CN114680427A - Automatic line drawing device and method for shoe groove - Google Patents
Automatic line drawing device and method for shoe groove Download PDFInfo
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- CN114680427A CN114680427A CN202210378190.5A CN202210378190A CN114680427A CN 114680427 A CN114680427 A CN 114680427A CN 202210378190 A CN202210378190 A CN 202210378190A CN 114680427 A CN114680427 A CN 114680427A
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- shoe
- line drawing
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- 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
- A43D8/16—Ornamentation
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D1/00—Foot or last measuring devices; Measuring devices for shoe parts
- A43D1/08—Measuring devices for shoe parts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention provides an automatic line drawing device for a shoe groove, which comprises a fixed rotating device and a line drawing device, wherein the fixed rotating device and the line drawing device are electrically connected to a control system, the fixed rotating device comprises a multidirectional fixed table, and the line drawing device comprises a robot device, a glue dispenser device, a spraying device and a visual detection device; the invention further provides an automatic line drawing method for the shoe groove, which is used for accurately drawing the line for the shoe groove. By the aid of the shoe groove line drawing device, the line drawing of the shoe groove is more accurate and safer, and production efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of shoemaking equipment, in particular to an automatic line drawing device and method for a shoe groove.
Background
In the shoemaking industry, in order to improve the aesthetic feeling of sports shoes, people can draw lines with different colors in shoe grooves on the soles of the sports shoes, so that the competitiveness is improved, and the sales volume is increased. At present, the work of drawing the line of the shoe groove in a factory is mainly completed by manual operation, firstly, a worker takes out a sports shoe to be drawn from a production line and finds the shoe groove needing to be drawn; secondly, the worker uses the writing brush to contaminate the ink, draws a line, uniformly coats the line-drawing ink in a specified shoe groove, and puts the line back to the production line. The manual line drawing is taken as the main method for drawing the line in the current shoe groove, and has the following defects: 1. the accuracy is low: when the line is drawn manually, large human factors exist, so that the ink is not uniformly distributed, and the like, and the line drawing accuracy is low; 2. poor safety: the drawn ink contains aromatic hydrocarbon solvents (toluene and xylene), and harmful gases emitted by the ink are excessively absorbed, so that various body discomfort symptoms are easily caused, and meanwhile, the ink has high corrosivity, so that the drawn ink has great harm to a human body after being contacted for a long time; 3. the efficiency is low: the manual line drawing needs to manually position the shoe groove, the writing brush is operated to uniformly coat the ink in the shoe groove, and misoperation can be avoided in the operation, so that the manual line drawing is complex, and the production efficiency is low.
Disclosure of Invention
The invention discloses an automatic line drawing device and method for a shoe groove, which are simple in structure and convenient to operate and aim to solve the problem.
The invention adopts the following scheme: an automatic line drawing device for a shoe groove comprises a fixed rotating device and a line drawing device, wherein the fixed rotating device and the line drawing device are both electrically connected to a control system, the fixed rotating device comprises a multidirectional fixed table, and the line drawing device comprises a robot device, a glue dispenser device, a spraying device and a visual detection device;
the multidirectional fixing table is suitable for fixedly placing a shoe body to be processed and is suitable for rotating around a Z axis and an X axis;
the spraying device is arranged on the robot device and is connected to the glue dispenser device;
the dispensing machine device is suitable for storing spraying liquid and conveying the spraying liquid to the spraying device;
the visual detection device is arranged on the spraying device, comprises a laser three-dimensional scanning system and a camera device, is configured to be capable of identifying and scanning the shape and the route of the shoe groove of the shoe body, and sends a signal to the control system;
the control system can control the robot device to drive the glue dispenser device and the spraying device to spray the shoe bodies on the fixed rotating device according to signals transmitted by the visual detection device.
Further, the multi-directional fixing table comprises a first rotary controller, a second rotary controller, a rotating shaft, a rotating disc and a rotating base, wherein the rotating shaft is rotatably arranged on the rotating base and is connected with the first rotary controller, and the first rotary controller is configured to drive the rotating shaft to rotate around an X axis; the rotary disc is suitable for fixedly placing a shoe body, arranged on the rotary shaft and connected with the second rotary controller, and the second rotary controller is configured to drive the rotary disc to rotate around the Z axis.
Further, a clamping device is arranged on the rotating disk.
Further, the spraying device comprises a body, a continuous air inlet, a control air inlet, a discharge port, a feed port and a connecting sucker, wherein the continuous air inlet, the control air inlet, the discharge port, the feed port and the connecting sucker are arranged on the body; the connecting sucker is arranged at the bottom of the body and used for fixing the spraying device on the robot device.
Further, a knob and a fine adjustment micrometer are arranged at the rear end of the spraying device body, and the fine adjustment micrometer is connected with the knob and used for controlling the flow of the discharge hole.
Further, the fine-tuning micrometer is provided with a micro motor, and the micro motor is electrically connected to the control system.
Furthermore, the camera device comprises a miniature camera which is arranged on the upper part of the body, is electrically connected with the laser three-dimensional scanning system and is suitable for positioning and scanning the shoe groove of the shoe body.
Further, robot device includes Z axle swinging boom and Y axle robot arm, the Z axle swinging boom sets up on the base, the end-to-end connection of Y axle robot arm has spraying device, it is suitable for control spraying device is rotatory along the Y axle.
Further, the glue dispenser device is arranged on the base and communicated to the spraying device through a hose.
The invention also provides an automatic line drawing method for the shoe groove, which applies any one automatic line drawing device for the shoe groove and comprises the following steps:
s1: the shoe body to be marked is fixedly placed on the rotating disc,
s2: the robot device controls the Z-axis rotating arm and the Y-axis robot arm to rotate, and controls the spraying device to move to the side of the shoe body;
s3: the control system drives the miniature camera and the laser three-dimensional scanning system to position and scan the shoe body, and simultaneously drives the multidirectional fixing table to rotate, so that the visual detection device shoots and scans the shape and the route of the shoe groove of the shoe body;
s4: and the control system controls the glue dispenser device to spray the spraying liquid in the shoe groove according to the shape and route information of the shoe groove transmitted by the visual detection device.
By adopting the technical scheme, the invention can obtain the following technical effects: the line drawing device is matched with the fixed rotating device capable of rotating in multiple directions, the laser three-dimensional scanning system and the camera device are arranged on the line drawing device to scan the shoe body, the robot device is controlled to a proper position, and the line drawing device is matched with the fixed rotating device to perform spraying.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of an automatic line drawing device for shoe grooves according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a spraying device of an automatic line drawing device for shoe grooves according to an embodiment of the invention;
icon: the automatic painting device comprises a rotary disc 11, a first rotary controller 12, a second rotary controller 13, a rotary shaft 14, a rotary base 15, a line drawing base 21, a robot device 22, a Z-axis rotary arm 221, a Y-axis robot arm 222, a glue dispenser device 23, a spraying device 24, a body 241, a continuous air inlet 242, a control air inlet 243, a discharge port 244, a feed port 245, a connecting suction disc 246, a fine adjustment micrometer 30, a visual detection device 40, a micro camera 41 and a shoe body 50.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, are within the scope of protection of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Examples
Referring to fig. 1 and 2, the present embodiment provides an automatic line drawing device for shoe grooves, which includes a fixed rotating device and a line drawing device, both of which are electrically connected to a control system, wherein the fixed rotating device includes a multidirectional fixing table, and the line drawing device includes a robot device 22, a dispenser device 23, a spraying device 24, and a visual detection device 40; wherein the multi-directional fixing table is suitable for fixedly placing the shoe body 50 to be processed and rotating around a Z axis and an X axis; the spraying device 24 is arranged on the robot device 22 and connected to the dispenser device 23; the glue dispenser device 23 is adapted to store spraying liquid therein and to convey the spraying liquid to the spraying device 24; the visual detection device 40 is arranged on the spraying device 24, comprises a laser three-dimensional scanning system and a camera device, and is configured to recognize and scan the shape and the route of the shoe groove of the shoe body 50 and send a signal to the control system; the control system can control the robot device 22 to drive the glue dispenser device 23 and the spraying device 24 to spray and draw lines on the shoe bodies 50 on the fixed rotating device according to the transmitted signals of the visual detection device 40.
In this embodiment, the fixed rotating device and the line drawing device can be both fixedly arranged on the same horizontal plane, and the fixed rotating device is located in the operation range of the line drawing device.
In this embodiment, the spraying liquid may be ink.
The fixed rotating device comprises the multidirectional fixed table, the multidirectional fixed table comprises a first rotating controller 12, a second rotating controller 13, a rotating shaft 14, a rotating disc 11 and a rotating base 15, wherein the rotating shaft 14 is rotatably arranged on the rotating base 15, the first rotating controller 12 is connected with the rotating base 15, and the first rotating controller 12 is configured to drive the rotating shaft 14 to rotate around an X axis; the rotary disk 11 is suitable for fixedly placing a shoe body 50, is arranged on the rotary shaft 14, and is connected with the second rotary controller 13, and the second rotary controller 13 is configured to drive the rotary disk 11 to rotate around the Z axis. Wherein, the rotating base 15 can be fixed on the horizontal plane by bolts to fix the multi-directional fixing table. The first rotation controller 12 and the second rotation controller 13 are internally provided with a rotating electric machine, and the rotating electric machine is electrically connected to the control system. The rotating motors are respectively used for receiving signals of the control system and controlling the rotating disc 11 and the rotating shaft 14 to rotate. The rotating disc 11 is provided with a clamping device for clamping the shoe body 50, wherein the clamping device can be a special tool clamp for clamping the shoe body 50 more tightly. In a preferred embodiment, a photoelectric sensor or a pressure sensor is further disposed on the rotating disc 11, and is electrically connected to the control system for detecting whether the shoe body 50 is placed on the rotating disc 11.
The setting-out device includes robot means 22, point gum machine device 23, spraying device 24, visual detection device 40, setting-out base 21 is suitable for through the bolt fastening on the horizontal plane, point gum machine device 23 set up in on the setting-out base 21, it is used for holding spraying liquid, and with 24 hose connections for the spraying device, with spraying liquid carry extremely spraying device 24 carries out the spraying. Here, the dispenser device 23 is a device that uses compressed air to feed a storage bottle for the spray liquid, and presses the spray liquid into a hose connected to a piston chamber, which is filled with the spray liquid when the piston is in the up stroke, and is pressed out from a nozzle when the piston pushes the spray device 24 downward. The amount of spraying liquid dripped is determined by the distance of the piston undershooting and can be controlled by adjusting the air inflow and the air inflow rate. In this embodiment, the dispenser device 23 may use a conventional product. For example, the dispenser device 23 herein may use a digital dispenser of model DKT-983.
Robot 22 includes Z axle swinging boom 221 and Y axle machine arm 222, Z axle swinging boom 221 sets up on setting out base 21, and it can be rotatory around Z axle direction on setting out base 21, Y axle machine arm 222 connects Z axle swinging boom 221, Y axle machine arm 222 can it is rotatory around Y axle direction on the Z axle swinging boom 221, the end-to-end connection of Y axle machine arm 222 has spraying device 24, can control spraying device 24 is rotatory along Y axle and Z axle, here robot 22 is prior art, and its drive mode here is no longer additionally elaborated, for example can adopt modes such as cylinder drive or motor drive.
As shown in fig. 2, the spraying device 24 may adopt an existing dispensing valve of a cylinder type silicone cylinder, the model of which is KCS-60Z, and is substantially improved in view of the actual need of the present invention, and includes a body 241, and a continuous air inlet 242, a control air inlet 243, an outlet 244, an inlet 245 and a connecting suction cup 246 which are arranged on the body 241, wherein the inlet 245 is connected to the dispenser device 23, and the continuous air inlet 242 and the control air inlet 243 are connected to the dispenser device through hoses; the connecting suction cup 246 is disposed at the bottom of the body 241 for fixing the painting device 24 to the robot device 22. The continuous air inlet 242 and the control air inlet 243 are connected with the dispenser device 23 through hoses, and the air pressure between the dispenser device 23 and the nozzle is controlled by controlling the air inflow amount of the control air inlet 243, so that the spraying amount is controlled. Here, the discharge hole 244 is provided with a detachable nozzle, the nozzle can be connected to the body 241 in a threaded connection manner, and the nozzles with different sizes can be replaced at any time according to the size and the lines of the shoe grooves of different shoe bodies 50. The rear end of the spraying device 24 is provided with a knob which is used for controlling the flow at the discharge port so as to control the spraying amount. In a preferred embodiment, a fine-tuning micrometer 30 is disposed at the rear end of the body 241 of the spraying device 24, the fine-tuning micrometer 30 is connected to the knob, and the fine-tuning micrometer 30 is adjusted to control the adjustment amount of the knob, so as to control the size of the discharge port, thereby achieving the effect of accurately adjusting the spraying amount, and adapting to the requirement of the change of the spraying amount of the nozzle under different shoe groove lines. In another preferred embodiment, a micro motor is disposed on the vernier micrometer 30, and the micro motor is electrically connected to the control system. The rotation through micro motor adjusts the fine setting micrometer 30, can conveniently make the regulation more automatic, and because micro motor's precision is higher, also can further improve the precision that fine setting micrometer 30 adjusted. Here, the fine adjustment micrometer 30 is engaged with the knob to achieve the effect of fine control.
The visual inspection device 40 includes the camera device, the camera device is provided with a micro camera 41, the micro camera 41 is fixedly arranged on the upper portion of the body 241 and is electrically connected to the laser three-dimensional scanning system, and the camera device is suitable for positioning and scanning the shoe groove of the shoe body 50. Here, the photographing direction of the micro camera 41 does not coincide with the direction of the nozzle, and can precisely follow the direction in which the nozzle moves. The laser three-dimensional scanning system is a prior art, and can cooperate with the micro camera 41 to perform three-dimensional scanning on a shot object, generate a three-dimensional scanning route, and record the shape and the track of the shoe groove. Through the mutual matching of the laser three-dimensional scanning system and the micro camera 41, the spraying device 24 can be controlled by the control system to synchronously spray the shoe grooves of the shoe bodies 50 after the tracks of the shoe grooves are scanned.
Control system can set up to a circuit board, the circuit board embeds there is control program, simultaneously the circuit board can also be connected to customer's terminal, set up the PLC controller in the customer's terminal, be suitable for the user to program the movement track of robot device, simultaneously can also be through PLC controller synchro control the motion of robot device 22, point gum machine device 23, spraying device 24, visual detection device 40, multidirectional fixed station to accomplish the cooperation better, realize automaticly.
The working principle of the invention is as follows: the shoe body 50 to be lined is placed on the rotating disc 11, the robot device 22 sends an instruction to the Z-axis rotating arm 221 to enable the Z-axis rotating arm to rotate along the Z axis, and meanwhile, the Y-axis robot arm 222 is controlled to rotate along the Y axis, so that the spraying device 24 is controlled to move to the specified position of the lining of the shoe groove; then the micro camera 41 on the spraying device 24 is combined with a laser three-dimensional scanning system to scan the shape and the route of the shoe groove, meanwhile, the glue dispensing device 23 controls the spraying device 24 to uniformly apply ink in the shoe groove, simultaneously the rotating disc 11 controls the rotating shaft 14 or the rotating disc 11 to rotate in the Z-axis direction of the X-axis and the Z-axis through the disc controller, and the shoe body 50 placed on the disc is rotated by the device, so that the rotary line drawing on the periphery of the shoe groove is completed.
In the invention, the laser three-dimensional scanning system and the micro camera 41 are integrated on the spraying device 22 and are matched with the robot device 22, so that the function of automatically drawing lines and spraying paint on the shoe grooves on the shoe body 50 can be completely performed, and meanwhile, the fixed rotating device can be matched with the spraying device 24 and the robot device 22 according to the scanning result and rotate while spraying, so that the robot device 22 does not need to rotate around the shoe body 50, errors are reduced, and the line drawing and spraying efficiency and accuracy are improved.
The invention also provides an automatic line drawing method for the shoe groove, which applies any one automatic line drawing device for the shoe groove and comprises the following steps:
s1: the shoe body 50 to be marked is fixedly placed on the rotating disc 11. And sending a signal to the control system;
s2, the control system drives the robot device 22 to control the Z-axis rotating arm 221 and the Y-axis robot arm 222 to rotate, and controls the spraying device 24 to move to the side of the shoe body 50;
s3: the control system drives the miniature camera 41 and the laser three-dimensional scanning system to position and scan the shoe body 50, and simultaneously drives the multidirectional fixing table to rotate, so that the visual detection device 40 shoots and scans the shape and the route of the shoe groove of the shoe body 50;
s4: the control system controls the dispenser device 23 to spray the spraying liquid in the shoe groove according to the shape and route information of the shoe groove transmitted by the visual detection device 40.
In the invention, the working space of the spraying device 24 is controlled by a plurality of rotating devices, and the shoe body 50 is placed in the multidirectional fixing table, so that the line drawing work on the four peripheral surfaces of the shoe can be rapidly completed, the working area for drawing lines in a shoe groove is increased, the working flexibility is improved, meanwhile, the line drawing working efficiency is greatly improved due to the multi-shaft design, the errors in the working process are reduced, and the accuracy is improved. The robot connection is used for replacing manual line drawing, so that the contact chance between workers and printing ink is reduced, the workers cannot be damaged by the corrosivity of the printing ink and the like, and the safety of the line drawing work of the shoe groove is improved. The device has the characteristics of high accuracy, high safety and high efficiency.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention.
Claims (10)
1. An automatic line drawing device for a shoe groove is characterized by comprising a fixed rotating device and a line drawing device, wherein the fixed rotating device and the line drawing device are electrically connected to a control system, the fixed rotating device comprises a multidirectional fixed table, and the line drawing device comprises a robot device, a glue dispenser device, a spraying device and a visual detection device;
the multidirectional fixing table is suitable for fixedly placing a shoe body to be processed and is suitable for rotating around a Z axis and an X axis;
the spraying device is arranged on the robot device and is connected to the glue dispenser device;
the dispensing machine device is suitable for storing spraying liquid and conveying the spraying liquid to the spraying device;
the visual detection device is arranged on the spraying device, comprises a laser three-dimensional scanning system and a camera device, is configured to be capable of identifying and scanning the shape and the route of the shoe groove of the shoe body, and sends a signal to the control system;
the control system can control the robot device to drive the glue dispenser device and the spraying device to spray the shoe bodies on the fixed rotating device according to signals transmitted by the visual detection device.
2. The automatic line drawing device for shoe grooves according to claim 1, wherein the multi-directional fixing table comprises a first rotary controller, a second rotary controller, a rotary shaft, a rotary disk and a rotary base, wherein the rotary shaft is rotatably arranged on the rotary base, and a first rotary controller is connected with the rotary shaft, and the first rotary controller is configured to drive the rotary shaft to rotate around an X axis; the rotary disc is suitable for fixedly placing a shoe body, is arranged on the rotary shaft and is connected with the second rotary controller, and the second rotary controller is configured to drive the rotary disc to rotate around the Z axis.
3. The automatic line drawing device for shoe grooves according to claim 2, wherein a clamping device is arranged on the rotating disc.
4. The automatic line drawing device for the shoe groove according to claim 1, wherein the spraying device comprises a body, and a continuous air inlet, a control air inlet, a discharge outlet, a feed inlet and a connecting sucker which are arranged on the body, wherein the feed inlet is connected to a dispensing device, and the continuous air inlet and the control air inlet are connected with the dispensing device through a hose; the connecting sucker is arranged at the bottom of the body and used for fixing the spraying device on the robot device.
5. The automatic line drawing device for the shoe grooves according to claim 4 is characterized in that a knob and a fine adjustment micrometer are arranged at the rear end of a body of the spraying device, and the fine adjustment micrometer is connected with the knob and used for controlling the flow of the discharge hole.
6. The automatic line drawing device for the shoe grooves according to claim 5, wherein the micro-adjustment micrometer is provided with a micro motor, and the micro motor is electrically connected to the control system.
7. The automatic line drawing device for the shoe grooves according to claim 4, wherein the camera device comprises a miniature camera, the miniature camera is arranged on the upper portion of the body and is electrically connected to the laser three-dimensional scanning system, and the miniature camera is suitable for positioning and scanning the shoe grooves of the shoe body.
8. The automatic line drawing device for the shoe grooves according to claim 1, wherein the robot device comprises a Z-axis rotating arm and a Y-axis robot arm, the Z-axis rotating arm is arranged on a base, and the tail end of the Y-axis robot arm is connected with the spraying device which is suitable for controlling the spraying device to rotate along the Y axis.
9. The automatic line drawing device for shoe grooves according to claim 8, wherein the dispensing device is arranged on the base and communicated to the spraying device through a hose.
10. An automatic line drawing method for a shoe groove, which is characterized in that the automatic line drawing device for the shoe groove according to any one of claims 1 to 9 is used, and the method comprises the following steps:
s1: the shoe body to be marked is fixedly placed on the rotating disc,
s2: the robot device controls the Z-axis rotating arm and the Y-axis robot arm to rotate, and controls the spraying device to move to the side of the shoe body;
s3: the control system drives the miniature camera and the laser three-dimensional scanning system to position and scan the shoe body, and simultaneously drives the multidirectional fixing table to rotate so as to enable the visual detection device to shoot and scan the shape and the route of the shoe groove of the shoe body;
s4: and the control system controls the glue dispenser device to spray the spraying liquid in the shoe groove according to the shape and route information of the shoe groove transmitted by the visual detection device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210378190.5A CN114680427B (en) | 2022-04-12 | 2022-04-12 | Automatic line drawing device and method for shoe groove |
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| CN202210378190.5A CN114680427B (en) | 2022-04-12 | 2022-04-12 | Automatic line drawing device and method for shoe groove |
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| CN114680427B CN114680427B (en) | 2023-04-25 |
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| CN104704319A (en) * | 2012-10-09 | 2015-06-10 | 耐克创新有限合伙公司 | Digital bite line creation for shoe assembly |
| CN204336005U (en) * | 2013-11-19 | 2015-05-20 | 耐克创新有限合伙公司 | For creating the system of the virtual lines of occlusion relevant with article of footwear |
| CN106388138A (en) * | 2016-08-20 | 2017-02-15 | 温州意迈达鞋业有限公司 | Line drawing device for high-precision shoe making |
| CN206925363U (en) * | 2017-06-29 | 2018-01-26 | 福建新峰科技有限公司 | A kind of multi-angle regulation alloy material edge milling machines |
| CN210158122U (en) * | 2019-05-05 | 2020-03-20 | 东莞市瀚通激光科技有限公司 | Automatic line drawing and marking equipment based on visual recognition |
| CN210870120U (en) * | 2019-07-01 | 2020-06-30 | 石狮市优云服装设计有限公司 | Drawing positioning line device for shoemaking |
| CN111067197A (en) * | 2019-12-16 | 2020-04-28 | 河南埃尔森智能科技有限公司 | Robot sole dynamic gluing system and method based on 3D scanning |
| CN213154395U (en) * | 2020-05-25 | 2021-05-11 | 泉州华中科技大学智能制造研究院 | Device for measuring rubber edge rubber line of shoe brush |
| WO2021238300A1 (en) * | 2020-05-25 | 2021-12-02 | 泉州华中科技大学智能制造研究院 | Device for measuring shoe gluing edge glue line, and measurement method thereof |
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