CN115381189B - Intelligence vamp machine people of polishing - Google Patents
Intelligence vamp machine people of polishing Download PDFInfo
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- CN115381189B CN115381189B CN202210838871.5A CN202210838871A CN115381189B CN 115381189 B CN115381189 B CN 115381189B CN 202210838871 A CN202210838871 A CN 202210838871A CN 115381189 B CN115381189 B CN 115381189B
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- vamp
- shoe
- shoe mold
- polishing
- seat
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- 238000005498 polishing Methods 0.000 title claims abstract description 143
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 238000005070 sampling Methods 0.000 claims abstract description 32
- 238000003909 pattern recognition Methods 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000007723 transport mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000007788 roughening Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D95/00—Shoe-finishing machines
- A43D95/08—Machines or tools for scouring, abrading, or finishing, with or without dust-separating
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D111/00—Shoe machines with conveyors for jacked shoes or for shoes or shoe parts
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D119/00—Driving or controlling mechanisms of shoe machines; Frames for shoe machines
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D37/00—Machines for roughening soles or other shoe parts preparatory to gluing
Abstract
The invention relates to an intelligent vamp polishing robot which comprises a frame, a shoe mold sampling platform, a shoe mold image acquisition mechanism, a shoe pattern recognition mechanism, a vamp conveying mechanism and a polishing manipulator, wherein the shoe mold image acquisition mechanism is arranged on the frame; the shoe mold sampling platform, the shoe mold image acquisition mechanism, the shoe pattern recognition mechanism and the vamp conveying mechanism are respectively arranged on the frame; the shoe mold sampling platform is positioned in the middle of the frame, and can fix the shoe mold thereon; the vamp conveying mechanism and the shoe mold image acquisition mechanism are sequentially arranged on two sides of the shoe mold sampling platform; the shoe mold image acquisition mechanism can acquire images of various standard shoe molds; the vamp conveying mechanism can convey the vamp to the polishing manipulator; the shoe pattern recognition mechanism is arranged above the vamp conveying mechanism and can recognize shoe codes and left and right feet of the vamp; the polishing manipulator is located on one side of the frame and can polish the vamp. The vamp polishing robot has the advantages of high automation degree, accurate sampling, good polishing quality and the like.
Description
[ field of technology ]
The invention relates to shoemaking equipment, in particular to an intelligent vamp polishing robot, and belongs to the technical field of automatic equipment.
[ background Art ]
It is known that shoes are produced by bonding together the upper and sole, and that both require roughening of the upper surface prior to bonding to avoid easy debonding of the bonded upper and sole.
The vamp of prior art is polished and is polished the vamp by workman's equipment of polishing that takes the bistrique usually, and not only polishing efficiency is low like this, and the cost of labor is high, and the quality that the vamp was polished relies on workman's technique and experience entirely moreover, causes polishing standard non-unification, and the defective rate is high.
Currently, there are also some automatic vamp polishing devices on the market, which generally take a shoe mold image by using a camera and generate a simulated vamp polishing line by using a computer program, so as to facilitate subsequent automatic polishing. However, the automatic vamp polishing apparatus described above tends to have the following problems in actual production:
1. when the equipment is used for image acquisition, the shoe mold is troublesome to fix and is easy to shift, so that a sampling result is inaccurate; meanwhile, the shoe mold cannot be sampled by 360 degrees, so that the polishing line precision of production is low, and the subsequent polishing quality is affected.
2. The position of a camera for acquiring the shoe mold image of the equipment is relatively fixed and cannot be adjusted, so that the camera cannot be accurately aligned to the shoe mold to take a picture, sampling errors are caused, and the generation precision of a virtual polishing line is further affected; meanwhile, the equipment cannot automatically identify shoe codes and left and right feet of the shoes, so that what polishing lines cannot be accurately called to polish the shoes, and the equipment has certain application limitations.
3. The installation position of the polishing head of the equipment is fixed, and if the contact force between the polishing head and the vamp is too large, the vamp is easily worn out to be scrapped.
4. When polishing, a worker is usually required to manually send the vamp to the polishing wheel, so that the automation degree is low, time and labor are wasted, the polishing wheel rotates at a high speed, the distance between the polishing wheel and the worker is too short, and certain potential safety hazards exist.
Therefore, to solve the above-mentioned technical problems, it is necessary to provide an innovative intelligent vamp polishing robot, so as to overcome the drawbacks in the prior art.
[ invention ]
The invention aims to provide an intelligent vamp polishing robot which is high in automation degree, accurate in sampling and good in polishing quality.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: an intelligent vamp polishing robot comprises a frame, a shoe mold sampling platform, a shoe mold image acquisition mechanism, a shoe pattern recognition mechanism, a vamp conveying mechanism and a polishing manipulator; wherein the shoe mold sampling platform, the shoe mold image acquisition mechanism, the shoe pattern recognition mechanism and the vamp conveying mechanism are respectively arranged on the frame; the shoe mold sampling platform is positioned in the middle of the frame, and can fix various standard shoe molds thereon; the vamp conveying mechanism and the shoe mold image acquisition mechanism are sequentially arranged on two sides of the shoe mold sampling platform; the shoe mold image acquisition mechanism can acquire images of various standard shoe molds; the vamp conveying mechanism can convey the vamp to the polishing manipulator; the shoe pattern recognition mechanism is arranged above the vamp conveying mechanism and can recognize shoe codes and left and right feet of the vamp; the polishing manipulator is located on one side of the frame and can polish the vamp.
The intelligent vamp polishing robot is further provided with: the shoe mold sampling platform comprises a mounting seat, a servo motor, a rotary table, a bracket I, a clamping cylinder I, a limiting block I and a clamping arm I; the mounting seat is fixed on the frame; the servo motor is arranged at the bottom of the mounting seat, and is connected with and drives the rotary table to rotate; the support I is fixedly connected to the rotary table and is linked with the rotary table; the clamping cylinder I is fixed on the bracket; the limiting block I is arranged at the top of the bracket I, and the shoe mold is placed on the limiting block I; the clamping arm I is connected to the clamping cylinder I and driven by the clamping cylinder I; the clamping arm I clamps the standard shoe mold.
The intelligent vamp polishing robot is further provided with: the shoe mold image acquisition mechanism comprises a 3D camera and a camera adjusting device; the 3D cameras are arranged on the left side and the right side of the standard shoe mold and can respectively sample the shoe mold; the camera adjusting device is arranged on the frame, is provided with a 3D camera, and can adjust the position of the 3D camera.
The intelligent vamp polishing robot is further provided with: the camera adjusting device comprises a base, an adjusting plate, a screw rod I, a screw rod motor I and a guide rail I; wherein, the adjusting plate is pivoted on the base through a rotating shaft and can rotate relative to the base; the base is provided with an arc-shaped groove; the adjusting plate is in threaded connection with a locking nut; the locking nut passes through the arc-shaped groove and can be locked at the outer side of the arc-shaped groove so as to position the adjusting plate; the 3D camera is arranged on the adjusting plate and is linked with the adjusting plate to adjust the height of the 3D camera; the bottom of the base is provided with a sliding sleeve I and a sliding rail I; the screw rod I is arranged on the frame through a screw rod seat I, is matched with the sliding sleeve I, and drives the sliding sleeve I to move through the rotation of the screw rod I so as to adjust the distance between the 3D camera and the shoe mold; the screw motor I is arranged on the frame through a motor seat I, and is connected with and drives the screw I to rotate; the guide rail I is also arranged on the frame and symmetrically distributed on two sides of the screw rod I; the guide rail I and the slide rail I are matched to limit the base to move along the extending direction of the guide rail I.
The intelligent vamp polishing robot is further provided with: the shoe pattern recognition mechanism comprises a plane camera and a mounting frame; the plane camera is arranged on the rack through the mounting frame; the mounting frame is provided with an adjusting groove extending along the front-back direction; the plane camera can move forwards and backwards along the adjusting groove, so that the plane camera can be positioned right above the vamp; a circle of light source is arranged outside the plane camera.
The intelligent vamp polishing robot is further provided with: the vamp conveying mechanism is provided with 2 sets, and comprises vamp fixing shoe molds, shoe mold fixing devices, a conveying table, a screw rod II, a screw rod motor II and a guide rail II; the vamp fixing shoe mold is arranged on the shoe mold fixing device and can be detached from the shoe mold fixing device for replacement; the vamp fixing shoe mold can be sleeved with a vamp; the shoe mold fixing device is fixed on the conveying table and can move along with the conveying table; a sliding sleeve II and a sliding rail II are arranged at the bottom of the conveying table; the screw rod II is arranged on the frame through a screw rod seat II, is matched with the sliding sleeve II, and drives the sliding sleeve II to move through the rotation of the screw rod II; the screw motor II is arranged on the frame through a motor seat II and is connected with and drives the screw motor II to rotate; the guide rail II is also arranged on the frame and is positioned at two sides of the screw rod II; the guide rail II and the slide rail II are matched to limit the conveying table to move along the extending direction of the guide rail II.
The intelligent vamp polishing robot is further provided with: the shoe mold fixing device comprises a bracket II, a clamping cylinder II, a limiting block II and a clamping arm II; wherein the bracket II is fixedly connected to the conveying table and is linked with the conveying table; the clamping cylinder II is fixed on the bracket II; the limiting block II is arranged at the top of the bracket, and the shoe mold is placed on the limiting block II; the clamping arm II is connected to the clamping cylinder II and driven by the clamping cylinder II; the clamping arm II clamps the shoe mold.
The intelligent vamp polishing robot is further provided with: a base is arranged at the bottom of the shoe mold; the top of the limiting block I and/or the limiting block II is provided with a limiting groove; the base is embedded into the limit groove, and two sides of the base are clamped in the limit groove; the top of the clamping arm I and/or the clamping arm II is provided with a hook part, and the hook part is abutted to the upper surface of the base.
The intelligent vamp polishing robot is further provided with: the polishing manipulator comprises a manipulator body, an adapter, an elastic mechanism, a polishing motor seat, a polishing motor, a polishing head and a pipeline; the adapter seat is fixed at one end of the manipulator body and driven by the manipulator body; the elastic mechanism is arranged on the adapter seat; the polishing motor seat is connected to the elastic mechanism, so that the polishing motor seat can elastically stretch out and draw back; the polishing motor is arranged on the polishing motor seat and is provided with a motor shaft; the polishing head is connected to the motor shaft and is driven by the polishing motor to rotate; the pipeline is arranged at the bottom of the adapter, the interior of the pipeline is hollow, and the polishing head part is positioned in the pipeline.
The intelligent vamp polishing robot is further provided with: the elastic mechanism comprises a first guide rod, a second guide rod, a guide sleeve, a back plate, a spring and a spring seat; one end of the first guide rod is connected to the polishing motor base, and the other end of the first guide rod is connected to the backboard; one end of the second guide rod is connected to the polishing motor seat; the guide sleeve is fixed in the adapter; the first guide rod and the second guide rod respectively pass through the corresponding guide sleeves and can move along the guide sleeves; the spring seat is arranged on the back surface of the adapter seat and is positioned between the back plate and the adapter seat; the spring is sleeved on the second guide rod and is abutted between the spring seat and the second guide rod; the spring seat penetrates out of the back plate, and the back plate can move radially along the spring seat; the tail end of the spring seat is provided with a guide hole, and the second guide rod is accommodated in the guide hole.
Compared with the prior art, the invention has the following beneficial effects:
1. the shoe mold sampling platform of the intelligent vamp polishing robot drives the shoe mold to rotate through the servo motor, so that 360-degree omnibearing sampling of the shoe mold is facilitated, and the accuracy of a subsequent sampling result is ensured.
2. The image acquisition mechanism of the intelligent vamp polishing robot provided by the invention adjusts the distance between the intelligent vamp polishing robot and the shoe mold by moving the 3D camera, and adjusts the height of the intelligent vamp polishing robot by rotating the 3D camera, so that the 3D camera and the shoe mold can be accurately aligned and focused, and the acquired shoe mold pattern is further accurate, so that an accurate polishing line can be conveniently generated.
3. The plane camera of the intelligent vamp polishing robot can automatically identify shoe codes and left and right feet, so that what polishing lines are accurately called to polish shoes.
4. The intelligent vamp polishing robot can automatically convey the vamp to the polishing wheel for polishing, so that the conveying efficiency is high, and the production safety is greatly improved; meanwhile, the polishing machine is provided with 2 conveying stations, when one station polishes, the other station is provided with the vamp, so that the polishing head does not need to wait, and the polishing efficiency is further improved.
5. The polishing manipulator of the intelligent vamp polishing robot can push the polishing head when the contact force between the polishing head and the vamp is overlarge, so that the vamp is prevented from being scraped due to the polishing head being worn out; meanwhile, the polishing manipulator can be directly arranged on the existing manipulator, so that the universality is good, and the equipment cost is reduced.
[ description of the drawings ]
Fig. 1 is a perspective view of an intelligent vamp grinding robot of the present invention.
Fig. 2 is a perspective view of the shoe mold sampling platform of fig. 1.
Fig. 3 is a cross-sectional view of fig. 2.
Fig. 4 is a schematic view of the unsecured shoe mold of fig. 2.
Fig. 5 is a perspective view of the shoe mold image capturing mechanism of fig. 1.
Fig. 6 is a perspective view of the 3D camera of fig. 5 after being adjusted in position.
Fig. 7 is a perspective view of the shoe style identification mechanism of fig. 1.
Fig. 8 is a perspective view of the upper transport mechanism of fig. 1.
Fig. 9 is a perspective view of the upper transport mechanism of fig. 1 from another perspective.
Fig. 10 is a partial enlarged view at a in fig. 8.
Fig. 11 is a perspective view of the sanding robot of fig. 1.
Fig. 12 is a partial cross-sectional view of the sanding robot of fig. 1.
Fig. 13 is a partial enlarged view at B in fig. 12.
Fig. 14 is a cross-sectional view of the sanding robot of fig. 13 as it is retracted.
[ detailed description ] of the invention
Referring to fig. 1 to 14 of the specification, the invention discloses an intelligent vamp polishing robot which is used for automatically polishing a vamp and comprises a frame 1, a shoe mold sampling platform 2, a shoe mold image acquisition mechanism 3, a shoe pattern recognition mechanism 4, a vamp conveying mechanism 5, a polishing manipulator 6 and the like. Wherein, the shoe mold sampling platform 2, the shoe mold image acquisition mechanism 3, the shoe pattern recognition mechanism 4 and the vamp conveying mechanism 5 are respectively arranged on the frame 1.
The shoe mold sampling platform 2 is positioned in the middle of the frame 1 and is used for clamping the standard shoe mold 10 and driving the standard shoe mold 10 to rotate, so that the shoe mold image acquisition mechanism 3 can sample the standard shoe mold 10 by 360 degrees. The shoe mold sampling platform 2 comprises a mounting seat 21, a servo motor 22, a rotary table 23, a bracket I24, a clamping cylinder I25, a limiting block I26, a clamping arm I27 and the like. Wherein, the mounting seat 21 is arranged on the frame 1 of the equipment to fix the whole shoe mold sampling platform 2.
The servo motor 22 is mounted at the bottom of the mounting seat 21, and is connected with and drives the rotary table 23 to rotate. Specifically, the servo motor 22 has a speed reducer 221, and the speed reducer 221 is connected to and drives a rotary table 223 through a rotary shaft 222. The rotary table 23 is disc-shaped and horizontally arranged, so that the rotary table is stable in rotation and is not easy to touch other structures on the equipment.
The support I24 is fixedly connected to the rotary table 23 and rotates along with the rotation of the rotary table 23. The upper part of the bracket I24 is provided with a through hole 241.
The clamping cylinder I25 is fixed on the bracket I24. In this embodiment, the clamping cylinder I25 is located at the bottom of the bracket I24. The clamping arm I27 is connected to the clamping cylinder I25, and is driven by the clamping cylinder I25 to extend and retract. And the clamping arm I27 extends out of the through hole 241 of the bracket I24.
The limiting block I26 is arranged on the top of the bracket I24, and the standard shoe mold 10 is placed on the limiting block I. Specifically, a base 101 is provided at the bottom of the standard shoe mold 10. A limiting groove 261 is formed in the top of the limiting block I26; the base 101 is embedded in the limit groove 261, and two sides of the base are clamped in the limit groove 261.
Further, the clamping arm I27 clamps the standard shoe mold 10. In this embodiment, a hook 271 is disposed on the top of the clamping arm I27, and the hook 271 abuts against the upper surface of the base 101 to press the standard shoe mold 10.
The vamp conveying mechanism 5 and the shoe mold image acquisition mechanism 3 are sequentially arranged on two sides of the shoe mold sampling platform 2. The shoe mold image acquisition mechanism 3 can acquire images of various standard shoe molds 10 so that a virtual vamp polishing line can be generated by a computer system of the polishing robot and stored in the computer for later recall. Further, the shoe mold image acquisition mechanism 3 is composed of a 3D camera 31 and a camera adjusting device 32.
Wherein the 3D cameras 31 are provided at both left and right sides of the standard shoe mold 10, which can sample the standard shoe mold 10, respectively, and enhance the sampling accuracy by combining the images of the two.
The camera adjusting device 32 is mounted on the frame 1, on which the 3D camera 31 is mounted, and can adjust the position of the 3D camera 31. In the present embodiment, the camera adjusting device 32 is composed of a base 33, an adjusting plate 34, a screw I35, a screw motor I36, a guide rail I37, and the like.
The adjusting plate 34 is pivotally connected to the base 33 via a pivot 38, which is rotatable relative to the base 33. The 3D camera 31 is mounted on the adjusting plate 34, and the height of the 3D camera 31 is adjusted along with the linkage of the adjusting plate 34 so as to adapt to the standard shoe mold 10 with different heights. Further, an arc-shaped groove 39 is provided on the base 33. The adjusting plate 34 is screwed with a locking nut 341. The locking nut 341 passes through the arc-shaped groove 39 and can be locked at the outer side of the arc-shaped groove 39 to lock the adjusting plate 34. And the adjusting plate 34 can be rotated about the rotation shaft 38 by unscrewing the locking nut 341, and the locking nut 341 moves in the arc-shaped groove 39, thereby adjusting the position of the adjusting plate 34.
The bottom of the base 33 is provided with a sliding sleeve I331 and a sliding rail I332. The screw rod I35 is arranged on the frame 1 through a screw rod seat I351 and is matched with the sliding sleeve I331. The screw motor I36 is installed on the frame 1 through a motor base I361, is connected with and drives the screw I35 to rotate, and drives the sliding sleeve I331 to move through the rotation of the screw I35, so as to finally adjust the distance between the 3D camera 31 and the standard shoe mold 10, and facilitate focusing of the 3D camera 31.
The guide rail I37 is also mounted on the frame 1, and cooperates with the slide rail I332 to limit the movement of the base 33 along the extending direction of the guide rail I37. In the present embodiment, two guide rails I37 are symmetrically disposed on both sides of the screw rod I35, so that the base 33 can be prevented from overturning.
Further, the shoe pattern recognition mechanism 4 is arranged above the vamp conveying mechanism 5, and can recognize shoe codes and left and right feet of the vamp, so that the polishing equipment accurately calls corresponding polishing lines to polish the vamp. The shoe pattern recognition mechanism 4 is composed of a plane camera 41, a mounting frame 42 and the like. In the present embodiment, the planar camera 41 is mounted on the chassis 1 via a mount 42. The mounting frame 42 is provided with an adjusting groove 43 extending in the front-rear direction; the plane camera 41 can be moved forward and backward along the adjustment groove 43, thereby adjusting the plane camera 41 to just above the upper fixing shoe mold 11. The plane camera 41 is externally provided with a circle of light sources 44, so that the vamp on the vamp conveying mechanism 5 can be supplemented with light when an image is shot.
Further, vamp conveying mechanism 5 can carry the vamp that will polish to polishing manipulator 6 department, and it specifically is provided with 2 sets to mutual parallel arrangement is on frame 1, that is to say, this mechanism is provided with 2 and carries the station, when one of them station carries the vamp to polish, another station is adorning the vamp, and two stations work alternately, makes the first need not to wait, has further improved polishing efficiency.
The vamp conveying mechanism 5 consists of a vamp fixing shoe mold 11, a shoe mold fixing device 51, a conveying table 52, a screw rod II53, a screw rod motor II54, a guide rail II55 and the like.
Wherein, vamp fixed shoe mould 11 installs on shoe mould fixing device 51, and it can be detached from shoe mould fixing device 51 and change to can change the shoes mould 1 of different sizes, so that the vamp cover of different sizes is on vamp fixed shoe mould 11, make this vamp conveying mechanism 5 convenient to use, the commonality is good, has reduced the cost of equipment.
The shoe mold fixing device 51 is fixed to the conveying table 52 and is movable with the conveying table 52. The shoe mold fixing device 51 is composed of a bracket II521, a clamping cylinder II522, a limiting block II523, a clamping arm II524 and the like. Wherein, the bracket II521 is fixedly connected to the conveying table 52 and is linked with the conveying table 52.
Further, the clamping cylinder II522 is fixed to the bracket II 521. In this embodiment, the clamping cylinder II522 is located at the bottom of the bracket II 521. The clamping arm II524 is connected to the clamping cylinder II522 and is driven to extend and retract by the clamping cylinder II 522.
The limiting block II523 is arranged at the top of the bracket II521, and the vamp fixing shoe mold 11 is placed on the limiting block II. The bottom of the vamp fixing shoe mold 11 is also provided with a base 101. A limiting groove 525 is formed in the top of the limiting block II 523; the base 101 is embedded in the limiting groove 525, and two sides of the base are clamped in the limiting groove 525.
The clamping arm II524 clamps the shoe mold 11. Specifically, a hook 526 is disposed at the top of the clamping arm II524, and the hook 526 abuts against the upper surface of the base 101 to press the shoe upper to fix the shoe mold 11.
Further, a sliding sleeve II527 and a sliding rail II528 are disposed at the bottom of the conveying table 52. The screw rod II53 is arranged on the frame 10 through a screw rod seat II531 and is matched with the sliding sleeve II 527. The screw motor II54 is arranged on the frame 1 through the motor base II541, is connected with and drives the screw II53 to rotate, and the screw II53 rotates to drive the sliding sleeve II527 to move, so that the conveying table 52 is driven to move, and automatic conveying of shoe uppers is realized.
The guide rail II55 is also arranged on the frame 1 and is positioned on two sides of the screw rod II 53. The guide rails II55 and the slide rails II528 cooperate to limit the movement of the conveying table 52 along the extending direction of the guide rails II55, and the two guide rails II55 can prevent the conveying table 52 from overturning. Further, a pair of travel switches 7 are further disposed on the outer side of the guide rail II55, and the travel switches 7 are disposed in tandem, which can limit the moving range of the conveying table 52, so that the conveying range of the shoe upper can be controlled.
Still further, the polishing manipulator 6 is located at one side of the frame 1, and is capable of polishing the vamp, and is composed of a manipulator body 61, a adapter 62, an elastic mechanism 63, a polishing motor seat 64, a polishing motor 65, a polishing head 66 and the like.
The manipulator body 61 is a manipulator of the prior art, and the specific structure thereof is not described herein. Because the manipulator body 61 is the existing manipulator, the universality of the creation is good, the transformation cost is low, and the equipment cost is reduced.
The adapter 62 has an inverted L-shaped structure, is fixed at one end of the manipulator body 61, is driven by the manipulator body 61 to perform various actions, and finally drives the polishing head 66 to move. A pipeline 67 is arranged at the bottom of the adapter seat 62; the pipe 67 is hollow, the polishing head 66 is partially positioned in the pipe 67, and the pipe 67 can collect part of the polished scraps, and the polishing head 66 is partially positioned in the pipe 67, so that the polishing head 66 is protected, and the safety of the polishing process is greatly improved.
The elastic mechanism 63 is mounted on the adapter seat 62; the polishing motor base 64 is connected to the elastic mechanism 63, so that the polishing motor base 64 can elastically stretch and retract, and finally, the polishing head 66 can stretch and retract. When the contact force between the polishing head 66 and the vamp is too large, the polishing head 66 can be pushed, and the problem that the polishing head 66 wears out the vamp to cause scrapping is avoided.
Specifically, the elastic mechanism 63 is composed of a first guide rod 631, a second guide rod 632, a guide sleeve 633, a back plate 634, a spring 635, a spring seat 636, and the like. Wherein, one end of the first guide rod 631 is connected to the polishing motor base 64, and the other end is connected to the back plate 634. One end of the second guide rod 632 is connected to the polishing motor base 64. In this embodiment, the first guide rods 631 are provided with 2 guide rods and symmetrically arranged on two sides of the second guide rod 632, so that the polishing motor base 64 moves stably and is not easy to topple.
The guide sleeves 633 are fixed in the adapter 62, and are specifically provided with 3 guide sleeves. The first guide rod 631 and the second guide rod 632 respectively pass through the corresponding guide sleeves 633 and can move along the guide sleeves 633, and move in parallel with the polishing motor base 64, the polishing head 66 and other components.
The spring seat 636 is mounted on the back of the adaptor seat 62 and is positioned between the back plate 634 and the adaptor seat 62. The spring seat 636 has a T-shaped cross section, and is hollow at its inner portion, and has a guiding hole 637 at its tail end, and the second guide rod 632 is accommodated in the guiding hole 637, so as to define the moving direction of the second guide rod 632. Further, the spring seat 636 extends out of the back plate 634 and the back plate 634 is radially movable along the spring seat 636.
The spring 635 is sleeved on the second guide rod 632, and abuts between the spring seat 636 and the second guide rod 632, and pushes the second guide rod 632, so as to reset the polishing head 66 finally.
The polishing motor 65 is mounted on the polishing motor base 64 and can be linked with the polishing motor base 64. The polishing motor 65 is provided with a motor shaft 651; the sanding head 66 is connected to the motor shaft 651 and is driven to rotate by the sanding motor 65 to sand the shoe upper.
The working principle of the intelligent vamp polishing robot is as follows:
firstly, the standard shoe mold 10 is fixed on the shoe mold sampling platform 2, namely, the standard shoe mold 10 is inserted into the limiting block I26 along the front and back directions of the limiting block I26, so that the base 101 is embedded in the limiting groove 261 to initially limit the standard shoe mold 10; the clamping cylinder I25 is started, and the clamping cylinder I25 drives the clamping arm I27 to retract downwards until the hook 271 of the clamping arm I27 presses the upper surface of the base 101, so that the standard shoe mold 10 is installed, and the installation and clamping are firm, so that the standard shoe mold 10 is not easy to shift.
When the standard shoe mold 10 needs to be subjected to image acquisition, the position of the shoe mold image acquisition mechanism 3 is adjusted, namely the locking nut 341 is unscrewed, and the 3D camera 31 is adjusted to a proper height, and then the locking nut 341 is screwed. Then, the screw motor I36 is started, the screw motor I36 drives the screw I35 to rotate, and the sliding sleeve I331 is driven by the rotation of the screw I35, so that the sliding sleeve I331 moves along the extending direction of the screw I35. The sliding sleeve I331 sequentially links the base 33 and the 3D camera 31, so that the distance between the 3D camera 31 and the standard shoe mold 10 is adjusted, and the acquired shoe mold pattern is accurate, so that an accurate polishing line can be generated.
Then, the servo motor 22 drives the rotary table 23 to rotate 30 degrees, namely the standard shoe mold 10 also rotates 30 degrees; after the image acquisition is completed, the servo motor 22 rotates for 30 degrees again until 12 times of sampling are completed, so that 360-degree all-round sampling of the shoe mold is realized.
Then, selecting a corresponding vamp fixing shoe mold 11 according to the vamp size to be polished, and fixing the vamp fixing shoe mold 11 on the shoe mold fixing device 51, namely inserting the vamp fixing shoe mold 11 into the limiting block II523 along the front and back directions of the limiting block II523, so that the base 101 is embedded in the limiting groove 525 to initially limit the shoe mold 1; the clamping cylinder II522 is started, the clamping cylinder II522 drives the clamping arm II524 to retract downwards until the hook 526 of the clamping arm II524 presses the upper surface of the base 101, so that the shoe upper fixing shoe mold 11 is installed, and the installation and clamping are firm, so that the shoe upper fixing shoe mold 11 is not easy to shift.
The vamp to be polished is sleeved on the vamp fixing shoe mold 11, and then the plane camera 41 is opposite to the vamp, so that the plane camera can shoot shoe codes of the vamp and distinguish left and right feet, and the polishing equipment calls corresponding polishing lines to polish the vamp.
And the screw motor II54 is started, the screw motor II54 drives the screw II53 to rotate, and the sliding sleeve II527 is driven by the rotation of the screw II53, so that the sliding sleeve II527 moves along the extending direction of the screw II 53. The sliding sleeve II527 is sequentially linked with the conveying table 52, the shoe mold fixing device 51 and the shoe mold 11 for fixing the shoe mold on the shoe upper, so that the shoe upper is conveyed to a polishing head for polishing. While polishing the vamp, the worker can mount the vamp on another automatic vamp conveying mechanism to be polished.
During polishing, the polishing motor 65 drives the polishing head 66 to rotate, so that the vamp is polished. When the contact force between the polishing head 66 and the shoe upper is too large and the shoe upper is worn, the polishing head 66 is retracted due to the existence of the elastic mechanism 63, namely, the polishing head 66 sequentially pushes the motor shaft 51, the polishing motor 65 and the polishing motor seat 64 to enable the polishing motor seat 64 to retract along the arrow direction in fig. 3, at this time, the polishing motor seat 64 pushes the first guide rod 631 and the second guide rod 632 to enable the first guide rod 631 and the second guide rod 632 to retract along the guide sleeve 633 and connect with the backboard 634 in parallel; at the same time, the second guide rod 632 compresses the spring 635. When the sanding head 66 is in normal contact with the shoe upper, the sanding head 66 is returned by elastic recovery of the spring 635.
After finishing polishing, the polishing manipulator 6 withdraws, the vamp conveying mechanism 5 resets the polished vamp to the original place, and the other station repeats the above-mentioned actions.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, but any modifications, equivalent substitutions, improvements, etc. within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (6)
1. Intelligence vamp polishing robot, its characterized in that: comprises a frame, a shoe mold sampling platform, a shoe mold image acquisition mechanism, a shoe pattern recognition mechanism, a vamp conveying mechanism and a polishing manipulator; wherein the shoe mold sampling platform, the shoe mold image acquisition mechanism, the shoe pattern recognition mechanism and the vamp conveying mechanism are respectively arranged on the frame; the shoe mold sampling platform is positioned in the middle of the frame, and can fix various standard shoe molds thereon; the vamp conveying mechanism and the shoe mold image acquisition mechanism are sequentially arranged on two sides of the shoe mold sampling platform; the shoe mold image acquisition mechanism can acquire images of various standard shoe molds; the vamp conveying mechanism can convey the vamp to the polishing manipulator; the shoe pattern recognition mechanism is arranged above the vamp conveying mechanism and can recognize shoe codes and left and right feet of the vamp; the polishing manipulator is positioned on one side of the frame and can polish the vamp;
the shoe mold sampling platform comprises a mounting seat, a servo motor, a rotary table, a bracket I, a clamping cylinder I, a limiting block I and a clamping arm I; the mounting seat is fixed on the frame; the servo motor is arranged at the bottom of the mounting seat, and is connected with and drives the rotary table to rotate; the support I is fixedly connected to the rotary table and is linked with the rotary table; the clamping cylinder I is fixed on the bracket I; the limiting block I is arranged at the top of the bracket I, and the standard shoe mold is placed on the limiting block I; the clamping arm I is connected to the clamping cylinder I and driven by the clamping cylinder I; the clamping arm I clamps the standard shoe mold;
the shoe mold image acquisition mechanism comprises a 3D camera and a camera adjusting device; the 3D cameras are arranged on the left side and the right side of the standard shoe mold and can respectively sample the standard shoe mold; the camera adjusting device is arranged on the rack, is provided with a 3D camera, and can adjust the position of the 3D camera;
the camera adjusting device comprises a base, an adjusting plate, a screw rod I, a screw rod motor I and a guide rail I; wherein, the adjusting plate is pivoted on the base through a rotating shaft and can rotate relative to the base; the base is provided with an arc-shaped groove; the adjusting plate is in threaded connection with a locking nut; the locking nut passes through the arc-shaped groove and can be locked at the outer side of the arc-shaped groove so as to position the adjusting plate; the 3D camera is arranged on the adjusting plate and is linked with the adjusting plate to adjust the height of the 3D camera; the bottom of the base is provided with a sliding sleeve I and a sliding rail I; the screw rod I is arranged on the frame through a screw rod seat I, is matched with the sliding sleeve I, and drives the sliding sleeve I to move through the rotation of the screw rod I so as to adjust the distance between the 3D camera and the standard shoe mold; the screw motor I is arranged on the frame through a motor seat I, and is connected with and drives the screw I to rotate; the guide rail I is also arranged on the frame and symmetrically distributed on two sides of the screw rod I; the guide rail I and the slide rail I are matched to limit the base to move along the extending direction of the guide rail I;
the shoe pattern recognition mechanism comprises a plane camera and a mounting frame; the plane camera is arranged on the rack through the mounting frame; the mounting frame is provided with an adjusting groove extending along the front-back direction; the plane camera can move forwards and backwards along the adjusting groove, so that the plane camera can be positioned right above the vamp; a circle of light source is arranged outside the plane camera.
2. An intelligent shoe upper grinding robot as set forth in claim 1, wherein: the vamp conveying mechanism is provided with 2 sets, and comprises vamp fixing shoe molds, shoe mold fixing devices, a conveying table, a screw rod II, a screw rod motor II and a guide rail II; the vamp fixing shoe mold is arranged on the shoe mold fixing device and can be detached from the shoe mold fixing device for replacement; the vamp fixing shoe mold can be sleeved with a vamp; the shoe mold fixing device is fixed on the conveying table and can move along with the conveying table; a sliding sleeve II and a sliding rail II are arranged at the bottom of the conveying table; the screw rod II is arranged on the frame through a screw rod seat II, is matched with the sliding sleeve II, and drives the sliding sleeve II to move through the rotation of the screw rod II; the screw motor II is arranged on the frame through a motor seat II and is connected with and drives the screw motor II to rotate; the guide rail II is also arranged on the frame and is positioned at two sides of the screw rod II; the guide rail II and the slide rail II are matched to limit the conveying table to move along the extending direction of the guide rail II.
3. An intelligent shoe upper grinding robot as set forth in claim 2, wherein: the shoe mold fixing device comprises a bracket II, a clamping cylinder II, a limiting block II and a clamping arm II; wherein the bracket II is fixedly connected to the conveying table and is linked with the conveying table; the clamping cylinder II is fixed on the bracket II; the limiting block II is arranged at the top of the bracket, and the vamp fixing shoe mold is placed on the limiting block II; the clamping arm II is connected to the clamping cylinder II and driven by the clamping cylinder II; the clamping arms II clamp the vamp fixing shoe mold.
4. An intelligent shoe upper grinding robot as set forth in claim 3 wherein: the bottoms of the standard shoe mold and the vamp fixing shoe mold are respectively provided with a base; the top of the limiting block I and/or the limiting block II is provided with a limiting groove; the base is embedded into the limit groove, and two sides of the base are clamped in the limit groove; the top of the clamping arm I and/or the clamping arm II is provided with a hook part, and the hook part is abutted to the upper surface of the base.
5. An intelligent shoe upper grinding robot as set forth in claim 1, wherein: the polishing manipulator comprises a manipulator body, an adapter, an elastic mechanism, a polishing motor seat, a polishing motor, a polishing head and a pipeline; the adapter seat is fixed at one end of the manipulator body and driven by the manipulator body; the elastic mechanism is arranged on the adapter seat; the polishing motor seat is connected to the elastic mechanism, so that the polishing motor seat can elastically stretch out and draw back; the polishing motor is arranged on the polishing motor seat and is provided with a motor shaft; the polishing head is connected to the motor shaft and is driven by the polishing motor to rotate; the pipeline is arranged at the bottom of the adapter, the interior of the pipeline is hollow, and the polishing head part is positioned in the pipeline.
6. An intelligent shoe upper grinding robot as set forth in claim 5, wherein: the elastic mechanism comprises a first guide rod, a second guide rod, a guide sleeve, a back plate, a spring and a spring seat; one end of the first guide rod is connected to the polishing motor base, and the other end of the first guide rod is connected to the backboard; one end of the second guide rod is connected to the polishing motor seat; the guide sleeve is fixed in the adapter; the first guide rod and the second guide rod respectively pass through the corresponding guide sleeves and can move along the guide sleeves; the spring seat is arranged on the back surface of the adapter seat and is positioned between the back plate and the adapter seat; the spring is sleeved on the second guide rod and is abutted between the spring seat and the second guide rod; the spring seat penetrates out of the back plate, and the back plate can move radially along the spring seat; the tail end of the spring seat is provided with a guide hole, and the second guide rod is accommodated in the guide hole.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210838871.5A CN115381189B (en) | 2022-07-18 | 2022-07-18 | Intelligence vamp machine people of polishing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210838871.5A CN115381189B (en) | 2022-07-18 | 2022-07-18 | Intelligence vamp machine people of polishing |
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| CN115381189A CN115381189A (en) | 2022-11-25 |
| CN115381189B true CN115381189B (en) | 2024-02-23 |
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| CN202210838871.5A Active CN115381189B (en) | 2022-07-18 | 2022-07-18 | Intelligence vamp machine people of polishing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6066704A (en) * | 1983-09-22 | 1985-04-16 | リ−ダ−株式会社 | Shoe upper left and right detector in shoes molding machine |
| CN111449370A (en) * | 2020-05-27 | 2020-07-28 | 浙江和生荣智能科技有限公司 | Automatic change shoemaking production line |
| CN211932861U (en) * | 2019-10-31 | 2020-11-17 | 东莞市意利自动化科技有限公司 | Automatic double-tool polishing station |
| CN113446961A (en) * | 2021-07-03 | 2021-09-28 | 詹镇远 | Method and equipment for determining processing track by visually scanning three-dimensional adhesive surface |
| CN214642599U (en) * | 2021-03-15 | 2021-11-09 | 深圳市云客智慧科技有限公司 | Full-automatic duplex position equipment of polishing of shoemaking |
| CN215423124U (en) * | 2021-05-10 | 2022-01-07 | 泉州华中科技大学智能制造研究院 | Automatic vamp roughing device |
| CN114451637A (en) * | 2022-03-08 | 2022-05-10 | 温州黑马鞋业有限公司 | Automatic shoe last sewing device and process for processing leather shoes |
-
2022
- 2022-07-18 CN CN202210838871.5A patent/CN115381189B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6066704A (en) * | 1983-09-22 | 1985-04-16 | リ−ダ−株式会社 | Shoe upper left and right detector in shoes molding machine |
| CN211932861U (en) * | 2019-10-31 | 2020-11-17 | 东莞市意利自动化科技有限公司 | Automatic double-tool polishing station |
| CN111449370A (en) * | 2020-05-27 | 2020-07-28 | 浙江和生荣智能科技有限公司 | Automatic change shoemaking production line |
| CN214642599U (en) * | 2021-03-15 | 2021-11-09 | 深圳市云客智慧科技有限公司 | Full-automatic duplex position equipment of polishing of shoemaking |
| CN215423124U (en) * | 2021-05-10 | 2022-01-07 | 泉州华中科技大学智能制造研究院 | Automatic vamp roughing device |
| CN113446961A (en) * | 2021-07-03 | 2021-09-28 | 詹镇远 | Method and equipment for determining processing track by visually scanning three-dimensional adhesive surface |
| CN114451637A (en) * | 2022-03-08 | 2022-05-10 | 温州黑马鞋业有限公司 | Automatic shoe last sewing device and process for processing leather shoes |
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| Publication number | Publication date |
|---|---|
| CN115381189A (en) | 2022-11-25 |
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