CN114304815A - Five numerical control system sole workstations of polishing based on machine vision - Google Patents
Five numerical control system sole workstations of polishing based on machine vision Download PDFInfo
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- CN114304815A CN114304815A CN202210243921.5A CN202210243921A CN114304815A CN 114304815 A CN114304815 A CN 114304815A CN 202210243921 A CN202210243921 A CN 202210243921A CN 114304815 A CN114304815 A CN 114304815A
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Abstract
The invention relates to the technical field of sole polishing, and provides a five-axis numerical control system sole polishing workstation based on machine vision, which has reasonable structural design and simple operation and can polish the inner sides of soles with different sizes.
Description
Technical Field
The invention relates to the technical field of sole polishing equipment, in particular to a five-axis numerical control system sole polishing workstation based on machine vision.
Background
A link is provided in a shoe making production line, namely, the inner side of a sole is roughened so as to be convenient for coating glue on the inner side of the sole for bonding with a vamp in the subsequent process, most of the link still stays in manual operation at present, the production efficiency is greatly influenced, the traditional artificial sole polishing rejection rate is high, the product quality is difficult to guarantee under the current situation of uneven product quality. In addition, dust pollution caused by sanding is serious, and causes considerable harm to the health of workers.
To present sole link of polishing, manual work is more than the machine operation, and the sole outside is polished and is more than the inboard and polish in the machine operation, and the shape of the profile of the face is complicated in the inboard polishing, and every type of shoes sole shape differs, and every size differs in size, and the side shape is complicated, and material rigidity is less, has the cutter relieving phenomenon when the machine is polished for anchor clamps preparation is complicated, and the control of polishing is difficult, and equipment cost is high, leads to making the inboard polishing of sole difficult realization automation.
Disclosure of Invention
Therefore, aiming at the problems, the invention provides the five-axis numerical control system sole polishing workstation based on the machine vision, which has reasonable structural design and simple and easy operation and can realize the polishing of the inner sides of soles with different sizes.
In order to solve the technical problem, the invention adopts the technical scheme that the five-axis numerical control system sole polishing workstation based on machine vision comprises a rack, wherein at least one operating platform used for conveying soles to polish is rotatably arranged on the rack, at least one clamping mechanism used for clamping the soles is arranged on the operating platform, a polishing head used for polishing the inner sides of the soles at multiple angles is movably arranged above the operating platform, a scanning device used for scanning the outline of the soles is arranged above the operating platform on the rack, and a driving mechanism used for driving the polishing head to polish the inner sides of the soles and a rotating driving mechanism used for driving the operating platform to rotate are arranged on the rack;
four groups of clamping mechanisms which are respectively used for feeding and discharging clamping, clamping to be measured, measuring clamping and polishing clamping of the sole are uniformly distributed on the operating platform along the radial direction;
the clamping mechanism comprises two first clamping blocks and two second clamping blocks which are respectively and rotatably arranged on the upper surface of the operating platform, a clamping space for clamping the sole is formed between the first clamping blocks and the second clamping blocks, and a clamping driving device for driving the second clamping blocks to slide towards the first clamping blocks to clamp the sole is arranged on the operating platform; the two end parts of the clamping surfaces of the first clamping block and the second clamping block are provided with clamping bulges which are used for being propped against the side surface of the sole during flexible rotation so as to adapt to the complex shape of the side surface of the sole; the clamping driving device comprises an air cylinder, a shell of the air cylinder is fixedly arranged on the operating platform, a piston rod of the air cylinder is provided with an installation block, and the second clamping block is rotatably arranged on the installation block; the casing of cylinder fixed set up in operation platform's lower surface is last to be located the mouth that slides has been seted up between cylinder and the centre gripping space, installation piece upper end set up in slide mouthful.
The further improvement is that: the number of the operating platforms is two, the two operating platforms are horizontally arranged on the rack in parallel, and scanning devices for alternately scanning the inner sides of the soles on the two operating platforms are arranged on the two operating platforms on the rack.
The further improvement is that: the drive mechanism includes the polisher of vertical setting, the head of polishing set up in on the rotary head of polisher, be provided with in the frame and be used for the drive polisher back and forth reciprocating's first drive arrangement, be used for the drive polisher left and right reciprocating's second drive arrangement, be used for the drive polisher up and down reciprocating's third drive arrangement, be used for the drive the polisher uses vertical direction as center of rotation axle pivoted fourth drive arrangement, is used for the drive polisher reciprocating swing's fifth drive arrangement.
The further improvement is that: the scanning device comprises a camera with a binocular line structure and used for scanning the point cloud of the sole, and a sliding driving mechanism used for driving the camera to horizontally slide is arranged on the rack.
The further improvement is that: the sliding driving mechanism comprises a sliding rail horizontally arranged on a rack above the operating platform, a driving block is arranged on the sliding rail in a sliding manner, the camera is arranged on the driving block, and a sliding driving device used for driving the driving block to slide is arranged on the rack; the sliding driving device comprises a sliding driving motor arranged on one side of the sliding rail, a shell of the sliding driving motor is fixedly arranged on the rack, a first sliding driving belt wheel is arranged on a rotating shaft of the sliding driving motor, the rack is located on the sliding rail other end of the sliding rail, a second sliding driving belt wheel is rotatably arranged on the other end of the sliding rail, a sliding driving belt is wound on the first sliding driving belt wheel and the second sliding driving belt wheel, and a driving block is fixedly arranged on the sliding driving belt.
The further improvement is that: the rotation driving mechanism comprises a supporting column for supporting an operating platform, the operating platform is rotatably arranged on the upper end surface of the supporting column, an installation channel is formed in the supporting column, and a rotation driving device for driving the operating platform to rotate is arranged in the installation channel; the rotation driving device comprises a rotation driving motor, a shell of the rotation driving motor is fixedly arranged in the installation channel, and a rotating shaft of the rotation driving motor is fixedly arranged on the center of the operation platform.
The further improvement is that: first drive arrangement include along frame fore-and-aft direction horizontal symmetry set up in two first guide rails in the frame, two can slide respectively on the first guide rail and be provided with two first sliders, four the fixed first mounting panel that is provided with on the first slider, the polisher activity set up in first mounting panel below, be located one in the frame first guide rail one end is provided with first motor, the casing of first motor fixed set up in the frame, the cover is equipped with first belt pulley on the rotation axis of motor, be located in the frame the second belt pulley that the other end of first guide rail was provided with, around being equipped with first belt on first belt pulley and the second belt pulley, first mounting panel fixed set up in on the first belt.
The further improvement is that: the second driving device comprises second guide rails horizontally and symmetrically arranged on the first mounting plate along the left-right direction, a second slide block is arranged on the second guide rail in a sliding way, a second mounting plate is arranged on the two second slide blocks, a first driving port for a component for driving the grinding machine to move to pass through is arranged on the first mounting plate and positioned between the second guide rails, the sander is movably arranged below the second mounting plate, a second motor is arranged at one end of the second guide rail on the first mounting plate, the shell of the second motor is fixedly arranged on the second mounting plate, a rotating shaft of the second motor is sleeved with a third belt pulley, a fourth belt pulley is arranged at the other end of the second guide rail on the first mounting plate, a second belt is wound on the third belt pulley and the fourth belt pulley, and the second mounting plate is fixedly arranged on the second belt; the third driving device comprises a third mounting plate vertically arranged on the lower end face of the second mounting plate, a third guide rail is vertically and symmetrically arranged on the third mounting plate, a third slider is arranged on the third guide rail, the third slider is fixedly arranged on the third mounting plate, a fourth mounting plate is arranged on the third guide rail, a third motor is arranged on the second mounting plate, a shell of the third motor is fixedly arranged on the upper end face of the second mounting plate, a fifth belt pulley is sleeved on a rotating shaft of the third motor, a sixth belt pulley is rotatably arranged at the lower end of the third mounting plate, a third belt is vertically sleeved on the fifth belt pulley and the sixth belt pulley, a through hole for the third belt to pass through is formed in the second mounting plate, and the fourth mounting plate is fixedly arranged on the third belt; the fourth driving device comprises a first joint module motor, a shell of the first joint module motor is rotatably arranged on the fourth mounting plate, a rotating central shaft of the first joint module motor is parallel to the vertical direction, and the grinding machine is movably arranged below the first joint module; fifth drive arrangement includes second joint module motor, the casing of second joint module motor fixed set up in the rotation of first joint module motor is served, the rotation center pin of second joint module is on a parallel with the horizontal direction, the rotation of second joint module is served and is vertically provided with the fifth mounting panel, the vertical fixed set up of casing of polisher in on the fifth mounting panel.
By adopting the technical scheme, the invention has the beneficial effects that:
1. at present, the production rhythm of manual polishing of a factory is 7 seconds/piece, and the production rhythm of the equipment is 5 seconds/piece, so that the polishing efficiency of a single sole is improved, the equipment can work continuously for 24 hours, the polishing efficiency of the sole is greatly improved, and greater benefits are brought to enterprises.
2. This equipment scans the sole profile through two mesh line structure light cameras, two mesh line structure light cameras are superior to single mesh line structure light cameras, there is no vision blind area, make the point cloud of scanning more complete, and carry out data processing to the sole three-dimensional point cloud that obtains through combining outside processing apparatus, generate the polishing point orbit of sole and calculate the gesture of polishing, then through a series of coordinate transformation, the coordinate system that will polish the point place is converted into under five-axis mechanical arm basic coordinate system, and five-axis mechanical arm executable program is issued to five-axis mechanical arm, five-axis mechanical numerical control technique automation and the flexible activation of polishing have been realized, the replacement manual work that can be fine is polished the sole, it influences healthy to have avoided the artifical dust that inhales the grinding to get off.
3. This equipment is carried the sole through operation platform's rotation, make the sole get into the last unloading station of equipment in proper order, measure the station, on the station of polishing, with the conveying route of circular gyration route, the distance between the sole on every station has been shortened, carry the sole with the optimal conveying route, the distance between each station has been reduced, carry out high integration to the station, optimize equipment's volume, reduce the occupation space of equipment, be of value to the use of middle-size and small-size enterprise to this equipment.
4. Five-axis manipulator that control polisher was polished in this equipment hangs upside down and sets up in the frame of operation platform top, has saved installation space, reduces the area of equipment, and the vertical space in full reasonable utilization workshop to the operation scope of robot has been restricted, security when having guaranteed the operation.
5. The clamping mechanism in the device can flexibly clamp the sole through the first clamping block and the second clamping block which can rotatably adapt to the side face of the sole and clamp the sole, and the clamping space formed between the first clamping block and the second clamping block and used for clamping the sole can be adjusted within a certain range, so that the clamping mechanism can adapt to soles with different sizes and different shapes, and the flexibility and the universality of the clamping mechanism are improved.
6. Two operation platforms in the equipment use the same scanning camera together, make up the expensive price of the binocular line structure light camera, reduce the manufacturing cost of equipment.
Drawings
FIG. 1 is a schematic structural diagram of a five-axis numerical control system sole grinding workstation based on machine vision according to an embodiment of the invention.
FIG. 2 is a schematic structural diagram of an operating platform in a five-axis numerical control system sole grinding workstation based on machine vision according to an embodiment of the invention.
Fig. 3 is a schematic structural diagram of a driving mechanism and a scanning device in a five-axis numerical control system sole grinding workstation based on machine vision according to an embodiment of the invention.
Fig. 4 is a schematic structural diagram of a driving mechanism in a five-axis numerical control system sole grinding workstation based on machine vision according to an embodiment of the invention.
FIG. 5 is a schematic structural diagram of a driving mechanism in a five-axis numerical control system sole grinding workstation based on machine vision according to an embodiment of the invention.
Detailed Description
The invention will now be further described with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 5, the embodiment of the invention discloses a five-axis numerical control system sole polishing workstation based on machine vision, which comprises a frame 10, wherein two operation platforms 11 for conveying soles to perform polishing operation are rotatably arranged on the frame 10, the two operation platforms 11 are horizontally arranged on the frame 10 in parallel, four groups of clamping mechanisms which are respectively corresponding to a feeding and discharging station 12, a station to be measured 13, a measuring station 14 and a polishing station 15 and used for feeding and discharging clamping, clamping to be measured, clamping for measurement and polishing clamping of soles are uniformly distributed on the operation platforms 11 along the radial direction, an opening 17 used for reducing the weight of the operation platform 11 is arranged between the two clamping mechanisms on the operation platform 11, a polishing head 18 used for polishing the inner sides of the soles at multiple angles is movably arranged above the operation platform 11, the polishing diameter of the polishing head 18 is gradually reduced from top to bottom, the two operation platforms 11 are provided with scanning devices for alternately scanning the inner sides of the soles on the two operation platforms 11 on the frame 10, and the frame 10 is provided with a driving mechanism for driving the polishing head 18 to polish the inner sides of the soles and a rotation driving mechanism for driving the operation platforms 11 to rotate.
The scanning device comprises a camera 19 with a binocular line structure and used for scanning the point cloud of the sole, and a sliding driving mechanism used for driving the camera 19 to horizontally slide is arranged on the machine frame 10. The sliding driving mechanism comprises a sliding rail 20 horizontally arranged on the rack 10 above the operating platform 11, a driving block 21 is arranged on the sliding rail 20 in a sliding manner, the camera 19 is arranged on the driving block 21, and a sliding driving device used for driving the driving block 21 to slide is arranged on the rack 10. The sliding driving device comprises a sliding driving motor 22 arranged on one side of the sliding rail 20, a shell of the sliding driving motor 22 is fixedly arranged on the rack 10, a first sliding driving belt wheel is arranged on a rotating shaft of the sliding driving motor 22, the rack 10 is located on the sliding rail 20, the other end of the sliding rail is rotatably provided with a second sliding driving belt wheel, the first sliding driving belt wheel and the second sliding driving belt wheel are wound with a sliding driving belt 23, and the driving block 21 is fixedly arranged on the sliding driving belt 23.
The clamping mechanism comprises two first clamping blocks 24 and two second clamping blocks 25 which are respectively and rotatably arranged on the upper surface of the operating platform 11, the first clamping blocks 24 are rotatably arranged on the operating platform 11 through rotating shafts, clamping protrusions 26 which are used for flexibly rotating and abut against the side surfaces of the soles to adapt to the complex shapes of the side surfaces of the soles are arranged at the two end parts of the clamping surfaces of the first clamping blocks 24 and the second clamping blocks 25, clamping spaces used for clamping the soles are formed between the first clamping blocks 24 and the second clamping blocks 25, and a clamping driving device used for driving the second clamping blocks 25 to slide towards the first clamping blocks 24 to clamp the soles is arranged on the operating platform 11. The clamping driving device comprises a cylinder 28, a shell of the cylinder 28 is fixedly arranged on the lower surface of the operating platform 11, the operating platform 11 is provided with a sliding opening 29 between the cylinder 28 and the clamping space, a piston rod of the cylinder 28 is provided with an installation block 30, the upper end of the installation block 30 is arranged in the sliding opening 29, and the second clamping block 25 is rotatably arranged on the installation block 30 through a rotating shaft.
The rotation driving mechanism comprises a supporting column 31 for supporting the operating platform 11, the operating platform 11 is rotatably arranged on the upper end surface of the supporting column 31, an installation channel (not shown in the figure) is formed in the supporting column 31, and a rotation driving device for driving the operating platform 11 to rotate is arranged in the installation channel. The rotation driving device comprises a rotation driving motor (not shown in the figure), a shell of the rotation driving motor is fixedly arranged in the installation channel, and a rotating shaft of the rotation driving motor is fixedly arranged on the center of the operation platform 11.
The driving mechanism comprises a vertically arranged grinding machine 32, the grinding head 18 is arranged on a rotating head of the grinding machine 32, and a first driving device for driving the grinding machine 32 to reciprocate back and forth, a second driving device for driving the grinding machine 32 to reciprocate left and right, a third driving device for driving the grinding machine 32 to reciprocate up and down, a fourth driving device for driving the grinding machine 32 to rotate by taking the vertical direction as a rotating central shaft, and a fifth driving device for driving the grinding machine 32 to swing back and forth are arranged on the frame 10.
First drive arrangement include along frame 10 fore-and-aft direction horizontal symmetry set up in two first guide rails 33 in the frame 10, two can slide respectively on the first guide rail 33 and be provided with two first sliders 34, four fixed first mounting panel 35 that is provided with on the first slider 34, polisher 32 activity set up in first mounting panel 35 below, be located one in the frame 10 first guide rail 33 one end is provided with first motor 36, first motor 36's casing fixed set up in the frame 10, the cover is equipped with first belt pulley on the rotation axis of motor, lie in the frame 10 second belt pulley that the other end of first guide rail 33 was provided with, around being equipped with first belt 37 on first belt pulley and the second belt pulley, first mounting panel 35 is fixed set up in on first belt 37.
The second driving device comprises a second guide rail 38 horizontally and symmetrically arranged on the first mounting plate 35 along the left-right direction, a second slider 39 is slidably arranged on the second guide rail 38, a second mounting plate 40 is arranged on the second slider 39, a first driving port 41 for allowing a part for driving the polisher 32 to move to pass through is arranged between the second guide rails 38 and on the first mounting plate 35, the polisher 32 is movably arranged below the second mounting plate 40, a second motor 42 is arranged at one end of the second guide rail 38 and on the first mounting plate 35, a housing of the second motor 42 is fixedly arranged on the second mounting plate 40, a third belt pulley is sleeved on a rotating shaft of the second motor 42, a fourth belt pulley is arranged at the other end of the second guide rail 38 and on the first mounting plate 35, and a second belt 43 is wound on the third belt pulley and the fourth belt pulley, the second mounting plate 40 is fixedly disposed on the second belt 43.
The third driving device comprises a third mounting plate 44 vertically arranged on the lower end face of the second mounting plate 40, a third guide rail 45 is vertically and symmetrically arranged on the third mounting plate 44, a third slider 46 is arranged on the third guide rail 45, the third slider 46 is fixedly arranged on the third mounting plate 44, a fourth mounting plate 47 can be arranged on the third guide rail 45 along with the guide rail in a sliding manner, a third motor 48 is arranged on the second mounting plate 40, a shell of the third motor 48 is fixedly arranged on the upper end face of the second mounting plate 40, a fifth belt pulley is sleeved on a rotating shaft of the third motor 48, a sixth belt pulley is rotatably arranged at the lower end part of the third mounting plate 44, a third belt 49 is vertically sleeved on the fifth belt pulley and the sixth belt pulley, and a through hole 50 for the third belt 49 to pass through is arranged on the second mounting plate 40, the fourth mounting plate 47 is fixedly disposed on the third belt 49.
The fourth driving device comprises a first joint module motor 51, a shell of the first joint module motor 51 is rotatably arranged on the fourth mounting plate 47, a rotation central shaft of the first joint module motor 51 is parallel to the vertical direction, and the grinding machine 32 is movably arranged below the first joint module.
The fifth driving device comprises a second joint module motor 52, a shell of the second joint module motor 52 is fixedly arranged on the rotating end of the first joint module motor 51, the rotating central shaft of the second joint module is parallel to the horizontal direction, a fifth mounting plate 53 is vertically arranged on the rotating end of the second joint module, and the shell of the grinding machine 32 is vertically and fixedly arranged on the fifth mounting plate 53.
A use method of a five-axis numerical control system sole polishing workstation based on machine vision comprises the following steps:
the ground soles positioned in the clamping space between the first clamping block 24 and the second clamping block 25 on the operating platform 11 are discharged and the non-ground soles are replaced to be charged through the sole charging and discharging station 12. The piston rod of cylinder 28 retracts and drives installation piece and second grip block 25 to keeping away from first grip block 24 direction motion release sole, will polish the sole and take off and change the sole of treating polishing, and the telescopic link of cylinder 28 stretches out and drives installation piece and second grip block 25 to being close to first grip block 24 direction motion and press from both sides tightly the sole.
The rotary driving motor drives the operating platform 11 to rotate to convey the soles, and the soles are conveyed to a station to be measured 13, a measuring station 14 and a polishing station 15 from the feeding and discharging station 12 in sequence.
After the sole enters the measuring station 14, the binocular linear structured light camera 19 scans the sole outline, data processing is carried out on the obtained sole three-dimensional point cloud by combining an external processing device, the polishing point track of the sole is generated, the polishing posture is calculated, then the coordinate system where the polishing point is located is converted into a five-axis manipulator basic coordinate system through a series of coordinate transformation, and a five-axis manipulator executable program is generated and issued to the five-axis manipulator.
And after the sole enters the polishing station 15, polishing the inner side of the sole by the five-axis manipulator according to an execution program.
After polishing, the sole returns to the loading and unloading station 12 along with the rotation of the operating platform 11. The above actions are then repeated.
While there have been shown and described what are at present considered to be the fundamental principles of the invention and its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are included to illustrate the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (8)
1. The utility model provides a five numerical control system sole workstations of polishing based on machine vision, includes the frame, its characterized in that: the automatic shoe sole polishing machine is characterized in that at least one operating platform for conveying shoe soles to polish is rotatably arranged on the rack, at least one clamping mechanism for clamping the shoe soles is arranged on the operating platform, a polishing head for polishing the inner sides of the shoe soles at multiple angles is movably arranged above the operating platform, a scanning device for scanning the outline of the shoe soles is arranged above the operating platform on the rack, and a driving mechanism for driving the polishing head to polish the inner sides of the shoe soles and a rotary driving mechanism for driving the operating platform to rotate are arranged on the rack;
four groups of clamping mechanisms which are respectively used for feeding and discharging clamping, clamping to be measured, measuring clamping and polishing clamping of the sole are uniformly distributed on the operating platform along the radial direction;
the clamping mechanism comprises two first clamping blocks and two second clamping blocks which are respectively and rotatably arranged on the upper surface of the operating platform, a clamping space for clamping the sole is formed between the first clamping blocks and the second clamping blocks, and a clamping driving device for driving the second clamping blocks to slide towards the first clamping blocks to clamp the sole is arranged on the operating platform; the two end parts of the clamping surfaces of the first clamping block and the second clamping block are provided with clamping bulges which are used for being propped against the side surface of the sole during flexible rotation so as to adapt to the complex shape of the side surface of the sole; the clamping driving device comprises an air cylinder, a shell of the air cylinder is fixedly arranged on the operating platform, a piston rod of the air cylinder is provided with an installation block, and the second clamping block is rotatably arranged on the installation block; the casing of cylinder fixed set up in operation platform's lower surface is last to be located the mouth that slides has been seted up between cylinder and the centre gripping space, installation piece upper end set up in slide mouthful.
2. The five-axis numerical control system sole buffing workstation based on machine vision according to claim 1, characterized in that: the number of the operating platforms is two, the two operating platforms are horizontally arranged on the rack in parallel, and scanning devices for alternately scanning the inner sides of the soles on the two operating platforms are arranged on the two operating platforms on the rack.
3. The five-axis numerical control system sole grinding workstation based on machine vision according to claim 1 or 2, characterized in that: the drive mechanism includes the polisher of vertical setting, the head of polishing set up in on the rotary head of polisher, be provided with in the frame and be used for the drive polisher back and forth reciprocating's first drive arrangement, be used for the drive polisher left and right reciprocating's second drive arrangement, be used for the drive polisher up and down reciprocating's third drive arrangement, be used for the drive the polisher uses vertical direction as center of rotation axle pivoted fourth drive arrangement, is used for the drive polisher reciprocating swing's fifth drive arrangement.
4. The five-axis numerical control system sole grinding workstation based on machine vision according to claim 1 or 2, characterized in that: the scanning device comprises a camera with a binocular line structure and used for scanning the point cloud of the sole, and a sliding driving mechanism used for driving the camera to horizontally slide is arranged on the rack.
5. The five-axis numerical control system sole buffing workstation based on machine vision according to claim 4, characterized in that: the sliding driving mechanism comprises a sliding rail horizontally arranged on a rack above the operating platform, a driving block is arranged on the sliding rail in a sliding manner, the camera is arranged on the driving block, and a sliding driving device used for driving the driving block to slide is arranged on the rack; the sliding driving device comprises a sliding driving motor arranged on one side of the sliding rail, a shell of the sliding driving motor is fixedly arranged on the rack, a first sliding driving belt wheel is arranged on a rotating shaft of the sliding driving motor, the rack is located on the sliding rail other end of the sliding rail, a second sliding driving belt wheel is rotatably arranged on the other end of the sliding rail, a sliding driving belt is wound on the first sliding driving belt wheel and the second sliding driving belt wheel, and a driving block is fixedly arranged on the sliding driving belt.
6. The five-axis numerical control system sole buffing workstation based on machine vision according to claim 1, characterized in that: the rotation driving mechanism comprises a supporting column for supporting an operating platform, the operating platform is rotatably arranged on the upper end surface of the supporting column, an installation channel is formed in the supporting column, and a rotation driving device for driving the operating platform to rotate is arranged in the installation channel; the rotation driving device comprises a rotation driving motor, a shell of the rotation driving motor is fixedly arranged in the installation channel, and a rotating shaft of the rotation driving motor is fixedly arranged on the center of the operation platform.
7. The five-axis numerical control system sole buffing workstation based on machine vision according to claim 3, characterized in that: first drive arrangement include along frame fore-and-aft direction horizontal symmetry set up in two first guide rails in the frame, two can slide respectively on the first guide rail and be provided with two first sliders, four the fixed first mounting panel that is provided with on the first slider, the polisher activity set up in first mounting panel below, be located one in the frame first guide rail one end is provided with first motor, the casing of first motor fixed set up in the frame, the cover is equipped with first belt pulley on the rotation axis of motor, be located in the frame the second belt pulley that the other end of first guide rail was provided with, around being equipped with first belt on first belt pulley and the second belt pulley, first mounting panel fixed set up in on the first belt.
8. The five-axis numerical control system sole buffing workstation based on machine vision according to claim 3, characterized in that: the second driving device comprises second guide rails horizontally and symmetrically arranged on the first mounting plate along the left-right direction, a second slide block is arranged on the second guide rail in a sliding way, a second mounting plate is arranged on the two second slide blocks, a first driving port for a component for driving the grinding machine to move to pass through is arranged on the first mounting plate and positioned between the second guide rails, the sander is movably arranged below the second mounting plate, a second motor is arranged at one end of the second guide rail on the first mounting plate, the shell of the second motor is fixedly arranged on the second mounting plate, a rotating shaft of the second motor is sleeved with a third belt pulley, a fourth belt pulley is arranged at the other end of the second guide rail on the first mounting plate, a second belt is wound on the third belt pulley and the fourth belt pulley, and the second mounting plate is fixedly arranged on the second belt; the third driving device comprises a third mounting plate vertically arranged on the lower end face of the second mounting plate, a third guide rail is vertically and symmetrically arranged on the third mounting plate, a third slider is arranged on the third guide rail, the third slider is fixedly arranged on the third mounting plate, a fourth mounting plate is arranged on the third guide rail, a third motor is arranged on the second mounting plate, a shell of the third motor is fixedly arranged on the upper end face of the second mounting plate, a fifth belt pulley is sleeved on a rotating shaft of the third motor, a sixth belt pulley is rotatably arranged at the lower end of the third mounting plate, a third belt is vertically sleeved on the fifth belt pulley and the sixth belt pulley, a through hole for the third belt to pass through is formed in the second mounting plate, and the fourth mounting plate is fixedly arranged on the third belt; the fourth driving device comprises a first joint module motor, a shell of the first joint module motor is rotatably arranged on the fourth mounting plate, a rotating central shaft of the first joint module motor is parallel to the vertical direction, and the grinding machine is movably arranged below the first joint module; fifth drive arrangement includes second joint module motor, the casing of second joint module motor fixed set up in the rotation of first joint module motor is served, the rotation center pin of second joint module is on a parallel with the horizontal direction, the rotation of second joint module is served and is vertically provided with the fifth mounting panel, the vertical fixed set up of casing of polisher in on the fifth mounting panel.
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| CN202210243921.5A CN114304815A (en) | 2022-03-14 | 2022-03-14 | Five numerical control system sole workstations of polishing based on machine vision |
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| CN202210243921.5A CN114304815A (en) | 2022-03-14 | 2022-03-14 | Five numerical control system sole workstations of polishing based on machine vision |
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Cited By (1)
| 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 |
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| CN215036328U (en) * | 2021-01-20 | 2021-12-07 | 泉州华中科技大学智能制造研究院 | Sole flexible polishing system based on machine vision |
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2022
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| DE102006018501A1 (en) * | 2006-04-21 | 2007-10-31 | Leibrock Im- Und Export Gmbh | Shoe shank`s side edge machining device, has pressing components extended from side of shoe shank in region of inner sole in pressing position, where pressing components are alternately lowered from inner sole |
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| CN110973767A (en) * | 2019-12-16 | 2020-04-10 | 广东天机机器人有限公司 | Sole clamping and positioning device |
| CN215036328U (en) * | 2021-01-20 | 2021-12-07 | 泉州华中科技大学智能制造研究院 | Sole flexible polishing system based on machine vision |
| CN113208241A (en) * | 2021-06-11 | 2021-08-06 | 山东奥洋自动化设备有限公司 | Vamp polishing and sole feeding integrated machine for labor protection shoe processing |
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 |
| 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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Application publication date: 20220412 |