CN211672693U - A robot marking device for vamp - Google Patents
A robot marking device for vamp Download PDFInfo
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- CN211672693U CN211672693U CN201921977732.0U CN201921977732U CN211672693U CN 211672693 U CN211672693 U CN 211672693U CN 201921977732 U CN201921977732 U CN 201921977732U CN 211672693 U CN211672693 U CN 211672693U
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Abstract
The utility model discloses a robot marking device for vamp, it includes robot marking method and frame main part for vamp, the equipment of shooing is installed to frame main part inside top, the inside side-mounting robot of frame main part, the transparent conveyer belt that frame main part internally mounted runs through, drive arrangement and encoder are installed to the one end of transparent conveyer belt, drive arrangement with the encoder electricity is connected, the robot with drive arrangement and encoder electricity are connected. The utility model discloses a drive arrangement moving time is kept watch on to the encoder, and inside the vamp of robot control drive arrangement on with transparent conveyer belt moved the frame main part, then opened the equipment of shooing and shoot the image to the vamp, match with the template image of prestore in the robot, match the target image, then begin the operation of drawing a line on the vamp according to the line contour line on the target image through the robot to improve the efficiency of drawing a line, promote the precision of drawing a line.
Description
Technical Field
The utility model belongs to the technical field of the vamp is rule, concretely relates to robot marking device for vamp.
Background
At present, the traditional industry gradually introduces automation equipment to assist people in completing the processes of shoe making process.
When the shoe is manufactured, if the coating glue is too much, the vamp can be wrinkled, if the coating glue is too little, the phenomenon that the vamp is not firmly adhered can occur, the vamp needs to be supplemented with the glue, so in order to ensure that the vamp is uniformly glued, the vamp needs to be scribed and then polished, and the coated glue is suitable for gluing.
Although some relatively early application technologies exist in the automation market of the existing shoe manufacturing industry, for example, after the sole information is collected by a profiler, the image comparison and matching are performed with the existing sole data, but the technology is troublesome to operate, has relatively high requirements on staff, and has relatively low yield.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a robot marking device for vamp for solve the problem that exists among the prior art.
The utility model adopts the technical proposal that:
the utility model provides a robot marking device for vamp, its includes robot marking method and frame main part for vamp, the inside top of frame main part installation equipment of shooing, the inside side-mounting robot of frame main part, the transparent conveyer belt that passes through of frame main part internally mounted, drive arrangement and encoder are installed to the one end of transparent conveyer belt, drive arrangement with the encoder electricity is connected, the robot with drive arrangement and encoder electricity are connected.
Preferably, a camera fixing support is arranged above the inside of the frame body, the camera fixing support is provided with the photographing equipment, a robot fixing machine table is arranged on one side of the inside of the frame body, and the robot is arranged on the robot fixing machine table.
Preferably, the photographing apparatus is an industrial camera.
Preferably, a transmission frame is arranged in the frame body in a penetrating way, and the transparent transmission belt is arranged in the transmission frame.
Preferably, inside the frame main part the conveying frame externally mounted presses the net, press net one side installation to press net cylinder, press the inboard lower part level fixed light source of net, transparent conveyer belt runs through press the inside and surround of net the light source, the robot with equipment of shooing drive arrangement the encoder press the net cylinder with the light source is the electricity and connects.
Preferably, the robot is a multi-joint robot.
Preferably, the robot is provided with a spray gun at the top of the shaft, and ink is added into the spray gun.
Preferably, the conveying frame and the transparent conveying belt both extend out of the frame body.
Preferably, the transparent conveyor belt is used for placing the shoe upper on one side close to the driving device.
Preferably, the driving device is a servo motor.
Compared with the prior art, the utility model discloses a drive arrangement moving time is kept watch on to the encoder, and inside the vamp of robot control drive arrangement on with transparent conveyer belt moved the frame main part, then opened the equipment of shooing and shoot the image to the vamp, match with the template image of prestore in the robot, match the target image, then begin the marking off operation on the vamp according to the marking off contour line on the target image through the robot to improve marking off efficiency, promote the marking off precision.
Drawings
Fig. 1 is a frame body schematic diagram of a robotic scoring device for an upper according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the overall structure of a robot line drawing device for shoe uppers, according to the embodiment of the present invention;
fig. 3 is a schematic structural view of a press net for a robotic marking device for shoe uppers according to an embodiment of the present invention.
Description of the reference numerals
The method comprises the following steps of 1-a frame main body, 2-a camera fixing support, 3-photographing equipment, 4-a robot fixing machine table, 5-a robot, 6-a conveying frame, 7-a transparent conveying belt, 8-driving equipment, 9-an encoder, 10-a net pressing, 11-a net pressing cylinder and 12-a light source.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
A robot scribing device for vamps comprises the robot scribing method for vamps and a frame body 1, wherein a photographing device 3 is installed above the inside of the frame body 1, a robot 5 is installed on one side of the inside of the frame body 1, a transparent conveying belt 7 penetrating through the inside of the frame body 1 is installed, a driving device 8 and an encoder 9 are installed at one end of the transparent conveying belt 7, the driving device 8 is electrically connected with the encoder 9, and the robot 5 is electrically connected with the driving device 8 and the encoder 9.
A camera fixing support 2 is arranged above the inside of the frame main body 1, the photographing equipment 3 is installed on the camera fixing support 2, a robot fixing machine table 4 is arranged on one side of the inside of the frame main body 1, and the robot 5 is installed on the robot fixing machine table 4; the photographing apparatus 3 is an industrial camera.
The frame body 1 is internally provided with a transmission frame 6 which penetrates through the frame body, and the transparent transmission belt 7 is arranged in the transmission frame 6.
Inside the frame main part 1 the 6 externally mounted pressure net 10 of conveying frame, press net 10 one side installation pressure net cylinder 11, press the inboard lower part level fixed light source 12 of net 10, transparent conveyer belt 7 runs through press the net 10 inside and surround light source 12, robot 5 with equipment of shooing 3 drive arrangement 8 the encoder 9 press the net cylinder 11 with light source 12 is the electricity and connects.
The robot 5 is a multi-joint robot, a spray gun is mounted at the top of an axle of the robot 5, ink is added in the spray gun and used for marking on the vamp, the conveying frame 6 and the transparent conveying belt 7 extend out of the frame main body 1, one side of the transparent conveying belt 7, close to the driving device 8, is used for placing the vamp, and the driving device 8 is a servo motor.
The transparent conveyor belt is divided into a feeding station, a marking station and a blanking station.
The working principle is as follows:
firstly, a vamp is placed on a transparent conveyor belt 7, a robot 5 is started, the robot 5 sends a starting signal to a driving device 8 and an encoder 9, the driving device 8 drives the transparent conveyor belt 7 to move, and meanwhile, the encoder 9 starts timing; when the encoder 9 monitors that the vamp moves to the scribing station, the in-place signal is sent to the robot 5, and the robot sends a photographing signal to the photographing device 3 to prepare for photographing;
after the photographing device 3 finishes photographing, a completion signal is sent to the robot 5, the robot 5 sends a net pressing signal to the net pressing cylinder 11, the net pressing cylinder 11 drives the net pressing cylinder 10 to press a net downwards to fix the transparent conveyor belt 7, meanwhile, the robot 5 sends a light turning-on signal to the light source 12 to turn on the light source, then the robot 5 sends an instruction to the image processing device to start an image processing process (image acquisition, matching and processing), namely, the photographing device acquires an image, processes the image to match the image to a pre-stored target image, a coordinate point of the target image which forms a vamp scribing contour line is converted into a point number which can be read by the robot, a result is sent to the robot 5, and after the robot 5 receives the scribing point coordinates, the light turning-off signal is sent to the light source 12 and starts scribing operation. After the scribing is finished, the robot 5 outputs a reset signal to control the net pressing cylinder 11 to reset, and after the net pressing cylinder 11 resets, the robot 5 returns to the original point.
The working process is as follows:
1. starting up
(0) The start button is pressed and the program inside the robot 5 starts running.
2. Feeding of the feedstock
(1) Robot 5 output IO signal (input/output signal) gives the server (a controller for controlling drive device), and drive device 8 control transparent conveyer belt 7 and remove a working distance, drives material (vamp) and removes the back from the material loading station to the marking station, and the server output IO signal gives robot 5. Wherein the encoder 9 is used for reading the moving distance of the transparent conveyor belt 7 in real time. That is, the encoder 9 starts counting from the driving device 8, the material is determined to move to the marking station through the reading of the encoder, then the signal is fed back to the robot 5, and the robot 5 controls the photographing device 3 to start photographing.
3. Marking off
(2) The robot 5 outputs an IO signal to control the net pressing cylinder 11 to press materials.
(3) The robot 5 outputs an IO signal to control the light source 12 to turn on.
(4) The robot 5 sends commands to image processing software (a robot lining method for shoe uppers) through internet access communication, starts image processing procedures (drawing, matching and processing), and the image software sends results to the robot.
(5) And after receiving the marking point position coordinates, the robot 5 sends a lamp-turning-off IO signal and starts marking.
(6) After the scribing is finished, the robot 5 outputs an IO signal to control the net pressing cylinder 11 to reset.
(7) After the net pressing cylinder 11 is reset, the robot 5 returns to the original point.
4. Discharging
(8) The robot 5 outputs IO signals to the server, the driving device 8 controls the transparent conveying belt 7 to move for a working distance, the materials are driven to move from the scribing station to the blanking station (the materials for next scribing move from the feeding station to the scribing station), and the server outputs the IO signals to the robot 5. Flow returns to (3, scribe).
Stopping and resetting
When the stop button is pressed, the robot 5 stops operating.
After the reset button is pressed, the robot 5 returns to the original point, and the net pressing cylinder resets.
The transparent conveyor belt 7 is moved to reset by manually pressing a forward or backward button of the transparent conveyor belt 7.
Emergency stop
After pressing the scram, the power of the robot 5 is cut off, and the power of the driving device 8 of the transparent conveyor belt 7 is cut off.
After the emergency stop is reset, the power supply of the robot 5 and the driving device 8 is powered on, and after the reset button is pressed to execute the reset process, the starting button is pressed to start working.
Debugging
The material position on the transparent conveyor belt 7 is adjusted by pressing a forward or backward button of the transparent conveyor belt 7.
And opening a pigment spot-shooting switch of the robot to perform marking.
And thirdly, by pressing a marking button, the equipment executes the processes of returning the robot 5 to the original point, pressing the net 10 to press materials, turning on the light source 12, processing software images and sending tracks, turning off the light source 12, marking the robot 5, returning the robot 5 to the original point and resetting the net 10.
The utility model discloses a drive arrangement moving time is kept watch on to the encoder, and inside the vamp of robot control drive arrangement on with transparent conveyer belt moved the frame main part, then opened the equipment of shooing and shoot the image to the vamp, match with the template image of prestore in the robot, match the target image, then begin the operation of drawing a line on the vamp according to the line contour line on the target image through the robot to improve the efficiency of drawing a line, promote the precision of drawing a line.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a robot marking device for vamp, its characterized in that, it includes frame main part (1), equipment (3) of shooing is installed to frame main part (1) inside top, inside one side-mounting robot (5) of frame main part (1), transparent conveyer belt (7) that frame main part (1) internally mounted runs through, drive arrangement (8) and encoder (9) are installed to the one end of transparent conveyer belt (7), drive arrangement (8) with encoder (9) electricity is connected, robot (5) with drive arrangement (8) and encoder (9) electricity are connected.
2. The robot lineation device for the shoe upper according to claim 1, wherein a camera fixing support (2) is arranged above the inside of the frame main body (1), the photographing equipment (3) is installed on the camera fixing support (2), a robot fixing machine table (4) is arranged on one side of the inside of the frame main body (1), and the robot (5) is installed on the robot fixing machine table (4).
3. The robotic marking device for shoe uppers according to claim 2, characterized in that said photographing apparatus (3) is an industrial camera.
4. A robotic marking device for shoe uppers according to claim 3, characterized in that inside the frame body (1) is mounted a through-going transport frame (6), inside which transport frame (6) is mounted the transparent conveyor belt (7).
5. The robot lineation device for the shoe upper according to the claim 4, wherein a net pressing (10) is installed outside the transmission frame (6) inside the frame body (1), a net pressing cylinder (11) is installed on one side of the net pressing (10), a light source (12) is horizontally fixed on the lower portion of the inner side of the net pressing (10), the transparent transmission belt (7) penetrates through the inside of the net pressing (10) and surrounds the light source (12), and the robot (5) is electrically connected with the photographing device (3), the driving device (8), the encoder (9), the net pressing cylinder (11) and the light source (12).
6. A robotic scoring device for shoe uppers according to claim 5, characterized in that the robot (5) is a multi-jointed robot.
7. A robot line marking device for shoe uppers according to claim 6, characterized in that the robot (5) is equipped with a spray gun on top of the shaft, inside which is added ink.
8. The robotic scoring device for shoe uppers according to claim 7, characterized in that both the conveying frame (6) and the transparent conveyor belt (7) protrude out of the frame body (1).
9. A robotic marking device for shoe uppers according to claim 8, characterized in that the side of the transparent conveyor belt (7) close to the driving device (8) is used for placing shoe uppers.
10. A robotic marking device for an upper according to any of claims 1-9, characterized in that the driving means (8) is a servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921977732.0U CN211672693U (en) | 2019-11-15 | 2019-11-15 | A robot marking device for vamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921977732.0U CN211672693U (en) | 2019-11-15 | 2019-11-15 | A robot marking device for vamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211672693U true CN211672693U (en) | 2020-10-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921977732.0U Active CN211672693U (en) | 2019-11-15 | 2019-11-15 | A robot marking device for vamp |
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| Country | Link |
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| CN (1) | CN211672693U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114788603A (en) * | 2022-05-07 | 2022-07-26 | 东华大学 | Sole glue supplementing method and system and robot |
| CN115299672A (en) * | 2022-07-07 | 2022-11-08 | 际华三五一三实业有限公司 | Device for fixing soft material sheet on automatic marking machine and marking method |
-
2019
- 2019-11-15 CN CN201921977732.0U patent/CN211672693U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114788603A (en) * | 2022-05-07 | 2022-07-26 | 东华大学 | Sole glue supplementing method and system and robot |
| CN115299672A (en) * | 2022-07-07 | 2022-11-08 | 际华三五一三实业有限公司 | Device for fixing soft material sheet on automatic marking machine and marking method |
| CN115299672B (en) * | 2022-07-07 | 2024-06-14 | 际华三五一三实业有限公司 | Device for fixing soft material sheet applied to automatic marking machine and marking method |
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