CN207613290U - A kind of shoes side track scanning device - Google Patents
A kind of shoes side track scanning device Download PDFInfo
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- CN207613290U CN207613290U CN201721465029.2U CN201721465029U CN207613290U CN 207613290 U CN207613290 U CN 207613290U CN 201721465029 U CN201721465029 U CN 201721465029U CN 207613290 U CN207613290 U CN 207613290U
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- conveyer
- industrial camera
- laser device
- scanning device
- side track
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Abstract
The utility model provides a kind of shoes side track scanning device, include the conveyer for conveying the shoe tree for being cased with vamp and the multi-joint manipulator by the conveyer, shoe tree inverted arrangement on the conveyer, the end of the multi-joint manipulator is equipped with scan components, the scan components include supporting rack and industrial camera and a wordline laser device, the a wordline laser device is located at the side-lower of last bottom surface and is inclined relative to horizontal upwardly disposed when use, and the light that a wordline laser device is sent out is located on same vertical plane.A wordline laser device emits line laser from the side-lower of last bottom surface to the marginal position of the close last bottom surface of vamp when scanning, the laser being wherein radiated on vamp can occur reflex and be captured by industrial camera, industrial camera is allow to take a shadow being located on vertical plane, and shoe upper edge track is obtained with this, processing speed is relatively fast and requires the calculated performance of processor relatively low.
Description
Technical field
The utility model is related to a kind of scanning means, especially a kind of shoes side track scanning device.
Background technology
In vulcanized shoes production, need to carry out brush coating close to the marginal position of sole to vamp, so as to vamp and sole it
Between mutual bonding.In traditional mode of production, glue process usually relies on manually to complete on this, with the development of automatic technology,
More and more enterprises start to complete upper glue process using autosizing equipment.
The mode of existing autosizing equipment generally use glue spraying come realize gluing act, this kind of equipment be not necessarily to vamp
Edge track is accurately positioned, but glue is easy to be splashed on vamp, and gluing quality is relatively poor；Also have part it is automatic on
Gluing equipment realizes that gluing acts in such a way that brush or brush wheel carry out brush coating, although this kind of equipment gluing quality is relatively
It is good, but need that shoe upper edge track is accurately positioned, this just needs to be scanned shoe upper edge position.Traditional sweeps
Imaging apparatus is typically to carry out Gray-scale value segmentation after taking pictures to vamp to picture, extraction profile, matched simultaneously to profile
It selects required profile and determines that multiple steps, the processing speeds such as profile coordinate are relatively slow and to the computational of processor
It can be more demanding.
In view of this, the applicant conducts in-depth research shoes side track scanning device, there is this case generation then.
Utility model content
It is relatively fast the purpose of this utility model is to provide a kind of processing speed and to the calculated performance of processor requirement
Relatively low shoes side track scanning device.
To achieve the goals above, the utility model adopts the following technical solution：
A kind of shoes side track scanning device includes conveyer for conveying the shoe tree for being cased with vamp and is located at the conveying
Multi-joint manipulator by machine, the shoe tree inverted arrangement being located on the conveyer, the end installation of the multi-joint manipulator
There are scan components, the scan components to include the supporting rack for the end for being fixedly connected on multi-joint manipulator and be separately mounted to
Industrial camera on support frame as described above and a wordline laser device, when use, a wordline laser device was located under the side of last bottom surface
Side and it is inclined relative to horizontal upwardly disposed, the light that a wordline laser device is sent out is located on same vertical plane.
As a kind of improvement of the utility model, there are two the industrial cameras, and two industrial cameras are located at
The both sides of a wordline laser device.
As a kind of improvement of the utility model, when use, the industrial camera was in tilted layout relative to perpendicular, and
The one end of the industrial camera with camera lens is relative to the other end close to the corresponding a wordline laser device.
As a kind of improvement of the utility model, the industrial camera is rotatably connected on support frame as described above.
Further include the lifting assembly for being separately positioned on the conveyer both sides, institute as a kind of improvement of the utility model
It states and is placed with multiple fixtures for shoe tree to be clamped on conveyer, the width of the fixture is more than the width of the conveyer, institute
Lifting assembly is stated to include the lifting cylinder being located at below the fixture and be fixedly connected on the piston rod of the lifting cylinder
The piston rod of ejection block, the lifting cylinder is arranged vertically.
Further include protective cover as a kind of improvement of the utility model, the multi-joint manipulator and the lifting assembly
It is all located in the protective cover, the conveyer passes through the protective cover.
Using above-mentioned technical proposal, the utility model has the advantages that：
Due to shoe tree inverted arrangement, a wordline laser device is located at the side-lower and with respect to the horizontal plane of last bottom surface when use
Tilt it is upwardly disposed, when scanning a wordline laser device from the side-lower of last bottom surface to the marginal position of the close last bottom surface of vamp
Emit line laser, wherein the laser being radiated on vamp can occur reflex and be captured by industrial camera, and is not radiated at shoes
Laser on face will not then be captured by industrial camera so that and industrial camera can take a shadow being located on vertical plane,
And shoe upper edge track is obtained with this, compared with conventional solution, processing speed is relatively fast and to the computational of processor
It can require relatively low.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model shoes side track scanning device.
It is as follows that correspondence is indicated in figure：
10- shoe trees；20- conveyers；
21- fixtures；30- multi-joint manipulators；
40- scan components；41- supporting racks；
42- industrial cameras；43- a wordline laser devices；
50- lifting assemblies；51- lifting cylinders；
52- ejection blocks.
Specific implementation mode
The utility model is described further in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, shoes side track scanning device provided in this embodiment, includes for conveying the shoe tree 10 for being cased with vamp
Conveyer 20 and multi-joint manipulator 30 positioned at the side of conveyer 20,10 inverted arrangement of shoe tree being located on conveyer 20, tool
Body, multiple fixtures 21 for shoe tree 10 to be clamped are placed on conveyer 20, shoe tree 10 leads to cloth under the clamping of fixture 21
It sets.Shoe tree 10, conveyer 20 and multi-joint manipulator 30 are all the parts or equipment that can directly buy acquisition from the market,
The not emphasis of the present embodiment, and will not be described here in detail.Certainly, the shoes side track scanning device of the present embodiment should also include having
The control system of processor, this kind of control system are all conventional systems, can also directly buy acquisition from the market, herein
No longer it is described in detail.
The end of multi-joint manipulator 30 is equipped with scan components 40, and scan components include being fixedly connected on multi-joint machinery
The supporting rack 41 of the end of hand and the industrial camera 42 being separately mounted on supporting rack 41 and a wordline laser device 43, wherein
There are two industrial cameras 42, convenient for determining that the spatial position of workpiece, two industrial cameras 42 are located at a wordline laser device 43
Both sides.When use a wordline laser device 43 be located at the side-lower of 10 bottom surface of shoe tree and be inclined relative to horizontal it is upwardly disposed,
Industrial camera 42 relative to perpendicular be in tilted layout, and industrial camera 42 have camera lens one end relative to the other end close to right
The a wordline laser device 43 answered, while the light that a wordline laser device 43 is sent out is located on same vertical plane, in other words, uses
When multi-joint manipulator 30 only supporting rack 41 is driven to be moved in the horizontal plane around shoe tree 10, industrial camera 42 and a wordline laser
The angle of 43 corresponding horizontal plane of device will not change, in this way, while scan components are moved around shoe tree 10, a wordline laser device
43 can emit line laser towards shoe tree 10, and its line laser sent out is all located on vertical plane, and then one is formed on vamp
The speck arranged vertically, reflex can be occurred on vamp and be captured by industrial camera 25 by forming this some light of speck,
And the laser not being radiated on vamp will not then be captured by industrial camera 25, can have one on the image acquired in industrial camera 25
Item bright striped corresponding with speck, subsequently only needs to handle the light striped, without considering the other information on image,
The effective complexity for simplifying image procossing, the computing capability requirement of resolution requirement and processor to industrial camera 42
It is all relatively low.
Preferably, in the present embodiment, industrial camera 42 is rotatably connected on supporting rack 41, and industrial camera 42 and support
The rotation axis of frame 41 is mutually perpendicular to the lens axis of a wordline laser device 43 and corresponding industrial camera 42 respectively, so just
In angle of the adjustment industrial camera 42 relative to a wordline laser device 43.
Preferably, shoes side track scanning device provided in this embodiment further includes being separately positioned on carrying for 20 both sides of conveyer
Component 50 is risen, i.e. lifting assembly 50 there are two groups.And in the present embodiment, the width of fixture 21 is more than the width of conveyer 20.It carries
It includes the ejection for being located at the lifting cylinder 51 of 21 lower section of fixture and being fixedly connected on the piston rod of lifting cylinder 51 to rise component 50
The piston rod of block 52, lifting cylinder 51 is arranged vertically.In this way, when shoe tree 10 moves to and multi-joint under the drive of conveyer 20
When 30 corresponding position of manipulator, it is possible to provide lifting assembly 50 lifts fixture 21 from conveyer 20, in this way in the mistake of scanning
Cheng Zhong, conveyer 20 are waited for without shutting down, and working efficiency is relatively high.
In addition, the shoes side scanning means that the present embodiment is to provide further includes protective cover (not shown), multi-joint machinery
Hand 30 and lifting assembly 50 are all located in the protective cover, and conveyer 20 passes through protective cover.
The utility model is described in detail above in conjunction with specific embodiment, but the embodiment of the utility model
It is not limited in the above embodiment, those skilled in the art can make the utility model various changes according to the prior art
Shape, these belong to the scope of protection of the utility model.
Claims (6)
1. a kind of shoes side track scanning device, which is characterized in that include the conveyer for conveying the shoe tree for being cased with vamp and position
Multi-joint manipulator by the conveyer, the shoe tree inverted arrangement being located on the conveyer, the multi-joint manipulator
End scan components are installed, the scan components include the end for being fixedly connected on multi-joint manipulator supporting rack and
The industrial camera and a wordline laser device being separately mounted on support frame as described above, when use, a wordline laser device was located at shoe tree
The side-lower of bottom surface and it is inclined relative to horizontal upwardly disposed, the light that a wordline laser device is sent out is located at same vertical
On face.
2. shoes side track scanning device as described in claim 1, which is characterized in that there are two the industrial cameras, two institutes
State the both sides that industrial camera is located at a wordline laser device.
3. shoes side track scanning device as described in claim 1, which is characterized in that the industrial camera is relative to perpendicular when use
Straight plane is in tilted layout, and there is the industrial camera one end of camera lens to swash close to a corresponding wordline relative to the other end
Light device.
4. shoes side track scanning device as described in claim 1, which is characterized in that the industrial camera is rotatably connected on described
On supporting rack.
5. the shoes side track scanning device as described in any claim in claim 1-4, which is characterized in that further include difference
Lifting assembly in the conveyer both sides is set, multiple fixtures for shoe tree to be clamped are placed on the conveyer, it is described
The width of fixture is more than the width of the conveyer, and the lifting assembly includes the lifting cylinder being located at below the fixture and consolidates
Surely the ejection block being connected on the piston rod of the lifting cylinder, the piston rod of the lifting cylinder are arranged vertically.
6. shoes side track scanning device as claimed in claim 5, which is characterized in that further include protective cover, the multi-joint machine
Tool hand and the lifting assembly are all located in the protective cover, and the conveyer passes through the protective cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721465029.2U CN207613290U (en) | 2017-11-06 | 2017-11-06 | A kind of shoes side track scanning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721465029.2U CN207613290U (en) | 2017-11-06 | 2017-11-06 | A kind of shoes side track scanning device |
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| Publication Number | Publication Date |
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| CN207613290U true CN207613290U (en) | 2018-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721465029.2U Active CN207613290U (en) | 2017-11-06 | 2017-11-06 | A kind of shoes side track scanning device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109341567A (en) * | 2018-08-31 | 2019-02-15 | 先临三维科技股份有限公司 | Scan sub-mount, stamp fixture, stamp fixture assembly and its artificial tooth spatial digitizer |
| CN111513428A (en) * | 2020-06-03 | 2020-08-11 | 福建省华宝智能科技有限公司 | Robot three-dimensional vision system and method for sole and vamp scanning operation |
| CN111567989A (en) * | 2020-05-25 | 2020-08-25 | 泉州华中科技大学智能制造研究院 | Device for measuring rubber lines at rubber coating edge of shoe and measuring method thereof |
| CN112120355A (en) * | 2020-10-09 | 2020-12-25 | 华中科技大学 | Shoemaking spraying equipment and method based on industrial robot |
| CN113446961A (en) * | 2021-07-03 | 2021-09-28 | 詹镇远 | Method and equipment for determining processing track by visually scanning three-dimensional adhesive surface |
| CN115131344A (en) * | 2022-08-25 | 2022-09-30 | 泉州华中科技大学智能制造研究院 | Method for extracting shoe-making molding rubber thread through light intensity data |
-
2017
- 2017-11-06 CN CN201721465029.2U patent/CN207613290U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109341567A (en) * | 2018-08-31 | 2019-02-15 | 先临三维科技股份有限公司 | Scan sub-mount, stamp fixture, stamp fixture assembly and its artificial tooth spatial digitizer |
| CN111567989A (en) * | 2020-05-25 | 2020-08-25 | 泉州华中科技大学智能制造研究院 | Device for measuring rubber lines at rubber coating edge of shoe and measuring method thereof |
| WO2021238300A1 (en) * | 2020-05-25 | 2021-12-02 | 泉州华中科技大学智能制造研究院 | Device for measuring shoe gluing edge glue line, and measurement method thereof |
| CN111567989B (en) * | 2020-05-25 | 2022-03-04 | 泉州华中科技大学智能制造研究院 | Device for measuring rubber lines at rubber coating edge of shoe and measuring method thereof |
| CN111513428A (en) * | 2020-06-03 | 2020-08-11 | 福建省华宝智能科技有限公司 | Robot three-dimensional vision system and method for sole and vamp scanning operation |
| CN112120355A (en) * | 2020-10-09 | 2020-12-25 | 华中科技大学 | Shoemaking spraying equipment and method based on industrial robot |
| CN112120355B (en) * | 2020-10-09 | 2022-02-08 | 华中科技大学 | Shoemaking spraying equipment and method based on industrial robot |
| CN113446961A (en) * | 2021-07-03 | 2021-09-28 | 詹镇远 | Method and equipment for determining processing track by visually scanning three-dimensional adhesive surface |
| CN115131344A (en) * | 2022-08-25 | 2022-09-30 | 泉州华中科技大学智能制造研究院 | Method for extracting shoe-making molding rubber thread through light intensity data |
| CN115131344B (en) * | 2022-08-25 | 2022-11-08 | 泉州华中科技大学智能制造研究院 | Method for extracting shoe-making molding rubber thread through light intensity data |
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