optical system coordinate adjustment device for adjusting a focal length and a coordinate origin of the optical system with respect to a clamped three-dimensional space.
The optical system has a first camera adjuster for adjusting the first three-dimensional structured light camera coordinate origin.
The optical system has a second camera adjuster for adjusting a second three-dimensional structured light camera origin of coordinates.
The gear box is connected with the forward pushing cylinder fixing plate through a connector.
And positioning pins are arranged on the side pressure plates and are used for connecting a pressing die for pressing the sole.
The driving source of the clamping mechanism is a bidirectional clamping cylinder, one end of the bidirectional clamping cylinder is connected with a cylinder front connecting block, and the other end of the bidirectional clamping cylinder is connected with a cylinder rear connecting block.
The lower sides of the cylinder front connecting block and the cylinder rear connecting block are both connected with side pressure guide blocks, and the side pressure guide blocks slide in the clamping plate sliding grooves.
The front surfaces of the cylinder front connecting block and the cylinder rear connecting block are connected with colloid clamping plates, and the colloid clamping plates are used for clamping shoe bodies.
Compared with the prior art, a workbench is arranged, a shoe body three-dimensional space for accommodating a shoe body is established above the workbench, a shoe body clamping device is arranged in the space, a three-dimensional structure optical camera and a projector are arranged outside the space and connected with a control center, and the control center drives the projector to emit stripe light to irradiate on a graphical interface of a pressed shoe body and a sole; the control center drives the clamping mechanism connected with the rotating mechanism to rotate, more than three stripe light bending images are shot and combined into a 360-degree graph, after the black sole part is removed, the curve at the junction of the sole and the shoe body is left, the curve is processed by the control center program module, and the curve used in the polishing process is the target polishing glue brushing curve.
The method provides the most accurate sole polishing and glue brushing line, achieves one sole line, is convenient for subsequent automatic processing, and has simple operation and high efficiency.
Drawings
FIG. 1 is a schematic diagram of the three-dimensional space establishment in the method and apparatus for visually scanning a three-dimensional adhesive surface to determine a processing path according to the present invention;
FIG. 2 is a schematic view of the method and apparatus for visually scanning a three-dimensional adhesive surface to determine a processing path according to the present invention, wherein the sole is set to black;
FIG. 3 is a graph of a target polishing glue brushing curve in the method and apparatus for visually scanning a three-dimensional bonding surface to determine a processing trajectory according to the present invention;
FIG. 4 is an exploded view of a clamping device in the method and apparatus for visually scanning a three-dimensional adhesive surface to determine a processing path according to the present invention;
FIG. 5 is a schematic view showing the clamping means having clamped the sole of the shoe body in the method and apparatus for visually scanning the three-dimensional adhesive surface to determine the processing path according to the present invention;
FIG. 6 is a schematic view of an optical system in the method and apparatus for visually scanning a three-dimensional adhesive surface to determine a processing path according to the present invention;
FIG. 7 is a schematic diagram of the method and apparatus for visually scanning a three-dimensional adhesive surface to determine a processing path according to the present invention, wherein the left drawing 100 is taken by the second three-dimensional structured light camera 42 and the right drawing 101 is taken by the first three-dimensional structured light camera 41;
FIG. 8 is a block diagram of the system control of the control center in the method and apparatus for visually scanning a three-dimensional adhesive surface to determine a processing path according to the present invention.
Detailed Description
As shown in fig. 1 to 8, the method and apparatus for visually scanning a three-dimensional adhesive surface to determine a processing trajectory of the present invention includes:
firstly, establishing a shoe body three-dimensional space 1 for accommodating a shoe body, wherein a shoe body clamping device is arranged in the space, the shoe body clamping device is provided with a clamping mechanism and a rotating mechanism, and the clamping mechanism and the rotating mechanism are connected with a control center; the sole is pressed at the bottom of the shoe body, and the junction of the sole and the shoe body is the subsequent polishing and glue brushing curve;
secondly, arranging a three-dimensional structure optical camera beside the three-dimensional space of the shoe body, aligning a camera lens with the pressed shoe body and the sole, and connecting a data interface of the three-dimensional structure optical camera with a control center;
a projector is connected with the control center, and drives the projector to emit stripe light by a stripe light driving signal generated by a stripe generation program module in the control center, and the stripe light irradiates a graphical interface of the pressed shoe body and the sole;
starting a three-dimensional structure optical camera, and shooting modulated light images of the bent stripes of the pressed shoe body and the sole; the curved stripe light image is transmitted to a control center, a demodulation program module demodulates the curved stripes to obtain phase data of each part in the images of the pressed shoe body and the sole, and then the phase data of each part in the images is converted into the height of each part in the images to form three-dimensional images, wherein each point in the three-dimensional images has own three-dimensional coordinates;
fourthly, the control center drives the clamping mechanism connected with the rotating mechanism to rotate, more than three stripe light bending images are shot, and the three-dimensional stereo images of the pressed shoe body and the sole are closed at 360 degrees through a fusion program module of the control center; in the fusion process, because the sole is prepared into the color with extremely weak light reflection, no light rays enter the three-dimensional structure light camera, and thus, the fused three-dimensional images of the pressed shoe body and the sole only reserve the image of the shoe body with the sole cut off;
and step five, searching the three-dimensional coordinates of the complete boundary of the image of the shoe body with the sole cut out by the control center through the edge searching program module and the height screening program module to obtain the three-dimensional coordinates of each point of the intersection line of the vamp and the sole, and forming a target polishing and glue brushing curve.
Before the sole is pressed on the bottom of the shoe body, the sole is made into a color which has strong contrast with the color of the shoe body and is close to black.
The three-dimensional structured light camera in the second step is a binocular three-dimensional structured light camera.
The sole is pressed on the bottom of the shoe body in the step one, and pressure is applied by external force.
And the gluing edge curve aligned with the lens of the three-dimensional structure light camera in the step two is a starting point for determining the coordinate of the three-dimensional structure light camera according to the geometric coordinate origin of the shoe three-dimensional space 1 in a scanning program module of the control center.
And step two, the fringe light emitted by the projector comprises data parameters related to the origin of the geometric coordinate of the three-dimensional space 1 of the shoe body.
And step four, the rotating mechanism rotates, namely the motor drives the clamping mechanism to rotate 45 degrees every time, of course, the rotation of 45 degrees is only one of the implementation modes, and the larger angle and the smaller angle are all the same.
The sole is pressed on the bottom of the shoe body, and a pressing die connected with the clamping mechanism is pressed on the sole.
The sole is prepared to have strong contrast with the color of the shoe body before being pressed at the bottom of the shoe body, namely the sole is black, and the shoe body is light color.
The sole is prepared to have strong contrast with the color of the shoe body before being pressed at the bottom of the shoe body, namely the shoe body is black, and the sole is light color.
In order to realize the method, the equipment for determining the processing track by visually scanning the three-dimensional bonding surface is designed and manufactured, and comprises the following steps:
a clamping mechanism, which is provided with a side pressure plate 3 and clamps the shoe body 22 through a colloid clamping plate 6;
a rotating mechanism which is provided with a servo motor 12 and a gear box 16 and drives the clamping mechanism to rotate;
an optical system 4 comprising a projector and a three-dimensional structured light camera, wherein the lens is aligned with and clamps the three-dimensional space 1;
a control center connected to and driving the servo motor 12 and the optical system 4.
The three-dimensional structure light camera includes a first three-dimensional structure light camera 41 and a second three-dimensional structure light camera 42, and the two cameras are disposed on both sides of a projector 43.
The optical system 4 has an optical system coordinate adjusting device 45 for adjusting the focal length and the origin of coordinates of the optical system 4 with respect to the holding three-dimensional space 1.
The optical system 4 has a first camera adjuster 45 for adjusting the origin of coordinates of the first three-dimensional structured light camera 41.
The optical system 4 has a second camera adjuster 46 for adjusting the origin of coordinates of the second three-dimensional structured light camera 42.
The gear box 16 is connected to a forward-pushing cylinder fixing plate 18 through a connector.
And positioning pins 7 are arranged on the side pressure plates 3 and are used for connecting a pressing die for pressing soles.
The driving source of the clamping mechanism is a bidirectional clamping cylinder 8, one end of the bidirectional clamping cylinder 8 is connected with a cylinder front connecting block 10, and the other end of the bidirectional clamping cylinder 8 is connected with a cylinder rear connecting block 11.
The lower sides of the cylinder front connecting block 10 and the cylinder rear connecting block 11 are both connected with a lateral pressure guide block 5, and the lateral pressure guide block 5 slides in the clamping plate sliding groove 2.
The front surfaces of the cylinder front connecting block 10 and the cylinder rear connecting block 11 are both connected with a colloid clamping plate 6, and the colloid clamping plate 6 is used for clamping a shoe body 22.
As shown in fig. 1, it is important to set a measurement reference for the camera and projector, which is calibrated in advance in the program module of fig. 8.
In fig. 1, 2 and 3, the target polishing paste curve 23 is composed of a plurality of points, such as a first three-dimensional coordinate point 231 and a second three-dimensional coordinate point 232, and the set distance between the points is about 0.1mm, which is sufficient for polishing the adhesive automation machine.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (20)
1. A method for determining a processing track by visually scanning a three-dimensional adhesive surface is characterized by comprising the following steps of:
firstly, establishing a shoe body three-dimensional space (1) for accommodating a shoe body, wherein a shoe body clamping device is arranged in the space, the shoe body clamping device is provided with a clamping mechanism and a rotating mechanism, and the clamping mechanism and the rotating mechanism are connected with a control center; the sole is pressed at the bottom of the shoe body, and the junction of the sole and the shoe body is the subsequent polishing and glue brushing curve;
secondly, arranging a three-dimensional structure optical camera beside the three-dimensional space of the shoe body, aligning a camera lens with the pressed shoe body and the sole, and connecting a data interface of the three-dimensional structure optical camera with a control center;
a projector is connected with the control center, and drives the projector to emit stripe light by a stripe light driving signal generated by a stripe generation program module in the control center, and the stripe light irradiates a graphical interface of the pressed shoe body and the sole;
starting a three-dimensional structure optical camera, and shooting modulated light images of the bent stripes of the pressed shoe body and the sole; the curved stripe light image is transmitted to a control center, a demodulation program module demodulates the curved stripes to obtain phase data of each part in the images of the pressed shoe body and the sole, and then the phase data of each part in the images is converted into the height of each part in the images to form three-dimensional images, wherein each point in the three-dimensional images has own three-dimensional coordinates;
fourthly, the control center drives the clamping mechanism connected with the rotating mechanism to rotate, more than three stripe light bending images are shot, and the three-dimensional stereo images of the pressed shoe body and the sole are closed at 360 degrees through a fusion program module of the control center; in the fusion process, because the sole is prepared into the color with extremely weak light reflection, no light rays enter the three-dimensional structure light camera, and thus, the fused three-dimensional images of the pressed shoe body and the sole only reserve the image of the shoe body with the sole cut off;
and step five, searching the three-dimensional coordinates of the complete boundary of the image of the shoe body with the sole cut out by the control center through the edge searching program module and the height screening program module to obtain the three-dimensional coordinates of each point of the intersection line of the vamp and the sole, and forming a target polishing and glue brushing curve.
2. The method for determining the processing track by visually scanning the three-dimensional adhesive surface according to claim 1, wherein the method comprises the following steps: before the sole is pressed on the bottom of the shoe body, the sole is made into a color which has strong contrast with the color of the shoe body and is close to black.
3. The method for determining the processing track by visually scanning the three-dimensional adhesive surface according to claim 1, wherein the method comprises the following steps: the three-dimensional structured light camera in the second step is a binocular three-dimensional structured light camera.
4. The method for determining the processing track by visually scanning the three-dimensional adhesive surface according to claim 1, wherein the method comprises the following steps: the sole is pressed on the bottom of the shoe body in the step one, and pressure is applied by external force.
5. The method for determining the processing track by visually scanning the three-dimensional adhesive surface according to claim 1, wherein the method comprises the following steps: and the gluing edge curve aligned with the three-dimensional structure light camera lens in the step two is a starting point for determining the coordinates of the three-dimensional structure light camera by referring to the geometric coordinate origin of the shoe body three-dimensional space (1) in a scanning program module of the control center.
6. The method for determining the processing track by visually scanning the three-dimensional adhesive surface according to claim 1, wherein the method comprises the following steps: and step two, the fringe light emitted by the projector comprises data parameters related to the origin of the geometric coordinate of the three-dimensional space (1) of the shoe body.
7. The method for determining the processing track by visually scanning the three-dimensional adhesive surface according to claim 1, wherein the method comprises the following steps: and step four, the rotating mechanism rotates, namely the motor drives the clamping mechanism to rotate for 45 degrees every time.
8. The method for determining the processing track by visually scanning the three-dimensional adhesive surface as claimed in claim 4, wherein: the sole is pressed on the bottom of the shoe body, and a pressing die connected with the clamping mechanism is pressed on the sole.
9. The method for determining the processing track by visually scanning the three-dimensional adhesive surface as claimed in claim 2, wherein: the sole is prepared to have strong contrast with the color of the shoe body before being pressed at the bottom of the shoe body, namely the sole is black, and the shoe body is light color.
10. The method for determining the processing track by visually scanning the three-dimensional adhesive surface as claimed in claim 2, wherein: the sole is prepared to have strong contrast with the color of the shoe body before being pressed at the bottom of the shoe body, namely the shoe body is black, and the sole is light color.
11. The utility model provides an equipment of processing orbit is confirmed to three-dimensional adhesive surface of visual scanning which characterized in that: the apparatus comprises:
a clamping mechanism, which is provided with a side pressure plate (3) and clamps the shoe body (22) through a colloid clamping plate (6);
the rotating mechanism is provided with a servo motor (12) and a gear box (16), and the rotating mechanism drives the clamping mechanism to rotate;
an optical system (4) comprising a projector and a three-dimensional structured light camera, the lens being aligned to hold a three-dimensional space (1);
a control center connected to and driving the servo motor (12) and the optical system (4).
12. The apparatus for visually scanning a three-dimensional adhesive surface to define a processing path as claimed in claim 11, wherein: the three-dimensional structure light camera comprises a first three-dimensional structure light camera (41) and a second three-dimensional structure light camera (42), and the two cameras are arranged on two sides of a projector (43).
13. The apparatus for visually scanning a three-dimensional adhesive surface to define a processing path as claimed in claim 11, wherein: the optical system (4) has an optical system coordinate adjusting device (45) for adjusting a focal length and a coordinate origin of the optical system (4) with respect to the clamped three-dimensional space (1).
14. The apparatus for visually scanning a three-dimensional adhesive surface to define a processing path as claimed in claim 11, wherein: the optical system (4) has a first camera adjuster (45) for adjusting the origin of coordinates of the first three-dimensional structured light camera (41).
15. The apparatus for visually scanning a three-dimensional adhesive surface to define a processing path as claimed in claim 11, wherein: the optical system (4) has a second camera adjuster (46) for adjusting the origin of coordinates of the second three-dimensional structured light camera (42).
16. The apparatus for visually scanning a three-dimensional adhesive surface to define a processing path as claimed in claim 11, wherein: the gear box (16) is connected with a forward pushing cylinder fixing plate (18) through a connector.
17. The apparatus for visually scanning a three-dimensional adhesive surface to define a processing path as claimed in claim 11, wherein: and positioning pins (7) are arranged on the side pressure plates (3) and are used for connecting a pressing die for pressing soles.
18. The apparatus for visually scanning a three-dimensional adhesive surface to define a processing path as claimed in claim 11, wherein: the driving source of the clamping mechanism is a bidirectional clamping cylinder (8), one end of the bidirectional clamping cylinder (8) is connected with a cylinder front connecting block (10), and the other end of the bidirectional clamping cylinder (8) is connected with a cylinder rear connecting block (11).
19. The apparatus for visually scanning a three-dimensional adhesive surface to define a processing path as claimed in claim 18, wherein: the lower sides of the cylinder front connecting block (10) and the cylinder rear connecting block (11) are connected with side pressure guide blocks (5), and the side pressure guide blocks (5) slide in the clamping plate sliding grooves (2).
20. The apparatus for visually scanning a three-dimensional adhesive surface to define a processing path as claimed in claim 19, wherein: the front surfaces of the cylinder front connecting block (10) and the cylinder rear connecting block (11) are connected with a colloid clamping plate (6), and the colloid clamping plate (6) is used for clamping a shoe body (22).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110752470.3A CN113446961A (en) | 2021-07-03 | 2021-07-03 | Method and equipment for determining processing track by visually scanning three-dimensional adhesive surface |
| TW111121185A TW202303090A (en) | 2021-07-03 | 2022-06-08 | Method and equipment for determining processing track by visually scanning three-dimensional bonding surface |
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| CN202110752470.3A CN113446961A (en) | 2021-07-03 | 2021-07-03 | Method and equipment for determining processing track by visually scanning three-dimensional adhesive surface |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115381188A (en) * | 2022-07-18 | 2022-11-25 | 浙江盛达机器人科技有限公司 | Intelligent vamp polishing method |
| CN115381189A (en) * | 2022-07-18 | 2022-11-25 | 浙江盛达机器人科技有限公司 | Intelligence vamp polishing robot |
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| CN110731580A (en) * | 2013-11-19 | 2020-01-31 | 耐克创新有限合伙公司 | Tool trajectory generation for shoe assembly |
| CN111513428A (en) * | 2020-06-03 | 2020-08-11 | 福建省华宝智能科技有限公司 | Robot three-dimensional vision system and method for sole and vamp scanning operation |
| CN111567989A (en) * | 2020-05-25 | 2020-08-25 | 泉州华中科技大学智能制造研究院 | Device for measuring rubber lines at rubber coating edge of shoe and measuring method thereof |
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| CN115381188A (en) * | 2022-07-18 | 2022-11-25 | 浙江盛达机器人科技有限公司 | Intelligent vamp polishing method |
| CN115381189A (en) * | 2022-07-18 | 2022-11-25 | 浙江盛达机器人科技有限公司 | Intelligence vamp polishing robot |
| CN115381189B (en) * | 2022-07-18 | 2024-02-23 | 浙江盛达机器人科技有限公司 | Intelligence vamp machine people of polishing |
| CN115381188B (en) * | 2022-07-18 | 2024-02-27 | 浙江盛达机器人科技有限公司 | Intelligent vamp polishing method |
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