CN116687107A - Sole and vamp viscose contour marking device and method based on 3D vision - Google Patents
Sole and vamp viscose contour marking device and method based on 3D vision Download PDFInfo
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- CN116687107A CN116687107A CN202310503565.0A CN202310503565A CN116687107A CN 116687107 A CN116687107 A CN 116687107A CN 202310503565 A CN202310503565 A CN 202310503565A CN 116687107 A CN116687107 A CN 116687107A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 229920000297 Rayon Polymers 0.000 title claims description 25
- 238000003825 pressing Methods 0.000 claims abstract description 37
- 230000001070 adhesive effect Effects 0.000 claims abstract description 27
- 239000000853 adhesive Substances 0.000 claims abstract description 26
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 239000003292 glue Substances 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 8
- 238000004026 adhesive bonding Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000004927 fusion Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 2
- 238000003475 lamination Methods 0.000 description 8
- 230000001680 brushing effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 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
- A43D8/00—Machines for cutting, ornamenting, marking or otherwise working up shoe part blanks
- A43D8/26—Marking for future work
Abstract
The application relates to a device and a method for scribing the adhesive outline of a sole and a vamp based on 3D vision, which relate to the field of shoe processing and comprise a fixed bracket, a pressing module, a 3D vision module, a scribing module and a control system; the pressing module comprises a rotating part arranged on the fixed bracket, a supporting part arranged above the rotating part, and a pressing part arranged on the fixed bracket and positioned above the supporting part; the 3D vision module comprises a 3D vision sensor arranged on the fixed bracket; the scribing module comprises a scribing part, a first moving assembly for driving the scribing part to move along the vertical direction, and a second moving assembly for driving the scribing part to move along the direction approaching to or separating from the supporting part; the control system is used for reconstructing a 3D image and calculating an adhesive contour line according to the 3D visual module when the pressing module works, and controlling the scribing module to work according to the adhesive contour line. The application has the effects of improving the accuracy and quality of scribing and realizing intelligent production.
Description
Technical Field
The application relates to the field of shoe processing, in particular to a device and a method for scribing the adhesive outline of soles and vamps based on 3D vision.
Background
In the production process of shoes, the vamp (upper) and the sole need be closely attached, and the attaching parts of the vamp (upper) and the sole need be uniformly coated with adhesive glue for fixation, so that the adhesive effect of the sole and the vamp is directly influenced by the accuracy of the adhesive brushing position. If the glue brushing position exceeds the joint position of the two, the glue overflow condition can occur, otherwise, the glue shortage condition can occur at the joint position which is not covered by the glue brushing position, and the quality of the shoes is directly affected by the two conditions.
At present, a shoemaking factory is usually laminated and compacted by manual work with sole and vamp before gluing, then the fluorescent pen is used for drawing out a gluing boundary line along the outline on the lamination part of the sole and the vamp, and then the personnel for gluing are handed over to carry out manual gluing along the gluing boundary line. However, the traditional manual scribing and glue brushing mode has very high requirements on personnel experience, and the conditions of inaccurate scribing and deviation of scribing are easy to occur, so that rechecking operation is often required to be carried out by a rechecking personnel, the efficiency is low, the labor cost is high, the quality is uncontrollable, and the intelligent production is not facilitated.
Disclosure of Invention
In order to improve marking accuracy and quality and realize intelligent production, the application provides a sole and vamp viscose contour marking device and method based on 3D vision.
The application provides a device and a method for marking the adhesive outline of soles and vamps based on 3D vision, which adopt the following technical scheme:
in a first aspect, the application provides a device for marking the outline of the adhesive on a sole and a vamp based on 3D vision, which adopts the following technical scheme:
a sole and vamp viscose contour scribing device based on 3D vision comprises a fixed support, a pressing module, a 3D vision module, a scribing module and a control system, wherein the pressing module, the 3D vision module, the scribing module and the control system are arranged on the fixed support;
the pressing module comprises a rotating part arranged on the fixed support, a supporting part arranged above the rotating part, and a pressing part arranged on the fixed support and positioned above the supporting part, wherein the rotating part is used for driving the supporting part to rotate in a horizontal plane, and the pressing part is used for pressing along the vertical direction;
the 3D vision module comprises a 3D vision sensor arranged on the fixed support, and the 3D vision sensor faces between the supporting part and the pressing part;
the scribing module comprises a scribing part, a first moving assembly and a second moving assembly, wherein the first moving assembly is arranged on the fixed support and used for driving the scribing part to move along the vertical direction, the second moving assembly is connected with the first moving assembly and used for driving the scribing part to move along the direction close to or far away from the supporting part, and the scribing part is arranged on the second moving assembly;
the control system is used for reconstructing a 3D image and calculating an adhesive contour line according to the 3D visual module when the pressing module works, and controlling the scribing module to work according to the adhesive contour line.
Optionally, the control system controls the scribing module to work according to the viscose contour line according to the following steps, including:
s1: taking the intersection point of the driving direction of the first moving component and the driving direction of the second moving component as an origin O, the driving direction of the second moving component as an X axis, the driving direction of the first moving component as a Y axis, and establishing a right-hand rectangular coordinate system which is marked as M 1 The 3D vision sensor coordinate system is marked as M 2 Calibration by M with calibration plate 2 Conversion of coordinate System to M 1 The rotation matrix in the coordinate system is RT 0 ；
S2: after the 3D image reconstruction is completed, multiplying each point in the viscose contour line point cloud data set Q by RT 0 Rotated to M 1 In the coordinate system, the result after rotation is Q 1 The method comprises the steps of carrying out a first treatment on the surface of the Recording point P (P) x ,P y ,P z ) Is Q 1 At any point, the projection coordinate of the point P in the XOZ plane is P ， (P x ,P y 0), passing point P ， A straight line perpendicular to the X-axis intersects the X-axis at a point P ，， (P x 0, 0), vector OP ， Vector OP ，， An included angle of theta 1 The control system controls the rotating part to reverse the supporting part by theta 1 The degree rotates the point P into the XOY plane;
s3: computing contoursThe point cloud rotates θ around the Y-axis 1 Is a rotation matrix of (a):
point P times RT 1 Rotated to a coordinate point P in the XOY plane 1 (P x1 ,P y1 0), the control system controls the second moving component to move the scribing part along the X axis by P x1 The control system controls the first moving component to move the scribing part along the Y axis by P y1 And scribing;
s4: repeating the steps S2 and S3 until each point in the viscose contour line point cloud data set Q is calculated and marked, and when the calculation is carried out for the nth time, the contour point cloud data set is Q n ＝Q n-1 *RT n 。
Optionally, the pressfitting portion top-down is in proper order including vertical being fixed in the cylinder of fixed bolster, be fixed in the axle sleeve of cylinder piston rod and vertical setting and with the telescopic depression bar of axle sleeve swivelling joint.
Optionally, the telescopic compression bar is coaxially disposed with the rotation axis of the rotation portion.
Optionally, the scribing part comprises a pen container connected with the second moving component, a scribing pen arranged at the end head of the pen container, and a spring positioned in the pen container and connected with the scribing pen.
Optionally, the first moving component includes a first guide rod vertically arranged and fixed on the fixed bracket, a first screw rod vertically arranged and rotationally connected with the fixed bracket, a first driving motor fixed on the fixed bracket and fixedly connected with one end of the first screw rod, and a first sliding table slidingly arranged on the first guide rod and in threaded connection with the first screw rod;
the second moving assembly comprises a second guide rod, a second screw rod, a second driving motor and a second sliding table, wherein the second guide rod is arranged along the direction close to or far away from the supporting part and is fixed on the first sliding table, the second screw rod is arranged in parallel with the second guide rod and is rotationally connected with the first sliding table, the second driving motor is fixed on the first sliding table and is fixedly connected with one end of the second screw rod, the second sliding table is arranged on the second guide rod in a sliding manner and is in threaded connection with the second screw rod, and the second sliding table is connected with the scribing part.
Optionally, the 3D vision sensor is provided with two, and the symmetry set up in pressfitting module both sides.
Optionally, the control system collects 3D visual data of the two 3D visual sensors respectively, marks a relationship between the two sets of 3D visual data and makes the two sets of 3D visual data in the same coordinate system, and then reconstructs the complete 3D visual data through image stitching and fusion.
Optionally, the supporting part is made of rubber material, and the top surface of the supporting part is arc-shaped.
In a second aspect, the application provides a method for marking the outline of the adhesive of a sole and a vamp based on 3D vision, which adopts the following technical scheme:
a method for scribing the adhesive outline of a sole and a vamp based on 3D vision, based on the scribing device, comprises the following steps:
placing the sole and the vamp to be bonded on the supporting part, and controlling the pressing part to vertically press downwards by the control system so as to enable the sole and the adhesive part of the vamp to be tightly bonded;
the 3D vision sensor carries out 3D vision image reconstruction on the joint part of the pressed sole and the vamp, and the control system calculates an adhesive contour line according to the 3D vision image;
the control system calculates the rotation angle of the rotating part driving the supporting part, the moving distance of the first moving component driving the scribing part along the vertical direction and the moving distance of the second moving component driving the scribing part along the direction close to or far away from the supporting part according to the viscose contour line, and further controls the rotating part, the first moving component and the second moving component to work according to the calculation result, so that the scribing part moves to the viscose contour line to scribe.
In summary, the present application includes at least one of the following beneficial technical effects:
1. by arranging the control system, control management among the pressing module, the 3D vision module and the scribing module is realized, so that the operations of pressing the sole and the vamp, reconstructing the 3D image, processing and calculating data, converting a processing track, scribing and the like are realized, manual operation is avoided, automatic and intelligent production of the system is realized, labor is saved, and efficiency is greatly improved;
2. 3D vision sensors are arranged on two sides of the supporting part by adopting a 3D vision technology, 3D image reconstruction can be performed on the attaching part of the vamp and the sole in real time, images are rapidly analyzed and calculated by a data processing system, boundary contour lines of the attaching part are automatically extracted, contour line data are converted into processing track information of the scribing module, and therefore the scribing module is driven to realize full-automatic accurate scribing, manual dependence can be reduced, the scribing track identified by 3D vision is more accurate, manual scribing errors are avoided, and the quality of products is improved;
3. the scribing module adopted in the scheme of the application has a simple structure, can realize up-down and front-back movement of the scribing pen only by controlling the rotation of the first driving motor and the second driving motor, and can realize accurate scribing processing by matching with the rotation of the rotating motor.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present application;
FIG. 2 is a schematic diagram of a pressing module according to an embodiment of the application;
FIG. 3 is a schematic diagram of a scribing module according to an embodiment of the present application;
FIG. 4 is a coordinate system diagram of a control system calculation process according to an embodiment of the present application.
Reference numerals illustrate:
1. a fixed bracket; 2. a pressing module; 21. a rotating part; 211. a rotating electric machine; 212. a turntable; 22. a support part; 23. a pressing part; 231. a cylinder; 232. a shaft sleeve; 233. a telescopic compression bar; 3. a 3D vision module; 31. a 3D vision sensor; 4. a scribing module; 41. a first moving assembly; 411. a first guide rod; 412. a first screw rod; 413. a first driving motor; 414. a first sliding table; 42. a second moving assembly; 421. a second guide rod; 422. a second screw rod; 423. a second driving motor; 424. a second sliding table; 43. a scribing portion; 431. a scribing pen; 432. a pen container.
Detailed Description
The application is described in further detail below with reference to fig. 1-4.
The embodiment of the application discloses a sole and vamp viscose contour scribing device based on 3D vision.
Referring to fig. 1, a device for marking out a glue outline of a sole and a vamp based on 3D vision comprises a fixing support 1, a pressing module 2 arranged on the fixing support 1, a 3D vision module 3, a marking module 4 and a control system (not shown in the figure), wherein the pressing module 2 is used for tightly adhering the sole to the vamp, the 3D vision module 3 is used for reconstructing a 3D vision image of an adhering part of the pressed sole and vamp, the control system calculates a glue outline according to the 3D vision image, and the marking module 4 is controlled to mark according to the glue outline.
The pressing module 2 comprises a rotating part 21 arranged on the fixed support 1, a supporting part 22 arranged above the rotating part 21, and a pressing part 23 arranged on the fixed support 1 and positioned above the supporting part 22, wherein the rotating part 21 is used for driving the supporting part 22 to rotate in a horizontal plane, and the pressing part 23 is used for pressing along the vertical direction.
The rotating portion 21 includes a rotating motor 211 fixedly provided to the fixed bracket 1, an axis of an output shaft of the rotating motor 211 is vertically provided, and a turntable 212 is fixedly provided at a top of the rotating motor 211. The supporting part 22 is fixedly arranged above the turntable 212, the supporting part 22 is made of a whole block or a plurality of rubber materials, the top surface of the supporting part 22 is arc-shaped and is attached to the bottom surface of the sole, so that the whole sole can be uniformly stressed in the lamination process, and the elastic rubber materials can also play a supporting role on the sole, and the sole and the vamp are guaranteed to be attached fully.
The pressing portion 23 sequentially includes, from top to bottom, an air cylinder 231 vertically fixed to the fixing bracket 1, a shaft sleeve 232 fixed to a piston rod of the air cylinder 231, and a telescopic compression bar 233 vertically disposed and rotatably connected to the shaft sleeve 232, wherein the telescopic compression bar 233 is coaxially disposed with a rotation shaft of the rotating motor 211. The telescopic compression bar 233 can freely rotate through the shaft sleeve 232360 degrees, so that the damage to the vamp caused by the fixation of the telescopic compression bar 233 when the support part 22 rotates is avoided. Because the telescopic compression bar 233 and the rotation shaft of the support portion 22 are positioned on the same rotation shaft, the cylinder 231 is started to drive the telescopic compression bar 233 to press downwards, so that downward pressure is applied to the vamp and the sole placed on the support portion 22, and the vamp of the sole is completely compacted and fully attached.
The 3D vision module 3 includes two 3D vision sensors 31,3D and 31 disposed on the fixing support 1, and symmetrically disposed above two sides of the supporting portion 22, and faces the sole and the vamp disposed between the supporting portion 22 and the pressing portion 23. After the lamination of the sole and the vamp is completed, the control system starts the 3D scanning system, the two groups of 3D vision sensors 31 reconstruct 3D images of the lamination part of the sole and the vamp, the control system respectively collects 3D vision data of the two 3D vision sensors 31, the relation of the two groups of 3D vision data is calibrated and is positioned in the same coordinate system, then the complete 3D vision data is reconstructed through image splicing and fusion, and the viscose contour line of the lamination part of the sole and the vamp is calculated through an algorithm.
The scribing module 4 is located at one side of the pressing module 2, the scribing module 4 includes a scribing portion 43, a first moving assembly 41 disposed on the fixing bracket 1 and used for driving the scribing portion 43 to move along a vertical direction, and a second moving assembly 42 connected with the first moving assembly 41 and used for driving the scribing portion 43 to move along a direction approaching or separating from the supporting portion 22, and the scribing portion 43 is disposed on the second moving assembly 42.
The first moving assembly 41 comprises a first guide rod 411 vertically arranged and fixed on the fixed support 1, a first screw rod 412 vertically arranged and rotationally connected with the fixed support 1, a first driving motor 413 fixed on the fixed support 1 and fixedly connected with one end of the first screw rod 412, and a first sliding table 414 slidably arranged on the first guide rod 411 and in threaded connection with the first screw rod 412; the second moving assembly 42 includes a second guide rod 421 disposed along a direction approaching or separating from the support portion 22 and fixed to the first sliding table 414, a second screw 422 disposed in parallel with the second guide rod 421 and rotatably connected to the first sliding table 414, a second driving motor 423 fixed to the first sliding table 414 and fixedly connected to one end of the second screw 422, and a second sliding table 424 slidably disposed on the second guide rod 421 and threadedly connected to the second screw 422, the second sliding table 424 being connected to the scribing portion 43; the scribing portion 43 includes a barrel 432 fixedly connected to the second slide table 424, a scribing pen 431 provided at an end of the barrel 432, and a spring (not shown) provided in the barrel 432 and connected to the scribing pen 431. The spring is sleeved at the tail end of the scribing pen 431, and the scribing pen 431 can be stretched back and forth in the scribing process, so that the scribing pen 431 is prevented from rigidly contacting with the vamp, and the vamp is prevented from being damaged.
The control system controls the first driving motor 413 to drive the first screw rod 412 to rotate, so that the first sliding table 414 drives the scribing pen 431 to move along the vertical direction, and controls the second driving motor 423 to drive the second screw rod 422 to rotate, so that the second sliding table 424 drives the scribing pen 431 to move along the direction close to or far from the supporting part 22, and further the scribing pen 431 is moved to the viscose contour line of the sole and the vamp to scribe.
After the control system calculates the viscose contour line, the scribing module 4 is controlled to work according to the viscose contour line according to the following steps, and the method comprises the following steps:
s1: taking the intersection point of the driving direction of the first moving component 41 and the driving direction of the second moving component 42 as an origin O, the driving direction of the second moving component 42 as an X axis, the driving direction of the first moving component 41 as a Y axis, and establishing a right-hand rectangular coordinate system, which is marked as M 1 The 3D vision sensor coordinate system is marked as M 2 Calibration by M with calibration plate 2 Conversion of coordinate System to M 1 The rotation matrix in the coordinate system is RT 0 ；
S2: after the 3D image reconstruction is completed, multiplying each point in the viscose contour line point cloud data set Q by RT 0 Rotated to M 1 In the coordinate system, the result after rotation is Q 1 The method comprises the steps of carrying out a first treatment on the surface of the Recording point P (P) x ,P y ,P z ) Is Q 1 At any point in the above-mentioned process,the projection coordinate of the point P in the XOZ plane is P ， (P x ,P y 0), passing point P ， A straight line perpendicular to the X-axis intersects the X-axis at a point P ，， (P x 0, 0), vector OP ， Vector OP ，， An included angle of theta 1 The control system controls the rotary electric machine 211 to reverse the support portion 22 by θ 1 The/360 turns rotate the point P into the XOY plane;
s3: computing the rotation θ of the contour point cloud around the Y-axis 1 Is a rotation matrix of (a):
point P times RT 1 Rotated to a coordinate point P in the XOY plane 1 (P x1 ,P y1 0), the control system controls the second moving means 42 to move the scribing portion 43 along the X axis by P x1 The control system controls the first moving means 41 to move the scribing portion 43 along the Y axis by P y1 And scribing;
let the initial values of the end of the first screw 412 and the end of the second screw 422 be V respectively y 、V x Leads of the first screw rod 412 and the second screw rod 422 are g respectively Y 、g X . If (P) x1 -V x )>0, the second driving motor 423 rotates forward (|p) x1 -V x |)/(g X *360 Circle, otherwise reverse (|P) x1 -V x |)/(g X *360 Circle; similarly, if (P y1 -V y )>0, the first driving motor 413 rotates forward (|p) y1 -V y |)/(g Y *360 Circle, otherwise reverse (|P) y1 -V y |)/(g Y *360 Circle, make the end of the marking pen reach point P 1 Where it is located.
S4: repeating the steps S2 and S3 until each point in the viscose contour line point cloud data set Q is calculated and marked, and when the calculation is carried out for the nth time, the contour point cloud data set is Q n ＝Q n-1 *RT n 。
The embodiment of the application also discloses a method for scribing the adhesive outline of the sole and the vamp based on 3D vision.
A method for scribing the adhesive outline of a sole and a vamp based on 3D vision, based on the scribing device, comprises the following steps:
the sole and vamp to be bonded are placed on the supporting part 22, the control system controls the cylinder 231 to start, drives the telescopic compression bar 233 to press downwards, and applies downward pressure to the vamp and sole placed on the supporting part 22, so that the vamp and the sole are completely compacted and fully attached.
After the lamination of the sole and the vamp is completed, the control system starts the 3D scanning system, the two groups of 3D vision sensors 31 reconstruct 3D images of the lamination part of the sole and the vamp, the control system respectively collects 3D vision data of the two 3D vision sensors 31, the relation of the two groups of 3D vision data is calibrated and is positioned in the same coordinate system, then the complete 3D vision data is reconstructed through image splicing and fusion, and the viscose contour line of the lamination part of the sole and the vamp is calculated through an algorithm.
The control system calculates a rotation angle of the rotating part driving support part 22, a moving distance of the first moving component 41 driving the scribing part 43 along a vertical direction, and a moving distance of the second moving component 42 driving the scribing part 43 along a direction approaching to or separating from the support part 22 according to the viscose contour line, and further controls the rotating part, the first moving component 41 and the second moving component 42 to work according to a calculation result, so that the scribing part 43 moves to the viscose contour line to scribe, and the control system specifically comprises:
s1: taking the intersection point of the driving direction of the first moving component 41 and the driving direction of the second moving component 42 as an origin O, the driving direction of the second moving component 42 as an X axis, the driving direction of the first moving component 41 as a Y axis, and establishing a right-hand rectangular coordinate system, which is marked as M 1 The 3D vision sensor coordinate system is marked as M 2 Calibration by M with calibration plate 2 Conversion of coordinate System to M 1 The rotation matrix in the coordinate system is RT 0 ；
S2: after the 3D image reconstruction is completed, multiplying each point in the viscose contour line point cloud data set Q by RT 0 Rotated to M 1 In the coordinate system, the result after rotation is Q 1 The method comprises the steps of carrying out a first treatment on the surface of the Recording point P (P) x ,P y ,P z ) Is Q 1 At any point, the projection coordinate of the point P in the XOZ plane is P ， (P x ,P y 0), passing point P ， A straight line perpendicular to the X-axis intersects the X-axis at a point P ，， (P x 0, 0), vector OP ， Vector OP ，， An included angle of theta 1 The control system controls the rotary electric machine 211 to reverse the support portion 22 by θ 1 The/360 turns rotate the point P into the XOY plane;
s3: computing the rotation θ of the contour point cloud around the Y-axis 1 Is a rotation matrix of (a):
point P times RT 1 Rotated to a coordinate point P in the XOY plane 1 (P x1 ,P y1 0), the control system controls the second moving means 42 to move the scribing portion 43 along the X axis by P x1 The control system controls the first moving means 41 to move the scribing portion 43 along the Y axis by P y1 And scribing;
let the initial values of the end of the first screw 412 and the end of the second screw 422 be V respectively y 、V x Leads of the first screw rod 412 and the second screw rod 422 are g respectively Y 、g X . If (P) x1 -V x )>0, the second driving motor 423 rotates forward (|p) x1 -V x |)/(g X *360 Circle, otherwise reverse (|P) x1 -V x |)/(g X *360 Circle; similarly, if (P y1 -V y )>0, the first driving motor 413 rotates forward (|p) y1 -V y |)/(g Y *360 Circle, otherwise reverse (|P) y1 -V y |)/(g Y *360 Circle, make the end of the marking pen reach point P 1 Where it is located.
S4: repeating the steps S2 and S3 until each point in the viscose contour line point cloud data set Q is calculated and marked, and when the calculation is carried out for the nth time, the contour point cloud data set is Q n ＝Q n-1 *RT n 。
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (10)
1. The device is characterized by comprising a fixed support (1), a pressing module (2) arranged on the fixed support (1), a 3D vision module (3), a marking module (4) and a control system;
the pressing module (2) comprises a rotating part (21) arranged on the fixed support (1), a supporting part (22) arranged above the rotating part (21) and a pressing part (23) arranged on the fixed support (1) and positioned above the supporting part (22), wherein the rotating part (21) is used for driving the supporting part (22) to rotate in a horizontal plane, and the pressing part (23) is used for pressing along the vertical direction; the 3D vision module (3) comprises a 3D vision sensor (31) arranged on the fixed support (1), and the 3D vision sensor (31) faces between the supporting part (22) and the pressing part (23);
the scribing module (4) comprises a scribing part (43), a first moving component (41) which is arranged on the fixed bracket (1) and used for driving the scribing part (43) to move along the vertical direction, and a second moving component (42) which is connected with the first moving component (41) and used for driving the scribing part (43) to move along the direction approaching to or separating from the supporting part (22), wherein the scribing part (43) is arranged on the second moving component (42);
the control system is used for reconstructing a 3D image and calculating an adhesive contour line according to the 3D vision module (3) when the pressing module (2) works, and controlling the scribing module (4) to work according to the adhesive contour line.
2. A device for scribing the outline of the gluing of soles and uppers based on 3D vision according to claim 1, characterized in that said control system controls said scribing module (4) to operate according to the outline of the gluing according to the following steps, comprising:
s1: driven by the first moving assembly (41)The intersection point of the direction and the driving direction of the second moving component (42) is the origin O, the driving direction of the second moving component (42) is the X axis, the driving direction of the first moving component (41) is the Y axis, and a right-hand rectangular coordinate system is established and marked as M 1 The 3D vision sensor (31) coordinate system is denoted as M 2 Calibration by M with calibration plate 2 Conversion of coordinate System to M 1 The rotation matrix in the coordinate system is RT 0 ；
S2: after the 3D image reconstruction is completed, multiplying each point in the viscose contour line point cloud data set Q by RT 0 Rotated to M 1 In the coordinate system, the result after rotation is Q 1 The method comprises the steps of carrying out a first treatment on the surface of the Recording point P (P) x ,P y ,P z ) Is Q 1 At any point, the projection coordinate of the point P in the XOZ plane is P ， (P x ,P y 0), passing point P ， A straight line perpendicular to the X-axis intersects the X-axis at a point P ，， (P x 0, 0), vector OP ， Vector OP ，， An included angle of theta 1 The control system controls the rotating part (21) to reverse the supporting part (22) by theta 1 The degree rotates the point P into the XOY plane;
s3: computing the rotation θ of the contour point cloud around the Y-axis 1 Is a rotation matrix of (a):
point P times RT 1 Rotated to a coordinate point P in the XOY plane 1 (P x1 ,P y1 0), the control system controls the second moving means (42) to move the scribing portion (43) along the X-axis by P x1 The control system controls the first moving means (41) to move the scribing portion (43) along the Y-axis by P y1 And scribing;
s4: repeating the steps S2 and S3 until each point in the viscose contour line point cloud data set Q is calculated and marked, and when the calculation is carried out for the nth time, the contour point cloud data set is Q n ＝Q n-1 *RT n 。
3. The device for scribing the outline of the sole and the vamp adhesive based on 3D vision according to claim 1 or 2, wherein the pressing part (23) comprises a cylinder (231) vertically fixed on the fixed bracket (1), a shaft sleeve (232) fixed on a piston rod of the cylinder (231), and a telescopic compression bar (233) vertically arranged and rotationally connected with the shaft sleeve (232) from top to bottom.
4. A device for scribing an adhesive outline of a sole and a vamp based on 3D vision as claimed in claim 3, wherein said telescopic compression bar (233) is coaxially arranged with the rotation axis of said rotation portion (21).
5. A device for scribing an adhesive outline of a sole and vamp based on 3D vision according to claim 1 or 2, wherein said scribing portion (43) comprises a pen container (432) connected to said second moving assembly (42), a scribing pen (431) provided at the end of said pen container (432), and a spring located in said pen container (432) and connected to said scribing pen (431).
6. The device for scribing an adhesive outline of a sole and a vamp based on 3D vision according to claim 1 or 2, wherein the first moving assembly (41) comprises a first guiding rod (411) vertically arranged and fixed on the fixed bracket (1), a first screw rod (412) vertically arranged and rotationally connected with the fixed bracket (1), a first driving motor (413) fixed on the fixed bracket (1) and fixedly connected with one end of the first screw rod (412), and a first sliding table (414) slidingly arranged on the first guiding rod (411) and in threaded connection with the first screw rod (412);
the second moving assembly (42) comprises a second guide rod (421) which is arranged along a direction close to or far away from the supporting part (22) and is fixed on the first sliding table (414), a second screw rod (422) which is arranged in parallel with the second guide rod (421) and is rotationally connected with the first sliding table (414), a second driving motor (423) which is fixed on the first sliding table (414) and is fixedly connected with one end of the second screw rod (422), and a second sliding table (424) which is arranged on the second guide rod (421) in a sliding way and is in threaded connection with the second screw rod (422), wherein the second sliding table (424) is connected with the scribing part (43).
7. The device for scribing the outline of the sole and vamp glue based on 3D vision according to claim 1 or 2, wherein two 3D vision sensors (31) are provided and symmetrically arranged on two sides of the pressing module (2).
8. The device for scribing the adhesive contours of soles and vamps based on 3D vision according to claim 7, wherein the control system respectively collects 3D visual data of two 3D visual sensors (31), marks the relationship of the two sets of 3D visual data and enables the two sets of 3D visual data to be in the same coordinate system, and further rebuilds complete 3D visual data through image stitching and fusion.
9. The device for scribing an adhesive outline of a sole and a vamp based on 3D vision according to claim 1, wherein the supporting portion (22) is made of rubber material, and the top surface of the supporting portion (22) is arc-shaped.
10. A method for scribing an adhesive outline of a sole and a vamp based on 3D vision, based on the scribing device according to any one of claims 1 to 9, comprising the following steps:
placing the soles and vamps to be bonded on the supporting parts (22), and controlling the pressing parts (23) to vertically press downwards by the control system so that the soles and the viscose parts of the vamps are tightly attached;
the 3D visual sensor (31) is used for reconstructing a 3D visual image of the joint part of the pressed sole and the vamp, and the control system is used for calculating an adhesive contour line according to the 3D visual image;
the control system calculates the rotation angle of the support part (22) driven by the rotation part, the moving distance of the scribing part (43) along the vertical direction driven by the first moving component (41) and the moving distance of the scribing part (43) along the direction close to or far from the support part (22) driven by the second moving component (42), and then controls the rotation part, the first moving component (41) and the second moving component (42) to work according to the calculation result, so that the scribing part (43) moves to the viscose contour to scribe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310503565.0A CN116687107A (en) | 2023-05-06 | 2023-05-06 | Sole and vamp viscose contour marking device and method based on 3D vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310503565.0A CN116687107A (en) | 2023-05-06 | 2023-05-06 | Sole and vamp viscose contour marking device and method based on 3D vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116687107A true CN116687107A (en) | 2023-09-05 |
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ID=87831844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310503565.0A Pending CN116687107A (en) | 2023-05-06 | 2023-05-06 | Sole and vamp viscose contour marking device and method based on 3D vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116687107A (en) |
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2023
- 2023-05-06 CN CN202310503565.0A patent/CN116687107A/en active Pending
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