CN203969455U - A kind of automation glue spraying equipment of vamp - Google Patents
A kind of automation glue spraying equipment of vamp Download PDFInfo
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- CN203969455U CN203969455U CN201420428248.3U CN201420428248U CN203969455U CN 203969455 U CN203969455 U CN 203969455U CN 201420428248 U CN201420428248 U CN 201420428248U CN 203969455 U CN203969455 U CN 203969455U
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Abstract
A kind of automation glue spraying equipment of vamp, comprise the first conveyer belt, the first driven unit and the first automation glue spraying Control Component, described the first automation glue spraying Control Component comprises and is positioned at described the first conveyer belt top and the 3-D scanning mechanism of adjacency successively, first processes watering mechanism, first processes water drying mechanism, the first glue spraying executing agency and the first drying adhesive mechanism, described the first glue spraying executing agency comprises the controller that an Enable Pin is connected with described 3-D scanning mechanism, one the first six degree of freedom manipulator and being connected with this controller output end is installed on the first spray gun on this first six degree of freedom manipulator arm.The utility model can reduce widely the wastage of glue and improve vamp glue spraying same effect, and then guarantees to improve follow-up vamp and the firm degree of sole bonding, improves service life and the quality of footwear.
Description
Technical field
The utility model relates to a kind of glue spraying equipment of vamp, refers in particular to a kind of automation glue spraying equipment of vamp.
Background technology
Spray-bonding craft is more, the consuming time more operation of recruitment in shoemaking process.The quality of the quality of glue spraying has determined the bonding firm degree of vamp with sole, and then has influence on serviceability and the quality of footwear.For now, existing sole glue spraying is generally that this manual mode of operation's production efficiency is low, quality is unstable by manual operation, and cost of labor is high.And the adhesive that shoemaking is used contains toxic component, this adhesive of workman's Long contact time can produce greatly harm to operator's health.
In order to overcome the many harm of artificial glue spraying to health, existing a kind of glue spraying equipment is on conveyer belt, to be provided with FE Glue Gun, can carry out glue spraying to the sole on conveyer belt, yet but because FE Glue Gun can not automatic adjusting position, FE Glue Gun cannot accurately be located the sole on conveyer belt, thereby cause FE Glue Gun cannot aim at sole, carries out glue spraying.
In order to tackle an above difficult problem, the applicant in November, 2013 13Xiang State Intellectual Property Office submitted a Chinese utility model patent (application number: 201320717548.9 to, notification number: CN 203523958U), above patent has been recorded the technical scheme of a glue spraying equipment based on vision location, it comprises brace table, FE Glue Gun, be installed in the conveyer belt on this brace table, be installed in the bracing frame on this brace table, glue spraying equipment also comprises video frequency pick-up head, the X-axis transmission device that drives FE Glue Gun X-direction to move, the Y-axis transmission that drives FE Glue Gun Y direction to move, drive FE Glue Gun Z-direction the Z-axis transmission device moving and the controller of controlling this glue spraying equipment running, this video frequency pick-up head is installed on bracing frame, controller respectively with video frequency pick-up head, X-axis transmission device, Y-axis transmission, Z-axis transmission device connects.The utility model has formed by video frequency pick-up head, X-axis transmission device, Y-axis transmission, Z-axis transmission device and controller the system that regulates FE Glue Gun position based on visual information.This system is adjusted to FE Glue Gun the correct position of conveyer belt top, makes FE Glue Gun accurately to sole, carry out glue spraying.Although above-mentioned glue spraying equipment can overcome to a certain extent, the production efficiency that existing artificial glue spraying mode exists is low, quality is unstable and easily workman is caused the problems such as personal injury, yet in actual use procedure, also have following some weak point: 1, adopt video frequency pick-up head easily to occur locating inaccurate situation, and adopt three driven off by shaft modes in glue spraying process, cannot realize the uniformity of each position spraying glue quantity, want to reach and substitute artificial glue spraying completely and also have quite long distance; 2,, because video frequency pick-up head only can gather two dimensional image, if want to utilize in vamp spraying, the three-D profile that cannot will spray vamp is accurately located, thereby causes being applicable to vamp glue spraying; 3, not only operating efficiency is low to adopt three driven off by shaft modes, and error rate is high, needs in addition accurately to control the opening and closing of spray gun, and control mode is quite complicated, and the control appliance needing is comparatively expensive.
Utility model content
The utility model provides a kind of automation glue spraying equipment of vamp, and its main purpose is the defect that the location that overcomes existing glue spraying equipment existence is forbidden, glue spraying uniformity is poor and cannot be applied to vamp glue spraying.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of automation glue spraying equipment of vamp, comprise one first conveyer belt, drive this first conveyer belt to carry out the first driven unit and the first automation glue spraying Control Component of uniform motion, described the first automation glue spraying Control Component comprises and is positioned at described the first conveyer belt top and the 3-D scanning mechanism of adjacency successively, first processes watering mechanism, first processes water drying mechanism, the first glue spraying executing agency and the first drying adhesive mechanism, described the first glue spraying executing agency comprises the controller that an Enable Pin is connected with described 3-D scanning mechanism, one the first six degree of freedom manipulator and being connected with this controller output end is installed on the first spray gun on this first six degree of freedom manipulator arm, when described the first six degree of freedom manipulator execution is moved to vamp glue spraying, described the first spray gun at the uniform velocity sprays glue.
Further, described first processes watering mechanism comprises that a second six degree of freedom manipulator and being connected with this controller output end is installed on the second spray gun on this second six degree of freedom manipulator arm, when described the second six degree of freedom manipulator execution is done vamp spray processing hydrodynamic(al), described the second spray gun at the uniform velocity sprays processing water.
Further, include one first baking oven and one second baking oven, this first baking oven includes a glue dries space, this the first drying adhesive mechanism is this glue dries space, described the first baking oven wall offers the inlet/outlet that penetrates/pass described glue dries space for the first conveyer belt, described the second baking oven comprises a processing water dry place, described first processes water drying mechanism processes water dry place for this, and described the second baking oven wall offers the inlet/outlet that penetrates/pass described processing water dry place for the first conveyer belt.
Further, the length in described glue dries space is 2 meters, and the length of described processing water dry place is 1.5 meters.
Further, described 3-D scanning mechanism is non-contact 3-D scanner, this non-contact 3-D scanner is used for visible ray, high-energy light beam guiding, ultrasonic or X ray are projected on vamp, use vamp to visible ray, high-energy light beam guiding, the reflex of ultrasonic or X ray creates the cloud data of vamp geometric jacquard patterning unit surface and then generating three-dimensional models and is transferred to described controller, described controller is used for according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described the first six degree of freedom manipulator and be transferred to described the first six degree of freedom manipulator, described the first six degree of freedom manipulator is carried out vamp glue spraying is moved according to these tracks data.
Further, described 3-D scanning mechanism comprises vamp scanning element, graphics processing unit, data capture unit and model generation unit, described vamp scanning element is used for taking vamp top side image, vamp left-side images and vamp image right, it comprises that one is arranged at the imperial portal trestle at the vamp scanning position place on the first conveyer belt, the top of this dragon portal trestle is equiped with two the first cameras, lower left is equiped with two second cameras, lower right is equiped with two the 3rd cameras, two described the first cameras are all aimed at vamp top side and to being applied to gather the top side image of two vamps, two described second cameras are all aimed on the left of vamp and to being applied to gather the left-side images of two vamps, two described the 3rd cameras are all aimed at vamp right side and to being applied to gather the image right of two vamps, the Enable Pin of described graphics processing unit is connected in the output of described the first camera, second camera and the 3rd camera, and this graphics processing unit is used for the top side correct image of collect two vamps and is spliced into complete vamp top side image, complete vamp left-side images is proofreaied and correct and be spliced into the left-side images of collect two vamps, complete vamp image right is proofreaied and correct and be spliced into the image right of collect two vamps, the Enable Pin of described data capture unit is connected with the output of described graphics processing unit, and this data capture unit is for adopting complete vamp top side image, vamp left-side images and vamp image right after edge detection algorithm is processed image to carry out rim detection, and the contour edge coordinate that obtains vamp top side, vamp left side and vamp right side is as three dimensional point cloud, the Enable Pin of described model generation unit is connected with the output of described data capture unit, and this model generation unit is used for according to above-mentioned three dimensional point cloud, in conjunction with the vamp master pattern of preserving, calling profile bounding algorithm generates vamp threedimensional model and is transferred to described controller, described controller is used for according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described the first six degree of freedom manipulator and be transferred to described the first six degree of freedom manipulator, described the first six degree of freedom manipulator is carried out vamp glue spraying is moved according to these tracks data.
Compared to the prior art, the beneficial effect that the utility model produces is:
1, the utility model is simple in structure, practical, by arranging, utilize 3-D scanning mechanism to scan vamp, and utilize the first six degree of freedom manipulator to control the first spray gun and complete the operation of vamp being carried out to gluing, due to what 3-D scanning obtained, not only comprise colouring information, also comprise range information, thereby just can form specific threedimensional model after processing, and then generation all has the tracks data of three-D profile curve, and the first six degree of freedom manipulator is a kind ofly to have along x, y, the one-movement-freedom-degree of tri-rectangular co-ordinate direction of principal axis of z and around the robot device of the rotational freedom of these three reference axis, the tracks data that it provides according to above-mentioned controller can be imitated the action control first spray gun motion of artificial hand arm swing completely, at this time only need to be set in the first six degree of freedom manipulator carries out opening the first spray gun when movement locus swings, after completing movement locus, automatically close the first spray gun, because the first six degree of freedom manipulator mass motion speed is consistent, and the glue ejection speed of the first spray gun is also consistent, thereby the glue quantity that can guarantee each position spraying of vamp reaches unanimity, can reduce widely the wastage of glue and improve vamp glue spraying same effect, and then assurance improves follow-up vamp and the firm degree of sole bonding, improve service life and the quality of footwear.
2, in the utility model, in the glue spraying method of vamp, include and first process the FOUR EASY STEPS that water sprayed, and dried, carried out glue spraying, dries, also subsidiary this completes special equipment or the mechanism of this FOUR EASY STEPS simultaneously, first spray the firm degree that water can be conducive to improve follow-up glue spraying of processing, that is to say that processing water can carry out surface treatment to the gluing face of vamp, the gluing face after drying and the combination fastness of glue can obtain the enhancing of large degree.
3, in the utility model, adopt non-contact 3-D scanner can meet the demand of the quick glue spraying processing of vamp as 3-D scanning mechanism, its data processing block, action judgement and control are accurately, but equipment manufacturing cost is relatively high, and another kind of 3-D scanning mechanism is two the first cameras that adopt the top in picture sweep unit, two second cameras of lower left, two the 3rd cameras of lower right dress, six pictures of taking pictures at one time by above six cameras, and analyzed by computer software, thereby can reduce the production cost of 3-D scanning mechanism, and certain precision can guaranteed, particularly under the prerequisite of accuracy of each location parameter that guarantees vamp spraying area, can reduce sweep time widely.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation that uses footwear production line of the present utility model.
Fig. 2 is the structural representation at the A visual angle for Fig. 1.
Fig. 3 is the structural representation at the B visual angle for Fig. 1.
Fig. 4 is the structural representation of the vamp scanning element that in the utility model, embodiment bis-adopts.
Fig. 5 is the principle schematic of the 3-D scanning mechanism that in the utility model, embodiment bis-adopts.
The specific embodiment
The specific embodiment of the present utility model is described with reference to the accompanying drawings.
The specific embodiment of the present utility model is described with reference to the accompanying drawings.
Embodiment mono-
With reference to Fig. 1, Fig. 2 and Fig. 3.A kind of automatic production line of footwear, comprise a vamp automatic gluing device 1 and a sole automatic gluing device 2, described vamp automatic gluing device 1 comprises one first conveyer belt 10, drive this first conveyer belt 10 to carry out the first driven unit 11 and the first automation glue spraying Control Component 13 of uniform motion, described the first automation glue spraying Control Component 13 comprises and is positioned at described the first conveyer belt 10 tops and the 3-D scanning mechanism 14 of adjacency successively, first processes watering mechanism 15, first processes water drying mechanism 16, the first glue spraying executing agency 17 and the first drying adhesive mechanism 18, described the first glue spraying executing agency 17 comprises the controller that an Enable Pin is connected with described 3-D scanning mechanism 14, one the first six degree of freedom manipulator 170 and being connected with this controller output end is installed on the first spray gun 171 on these the first six degree of freedom manipulator 170 arms, when described the first six degree of freedom manipulator 170 execution are moved to vamp gluing, described the first spray gun 171 at the uniform velocity sprays glue.The present embodiment utilizes 3-D scanning mechanism 14 to scan vamp by arranging, and utilize the first six degree of freedom manipulator 170 to control the first spray gun 171 and complete the operation of vamp being carried out to gluing, due to what 3-D scanning obtained, not only comprise colouring information, also comprise range information, thereby just can form specific threedimensional model after processing, and then generation all has the tracks data of three-D profile curve, and the first six degree of freedom manipulator 170 is a kind ofly to have along x, y, the one-movement-freedom-degree of tri-rectangular co-ordinate direction of principal axis of z and around the robot device of the rotational freedom of these three reference axis, the tracks data that it provides according to above-mentioned controller can be imitated action control first spray gun 171 motions of artificial hand arm swing completely, at this time only need to be set in the first six degree of freedom manipulator 170 carries out opening the first spray gun 171 when movement locus swings, after completing movement locus, automatically close the first spray gun 171, because the first six degree of freedom manipulator 170 mass motion speed are consistent, and the glue ejection speed of the first spray gun 171 is also consistent, thereby the glue quantity that can guarantee each position spraying of vamp reaches unanimity, can reduce widely the wastage of glue and improve vamp glue spraying same effect, and then assurance improves follow-up vamp and the firm degree of sole bonding, improve service life and the quality of footwear.
With reference to Fig. 1, Fig. 2 and Fig. 3.Described sole automatic gluing device 2 comprises one second conveyer belt 20, drive this second conveyer belt 20 to carry out the second driven unit 21 and the second automation glue spraying Control Component 22 of uniform motion, described the second automation glue spraying Control Component 22 comprises and is positioned at described the second conveyer belt 20 tops and the infrared scanning equipment 23 of adjacency successively, second processes watering mechanism 24, second processes water drying mechanism 25, the second glue spraying executing agency 26 and the second drying adhesive mechanism 27, described the second glue spraying executing agency 26 comprises the described controller that an Enable Pin is connected with described infrared scanning equipment 23, one the 3rd six degree of freedom manipulator 260 and being connected with this controller output end is installed on the 3rd spray gun 261 on the 3rd six degree of freedom manipulator 260 arms, when described the 3rd six degree of freedom manipulator 260 execution are moved to sole gluing, described the 3rd spray gun 261 at the uniform velocity sprays glue.Described vamp automatic gluing device 1 and sole automatic gluing device 2 are all elongated, and positioned adjacent on width, the entrance of described the first conveyer belt 10 converges mutually with the described second entrance transmitting, and the outlet of described the first conveyer belt 10 is converged mutually with the outlet of described the second conveyer belt 20.The present embodiment is by carrying out left and right positioned adjacent by vamp automatic gluing device and sole automatic gluing device, on the one hand can be so that sole and vamp enter from same position simultaneously, and also at same position place, export, thereby the traffic control in greatly convenient production, workman does not often need again to distinguish vamp and the sole of pairing, can be directly according to the vamp of upper and lower two-layer discharging and sole, carry out adhesion-molded, the operating efficiency of degree ground in the raising unit interval greatly.
With reference to Fig. 1, Fig. 2 and Fig. 3.Described first processes watering mechanism 15 comprises that a second six degree of freedom manipulator 150 and being connected with this controller output end is installed on the second spray gun 151 on these the second six degree of freedom manipulator 150 arms, when described the second six degree of freedom manipulator 150 execution are done vamp spray processing hydrodynamic(al), described the second spray gun 151 at the uniform velocity sprays processes water.Described second processes watering mechanism 24 comprises that a 4th six degree of freedom manipulator 240 and being connected with this controller output end is installed on the 4th spray gun 241 on the 4th six degree of freedom manipulator 240 arms, when described the 4th six degree of freedom manipulator 240 execution are done sole spray processing hydrodynamic(al), described the 4th spray gun 241 at the uniform velocity sprays processes water.In the present embodiment, in the glue spraying method of vamp and sole, include and first process the FOUR EASY STEPS that water sprayed, and dried, carried out glue spraying, dries, on production line, also subsidiary this completes special equipment or the mechanism of this FOUR EASY STEPS simultaneously, first spray the firm degree that water can be conducive to improve follow-up glue spraying of processing, that is to say that processing water can carry out surface treatment to the gluing face of vamp or sole, the gluing face after drying and the combination fastness of glue can obtain the enhancing of large degree.
With reference to Fig. 1, Fig. 2 and Fig. 3.As of the present utility model one embodiment preferably, the present embodiment includes one first baking oven 180 and one second baking oven 160, this first baking oven 180 becomes left glue dries space and right glue dries space by one first baffle for separating, the first drying adhesive mechanism 18 is this left glue dries space, the second drying adhesive mechanism 27 is this right glue dries space, described the first baking oven 180 walls offer the left entry/left outlet that penetrates/pass left glue dries space for the first conveyer belt 10, described the first baking oven 180 walls offer the right entry/right outlet that penetrates/pass right glue dries space for the second conveyer belt 20, described the second baking oven 160 is separated into left processing water dry place and right processing water dry place by a second partition, the first processing water drying mechanism 16 is this left processing water dry place, the second processing water drying mechanism is this right processing water dry place, described the second baking oven 160 walls offer the left entry/left outlet that penetrates/pass left processing water dry place for the first conveyer belt 10, described the second baking oven 160 walls offer the right entry/right outlet that penetrates/pass right processing water dry place for the second conveyer belt 20.The length of described the first baking oven 180 is 2 meters, and the length of described the second baking oven 160 is 1.5 meters.
With reference to Fig. 1, Fig. 2 and Fig. 3.Described 3-D scanning mechanism 14 is non-contact 3-D scanner, this non-contact 3-D scanner is used for visible ray, high-energy light beam guiding, ultrasonic or X ray are projected on vamp, use vamp to visible ray, high-energy light beam guiding, the reflex of ultrasonic or X ray creates the cloud data of vamp geometric jacquard patterning unit surface and then generating three-dimensional models and is transferred to described controller, described controller is used for according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described the first six degree of freedom manipulator 170 and be transferred to described the first six degree of freedom manipulator 170, described the first six degree of freedom manipulator 170 is carried out vamp gluing is moved according to these tracks data.This enforcement adopts non-contact 3-D scanner can meet the demand of the quick glue spraying processing of vamp as 3-D scanning mechanism, its data processing block, and action judgement and control accurately, are conducive to further improve the efficiency of the utility model in footwear production.
With reference to Fig. 1, Fig. 2 and Fig. 3.The use procedure of the present embodiment comprises the following steps:
The first step, the pairing of sole and vamp and material loading are prepared: vamp is adhered to and is fixed on shoe tree, and be ready for the sole with its pairing, sole and vamp are carried out to pre-determined bit, and its two edge, location draws outline line, then sole being take to bottom, to be contact-making surface be positioned on the second conveyer belt 20, and the pilot hole by vamp and shoe tree by shoe tree head is set on the analog bracket of the first conveyer belt 10;
Second step, gluing region to sole and vamp is scanned: the second conveyer belt 20 drives sole to move to the working region of described infrared scanning equipment 23, this infrared scanning equipment 23 passes through visible ray, high-energy light beam guiding, ultrasonic or X ray are projected on sole, use sole to visible ray, high-energy light beam guiding, the reflex of ultrasonic or X ray is obtained the Y direction of sole and the running fix data parameters of Z-direction and is transported on controller, described the second driven unit 21 provides the running fix data parameters of sole X-direction and is transported on controller, the first conveyer belt 10 drives vamp to move to the working region of described non-contact 3-D scanner, this non-contact 3-D scanner is by being projected to visible ray, high-energy light beam guiding, ultrasonic or X ray on vamp, use vamp the reflex of visible ray, high-energy light beam guiding, ultrasonic or X ray is created the cloud data of vamp geometric jacquard patterning unit surface and then generating three-dimensional models and is transported on controller, described the first driven unit 11 provides the running fix data parameters of vamp X-direction and is transported on controller,
The 3rd step, the gluing region of sole and vamp is sprayed and processed water: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculating vamp enters the time of the working region of the first processing watering mechanism 15, when vamp enters the working region of the first processing watering mechanism 15, stop the first driven unit 11, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described the second six degree of freedom manipulator 150 and be transferred to described the second six degree of freedom manipulator 150, described the second six degree of freedom manipulator 150 is carried out the spray to vamp according to these tracks data and is processed hydrodynamic(al) work, when described the second six degree of freedom manipulator 150 execution are done vamp spray processing hydrodynamic(al), described the second spray gun 151 at the uniform velocity sprays processes water, meanwhile, described controller is on the one hand according to the running fix data parameters of the X-direction of sole, calculating sole enters the time of the working region of the second processing watering mechanism 24, when sole enters the working region of the second processing watering mechanism 24, stop the second driven unit 21, and described controller is on the other hand according to the running fix data parameters of the Y direction of above-mentioned sole and Z-direction, calculate the two-dimensional space information of sole spraying area, and generate the tracks data of described the 4th six degree of freedom manipulator 240 and be transferred to described the 4th six degree of freedom manipulator 240, described the 4th six degree of freedom manipulator 240 is carried out the spray to sole according to these tracks data and is processed hydrodynamic(al) work, when described the 4th six degree of freedom manipulator 240 execution are done sole spray processing hydrodynamic(al), described the 4th spray gun 241 at the uniform velocity sprays processes water,
The 4th step, dries the processing water on sole and vamp: the right processing water dry place that the second conveyer belt 20 drives sole to move to the second baking oven 160 is dried processing; The left processing water dry place that the first conveyer belt 10 drives vamp to move to the second baking oven 160 is dried processing;
The 5th step, glue spraying is carried out in gluing region to sole and vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculating vamp enters the time of the working region of the first glue spraying executing agency 17, when vamp enters the working region of the first glue spraying executing agency 17, stop the first driven unit 11, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described the first six degree of freedom manipulator 170 and be transferred to described the first six degree of freedom manipulator 170, described the first six degree of freedom manipulator 170 is carried out vamp gluing is moved according to these tracks data, when described the first six degree of freedom manipulator 170 execution are moved to vamp gluing, described the first spray gun 171 at the uniform velocity sprays glue, meanwhile, described controller is on the one hand according to the running fix data parameters of the X-direction of sole, calculating sole enters the time of the working region of the second glue spraying executing agency 26, when sole enters the working region of the second glue spraying executing agency 26, stop the second driven unit 21, and described controller is on the other hand according to the running fix data parameters of the Y direction of above-mentioned sole and Z-direction, calculate the two-dimensional space information of sole spraying area, and generate the tracks data of described the 3rd six degree of freedom manipulator 260 and be transferred to described the 3rd six degree of freedom manipulator 260, described the 3rd six degree of freedom manipulator 260 is carried out sole gluing is moved according to these tracks data, when described the 3rd six degree of freedom manipulator 260 execution are moved to sole gluing, described the 3rd spray gun 261 at the uniform velocity sprays glue,
The 6th step, dries the glue on sole and vamp: the right glue dries space that the second conveyer belt 20 drives sole to move to the first baking oven 180 is dried processing; The left glue dries space that the first conveyer belt 10 drives vamp to move to the first baking oven 180 is dried processing;
The 7th step, in the exit of the first conveyer belt 10 and the second driving-belt, sole and vamp are carried out to manual pressing and make the two good bond, in the glue of its two junction, solidify just the shoes of forming can be departed from from shoe tree completely, thereby complete the making to footwear.
Embodiment bis-
With reference to Fig. 4 and Fig. 5.The present embodiment is substantially identical with the embodiment of embodiment mono-, its difference is: the described 3-D scanning mechanism 14 in the present embodiment comprises vamp scanning element 140, graphics processing unit 141, data capture unit 142 and model generation unit 143, described vamp scanning element 140 is for taking vamp top side image, vamp left-side images and vamp image right, it comprises that one is arranged at the imperial portal trestle 144 at the vamp scanning position place on the first conveyer belt 10, the top of this dragon portal trestle 144 is equiped with two the first cameras 145, lower left is equiped with two second cameras 146, lower right is equiped with two the 3rd cameras 147, two described the first cameras 145 are all aimed at vamp top side and to being applied to gather the top side image of two vamps, two described second cameras 146 are all aimed on the left of vamp and to being applied to gather the left-side images of two vamps, two described the 3rd cameras 147 are all aimed at vamp right side and to being applied to gather the image right of two vamps, the Enable Pin of described graphics processing unit 141 is connected in the output of described the first camera 145, second camera 146 and the 3rd camera 147, and this graphics processing unit 141 is for to the top side correct image of collect two vamps and be spliced into complete vamp top side image, complete vamp left-side images is proofreaied and correct and be spliced into the left-side images of collect two vamps, complete vamp image right is proofreaied and correct and be spliced into the image right of collect two vamps, the Enable Pin of described data capture unit 142 is connected with the output of described graphics processing unit 141, and this data capture unit 142 is for adopting complete vamp top side image, vamp left-side images and vamp image right after edge detection algorithm is processed image to carry out rim detection, and the contour edge coordinate that obtains vamp top side, vamp left side and vamp right side is as three dimensional point cloud, the Enable Pin of described model generation unit 143 is connected with the output of described data capture unit 142, and this model generation unit 143 is for according to above-mentioned three dimensional point cloud, in conjunction with the vamp master pattern of preserving, calling profile bounding algorithm generates vamp threedimensional model and is transferred to described controller, described controller is used for according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described the first six degree of freedom manipulator 170 and be transferred to described the first six degree of freedom manipulator 170, described the first six degree of freedom manipulator 170 is carried out vamp gluing is moved according to these tracks data.
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5.The use procedure of the present embodiment comprises the following steps:
The first step, the pairing of sole and vamp and material loading are prepared: vamp is adhered to and is fixed on shoe tree, and be ready for the sole with its pairing, sole and vamp are carried out to pre-determined bit, and its two edge, location draws outline line, then sole being take to bottom, to be contact-making surface be positioned on the second conveyer belt 20, and the pilot hole by vamp and shoe tree by shoe tree head is set on the analog bracket of the first conveyer belt 10;
Second step, gluing region to sole and vamp is scanned: the second conveyer belt 20 drives sole to move to the working region of described infrared scanning equipment, this infrared scanning equipment passes through visible ray, high-energy light beam guiding, ultrasonic or X ray are projected on sole, use sole to visible ray, high-energy light beam guiding, the reflex of ultrasonic or X ray is obtained the Y direction of sole and the running fix data parameters of Z-direction and is transported on controller, described the second driven unit 21 provides the running fix data parameters of sole X-direction and is transported on controller, when the first conveyer belt 10 drives vamp, move to the working region of described vamp scanning element, two described the first cameras 145 are all aimed at vamp top side and the corresponding top side image that gathers two vamps, two described second cameras 146 are all aimed at vamp left side and the corresponding left-side images that gathers two vamps, two described the 3rd cameras 147 are all aimed at vamp right side and the corresponding image right that gathers two vamps, the top side correct image of two vamps that 141 pairs of described graphics processing units collect is also spliced into complete vamp top side image, complete vamp left-side images is proofreaied and correct and be spliced into the left-side images of collect two vamps, complete vamp image right is proofreaied and correct and be spliced into the image right of collect two vamps, described data capture unit 142 adopts the complete vamp top side image after edge detection algorithm is processed image, vamp left-side images and vamp image right carry out rim detection, and obtain vamp top side, the contour edge coordinate on vamp left side and vamp right side is as three dimensional point cloud, and described model generation unit 143 is according to above-mentioned three dimensional point cloud, in conjunction with the vamp master pattern of preserving, calling profile bounding algorithm generates vamp threedimensional model and is transferred to described controller, described the first driven unit 11 provides the running fix data parameters of vamp X-direction and is transported on controller,
The 3rd step, the gluing region of sole and vamp is sprayed and processed water: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculating vamp enters the time of the working region of the first processing watering mechanism 15, when vamp enters the working region of the first processing watering mechanism 15, stop the first driven unit 11, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described the second six degree of freedom manipulator 150 and be transferred to described the second six degree of freedom manipulator 150, described the second six degree of freedom manipulator 150 is carried out the spray to vamp according to these tracks data and is processed hydrodynamic(al) work, when described the second six degree of freedom manipulator 150 execution are done vamp spray processing hydrodynamic(al), described the second spray gun 151 at the uniform velocity sprays processes water, meanwhile, described controller is on the one hand according to the running fix data parameters of the X-direction of sole, calculating sole enters the time of the working region of the second processing watering mechanism 24, when sole enters the working region of the second processing watering mechanism 24, stop the second driven unit 21, and described controller is on the other hand according to the running fix data parameters of the Y direction of above-mentioned sole and Z-direction, calculate the two-dimensional space information of sole spraying area, and generate the tracks data of described the 4th six degree of freedom manipulator 240 and be transferred to described the 4th six degree of freedom manipulator 240, described the 4th six degree of freedom manipulator 240 is carried out the spray to sole according to these tracks data and is processed hydrodynamic(al) work, when described the 4th six degree of freedom manipulator 240 execution are done sole spray processing hydrodynamic(al), described the 4th spray gun 241 at the uniform velocity sprays processes water,
The 4th step, dries the processing water on sole and vamp: the right processing water dry place that the second conveyer belt 20 drives sole to move to the second baking oven 160 is dried processing; The left processing water dry place that the first conveyer belt 10 drives vamp to move to the second baking oven 160 is dried processing;
The 5th step, glue spraying is carried out in gluing region to sole and vamp: described controller is on the one hand according to the running fix data parameters of the X-direction of vamp, calculating vamp enters the time of the working region of the first glue spraying executing agency 17, when vamp enters the working region of the first glue spraying executing agency 17, stop the first driven unit 11, and described controller is on the other hand according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described the first six degree of freedom manipulator 170 and be transferred to described the first six degree of freedom manipulator 170, described the first six degree of freedom manipulator 170 is carried out vamp gluing is moved according to these tracks data, when described the first six degree of freedom manipulator 170 execution are moved to vamp gluing, described the first spray gun 171 at the uniform velocity sprays glue, meanwhile, described controller is on the one hand according to the running fix data parameters of the X-direction of sole, calculating sole enters the time of the working region of the second glue spraying executing agency 26, when sole enters the working region of the second glue spraying executing agency 26, stop the second driven unit 21, and described controller is on the other hand according to the running fix data parameters of the Y direction of above-mentioned sole and Z-direction, calculate the two-dimensional space information of sole spraying area, and generate the tracks data of described the 3rd six degree of freedom manipulator 260 and be transferred to described the 3rd six degree of freedom manipulator 260, described the 3rd six degree of freedom manipulator 260 is carried out sole gluing is moved according to these tracks data, when described the 3rd six degree of freedom manipulator 260 execution are moved to sole gluing, described the 3rd spray gun 261 at the uniform velocity sprays glue,
The 6th step, dries the glue on sole and vamp: the right glue dries space that the second conveyer belt 20 drives sole to move to the first baking oven 180 is dried processing; The left glue dries space that the first conveyer belt 10 drives vamp to move to the first baking oven 180 is dried processing;
The 7th step, in the exit of the first conveyer belt 10 and the second driving-belt, sole and vamp are carried out to manual pressing and make the two good bond, in the glue of its two junction, solidify just the shoes of forming can be departed from from shoe tree completely, thereby complete the making to footwear.
In the utility model, in embodiment mono-, adopt non-contact 3-D scanner can meet the demand of the quick glue spraying processing of vamp as 3-D scanning mechanism 14, its data processing block, action judgement and control are accurate, but equipment manufacturing cost is relatively high.And 3-D scanning mechanism 14 in the present embodiment is two first cameras 145 that adopt the top in vamp scanning element 140, two second cameras 146 of lower left, two the 3rd cameras 147 of lower right dress, six pictures of taking pictures at one time by above six cameras, and analyzed by computer software, thereby can reduce the production cost of 3-D scanning mechanism 14, and certain precision can guaranteed, particularly, under the prerequisite of accuracy of each location parameter that guarantees vamp spraying area, can reduce sweep time widely.
Graphics processing unit 141 in the present embodiment, data capture unit 142 and model generation unit 143 by between interaction six pictures that each camera in picture sweep unit 140 the is obtained principle of processing rear production three dimensional point cloud can use for reference Chinese utility model patent (application number: 201010298713.2, Granted publication number: the mode of " call profile bounding algorithm and generate the threedimensional model when front foot portion " of CN102034264B) disclosing, or the mode of other data processings, with upper type, can realize generate vamp threedimensional model completely, thereby no longer it is carried out to detailed narration herein.
Above are only the specific embodiment of the present utility model, but design concept of the present utility model is not limited to this, allly utilizes this design to carry out the change of unsubstantiality to the utility model, all should belong to the behavior of invading the utility model protection domain.
Claims (6)
1. the automation glue spraying equipment of a vamp, it is characterized in that: comprise one first conveyer belt, drive this first conveyer belt to carry out the first driven unit and the first automation glue spraying Control Component of uniform motion, described the first automation glue spraying Control Component comprises and is positioned at described the first conveyer belt top and the 3-D scanning mechanism of adjacency successively, first processes watering mechanism, first processes water drying mechanism, the first glue spraying executing agency and the first drying adhesive mechanism, described the first glue spraying executing agency comprises the controller that an Enable Pin is connected with described 3-D scanning mechanism, one the first six degree of freedom manipulator and being connected with this controller output end is installed on the first spray gun on this first six degree of freedom manipulator arm, when described the first six degree of freedom manipulator execution is moved to vamp glue spraying, described the first spray gun at the uniform velocity sprays glue.
2. a kind of automation glue spraying equipment of vamp as claimed in claim 1, it is characterized in that: described first processes watering mechanism comprises that a second six degree of freedom manipulator and being connected with this controller output end is installed on the second spray gun on this second six degree of freedom manipulator arm, when described the second six degree of freedom manipulator execution is done vamp spray processing hydrodynamic(al), described the second spray gun at the uniform velocity sprays processing water.
3. a kind of automation glue spraying equipment of vamp as claimed in claim 1, it is characterized in that: include one first baking oven and one second baking oven, this first baking oven includes a glue dries space, this the first drying adhesive mechanism is this glue dries space, described the first baking oven wall offers the inlet/outlet that penetrates/pass described glue dries space for the first conveyer belt, described the second baking oven comprises a processing water dry place, described first processes water drying mechanism processes water dry place for this, described the second baking oven wall offers the inlet/outlet that penetrates/pass described processing water dry place for the first conveyer belt.
4. a kind of automation glue spraying equipment of vamp as claimed in claim 3, is characterized in that: the length in described glue dries space is 2 meters, and the length of described processing water dry place is 1.5 meters.
5. a kind of automation glue spraying equipment of vamp as claimed in claim 3, it is characterized in that: described 3-D scanning mechanism is non-contact 3-D scanner, this non-contact 3-D scanner is used for visible ray, high-energy light beam guiding, ultrasonic or X ray are projected on vamp, use vamp to visible ray, high-energy light beam guiding, the reflex of ultrasonic or X ray creates the cloud data of vamp geometric jacquard patterning unit surface and then generating three-dimensional models and is transferred to described controller, described controller is used for according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described the first six degree of freedom manipulator and be transferred to described the first six degree of freedom manipulator, described the first six degree of freedom manipulator is carried out vamp glue spraying is moved according to these tracks data.
6. a kind of automation glue spraying equipment of vamp as claimed in claim 3, it is characterized in that: described 3-D scanning mechanism comprises vamp scanning element, graphics processing unit, data capture unit and model generation unit, described vamp scanning element is used for taking vamp top side image, vamp left-side images and vamp image right, it comprises that one is arranged at the imperial portal trestle at the vamp scanning position place on the first conveyer belt, the top of this dragon portal trestle is equiped with two the first cameras, lower left is equiped with two second cameras, lower right is equiped with two the 3rd cameras, two described the first cameras are all aimed at vamp top side and to being applied to gather the top side image of two vamps, two described second cameras are all aimed on the left of vamp and to being applied to gather the left-side images of two vamps, two described the 3rd cameras are all aimed at vamp right side and to being applied to gather the image right of two vamps, the Enable Pin of described graphics processing unit is connected in the output of described the first camera, second camera and the 3rd camera, and this graphics processing unit is used for the top side correct image of collect two vamps and is spliced into complete vamp top side image, complete vamp left-side images is proofreaied and correct and be spliced into the left-side images of collect two vamps, complete vamp image right is proofreaied and correct and be spliced into the image right of collect two vamps, the Enable Pin of described data capture unit is connected with the output of described graphics processing unit, and this data capture unit is for adopting complete vamp top side image, vamp left-side images and vamp image right after edge detection algorithm is processed image to carry out rim detection, and the contour edge coordinate that obtains vamp top side, vamp left side and vamp right side is as three dimensional point cloud, the Enable Pin of described model generation unit is connected with the output of described data capture unit, and this model generation unit is used for according to above-mentioned three dimensional point cloud, in conjunction with the vamp master pattern of preserving, calling profile bounding algorithm generates vamp threedimensional model and is transferred to described controller, described controller is used for according to above-mentioned threedimensional model, calculate the three-dimensional spatial information of vamp spraying area, and generate the tracks data of described the first six degree of freedom manipulator and be transferred to described the first six degree of freedom manipulator, described the first six degree of freedom manipulator is carried out vamp glue spraying is moved according to these tracks data.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420428248.3U CN203969455U (en) | 2014-07-31 | 2014-07-31 | A kind of automation glue spraying equipment of vamp |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420428248.3U CN203969455U (en) | 2014-07-31 | 2014-07-31 | A kind of automation glue spraying equipment of vamp |
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| CN203969455U true CN203969455U (en) | 2014-12-03 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104161353A (en) * | 2014-07-31 | 2014-11-26 | 黑金刚（福建）自动化科技股份公司 | Automatic glue spraying device and method for vamp |
| CN109864396A (en) * | 2019-03-20 | 2019-06-11 | 邱煌庆 | A kind of heavy duty detergent sole gluing machine |
-
2014
- 2014-07-31 CN CN201420428248.3U patent/CN203969455U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104161353A (en) * | 2014-07-31 | 2014-11-26 | 黑金刚（福建）自动化科技股份公司 | Automatic glue spraying device and method for vamp |
| CN104161353B (en) * | 2014-07-31 | 2015-11-11 | 黑金刚（福建）自动化科技股份公司 | A kind of automation glue spraying equipment of vamp and automatic glue-spraying method |
| CN109864396A (en) * | 2019-03-20 | 2019-06-11 | 邱煌庆 | A kind of heavy duty detergent sole gluing machine |
| CN109864396B (en) * | 2019-03-20 | 2020-09-25 | 温州上宏鞋业有限公司 | High-efficient type sole gluing machine |
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Denomination of utility model: Automatic glue spraying device and method for vamp Effective date of registration: 20170608 Granted publication date: 20141203 Pledgee: Quanzhou rural commercial bank, Limited by Share Ltd channel subbranch Pledgor: Hei Jingang (Fujian) Automation Technology Co., Ltd. Registration number: 2017990000473 |
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Date of cancellation: 20200325 Granted publication date: 20141203 Pledgee: Quanzhou Rural Commercial Bank Co., Ltd. channel sub branch Pledgor: BLACK GOLD STEEL AUTOMATION TECHNOLOGY (FUJIAN) Co.,Ltd. Registration number: 2017990000473 |
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