JP6014786B1 - Shoe adhesive application system, application trajectory generation device, and shoe manufacturing method - Google Patents

Abstract

The shoe adhesive application system (1) includes a holding unit, an outline recognition unit (72), an application locus setting unit (78), an adhesive application unit, a moving mechanism (50), and a control unit (79). The holding unit holds the shoe component with the bottom surface facing upward. The outline recognition unit (72) recognizes the outline of the bottom surface of the shoe component. The application trajectory setting unit (78) sets the application trajectory when applying the adhesive to the bottom surface of the shoe component based on the recognized outline. The moving mechanism (50) moves the adhesive application part. The control unit (79) controls the movement mechanism (50) so that the adhesive application unit moves along the application trajectory, so that the adhesive application unit applies the adhesive to the bottom surface of the shoe component. To control.

Description

  The present invention relates to a shoe adhesive application system, an application trajectory generation device, and a shoe manufacturing method.

  In a shoe manufacturing process, an adhesive is applied to an adhesive surface of a shoe component, and the shoe component is bonded to another shoe component. For example, Patent Document 1 discloses a system for applying an adhesive to the upper surface of a sole using a robot as a system for reducing the labor of an operator in the shoe manufacturing process as described above. Yes.

Special table 2001-508571 gazette

  In the shoe manufacturing process, it may be necessary to apply an adhesive not only to the upper surface of the sole but also to the bottom surface of shoe components such as an upper. For this reason, a system for reducing labor when applying an adhesive to the bottom surface of a shoe component such as an upper is desired.

  The present invention has been made in view of the above-mentioned problems, and its purpose is to apply an adhesive application system for shoes that can reduce labor when applying an adhesive to the bottom surface of a shoe component such as an upper, An object is to provide an application trajectory generation device and a shoe manufacturing method.

  In order to solve the above problems, a shoe adhesive application system according to the present invention includes a holding unit that holds a bottom surface of a shoe component facing upward, an outer shape recognition unit that recognizes an outer surface of the bottom surface, Based on the outline, an application trajectory setting unit that sets an application trajectory when applying adhesive to the bottom surface, an adhesive application unit, a moving mechanism that moves the adhesive application unit, and the adhesive application unit And a control unit that controls the adhesive application unit to apply the adhesive to the bottom surface by controlling the moving mechanism so that it moves along the application trajectory.

  In one aspect of the present invention, a height measuring unit that measures the height of the bottom surface at a point on the coating locus, and the adhesive application when the adhesive coating unit moves along the coating locus. You may make it have further the height information generation part which produces | generates the height information which shows the height of a part based on the measurement result of the said height measurement part. The control unit controls the moving mechanism so that a height of the adhesive application unit when the adhesive application unit moves along the application locus becomes a height corresponding to the height information. May be.

  In the aspect of the invention, the moving mechanism may be a robot having at least six degrees of freedom. The height measuring unit may be provided at an arm tip of the robot together with the adhesive application unit.

  In the aspect of the invention, the application locus may include an outer periphery locus portion corresponding to the outer periphery of the bottom surface. The start point and the end point of the application locus may be set on the inner side of the outer periphery locus portion.

  In the aspect of the invention, the outer periphery locus portion may be set a predetermined distance inside the outer periphery of the bottom surface. The shoe adhesive application system may further include a distance designation receiving unit that receives designation of the predetermined distance.

  Moreover, in one aspect of the present invention, the first shoe component is installed in the first installation unit, the holding unit holding the first shoe component in a state where the bottom surface of the first shoe component is directed upward. A first installation section; and a second installation section in which the second shoe component to be bonded to the bottom surface of the first shoe component is installed with the upper surface facing upward. Good. The outline recognition unit may recognize at least an outline of the bottom surface of the first shoe component. The application trajectory setting unit sets a first application trajectory when applying an adhesive to the bottom surface of the first shoe component based on an outline of the bottom surface of the first shoe component, You may make it set the 2nd application | coating locus | trajectory at the time of apply | coating an adhesive agent to the said upper surface of a 2nd shoe component. The control unit applies the adhesive to the bottom surface of the first shoe component by controlling the moving mechanism so that the adhesive application unit moves along the first application locus. The upper surface of the second shoe component is controlled by controlling the adhesive application unit and controlling the moving mechanism so that the adhesive application unit moves along the second application locus. You may make it control so that application | coating of the adhesive agent may be performed by the said adhesive application part.

  In the aspect of the invention, the outline recognition unit may recognize an outline of the bottom surface of the first shoe component and an outline of the top surface of the second shoe component. The shoe adhesive application system includes the first shoe component and the first shoe component based on the bottom contour of the first shoe component and the top contour of the second shoe component. A determination unit that determines whether the combination of the two shoe components is a predetermined combination to be bonded to each other, and an output unit that performs output according to the determination result of the determination unit. May be.

  In the aspect of the invention, the application trajectory setting unit may set a trajectory that is a mirror image of the first application trajectory as the second application trajectory.

  In the aspect of the invention, the application trajectory setting unit may set a trajectory that is a non-mirror image of the first application trajectory as the second application trajectory.

  Moreover, you may make it further have an application width designation | designated reception part which receives the designation | designated of the application width of the said adhesive agent by the said adhesive agent application part in 1 aspect of this invention.

  Moreover, you may make it further have an application | coating interval designation | designated reception part which receives the designation | designated of the application | coating interval of the said adhesive agent by the said adhesive agent application part.

  Moreover, you may make it further have the backlight which illuminates the shoe component hold | maintained by the said holding | maintenance part in 1 aspect of this invention. The outline recognizing unit may recognize an outline of a shadow of the shoe component illuminated by the backlight.

  In one embodiment of the present invention, a storage unit that stores an application trajectory in association with information on at least one of the type and size of a shoe component, and the shoe component that is held by the holding unit based on the outer shape A discriminating unit that discriminates at least one of the type and the size of the disc. The application trajectory setting unit may acquire the application trajectory associated with the determination result by the determination unit from the storage unit.

  Moreover, in one aspect of the present invention, an application trajectory generating unit that generates the application trajectory based on the outline, and the shoe component that is held by the holding unit, the application trajectory generated by the application trajectory generating unit And an application locus registration unit that stores the information in at least one of the type and the size in association with information related to at least one of the types and sizes.

  In the aspect of the invention, the application trajectory setting unit may generate the application trajectory based on the outline.

  Further, the application trajectory generating apparatus according to the present invention includes a holding unit that holds a bottom surface of a shoe component facing upward, an outline recognition unit that recognizes an outline of the bottom surface, and the bottom surface based on the outline. And an application trajectory generation unit that generates an application trajectory when applying the adhesive.

  Further, the shoe manufacturing method according to the present invention includes an outer shape recognition step for recognizing an outer shape of the bottom surface of the shoe component held by a holding portion that holds the bottom surface of the shoe component upward. The adhesive application unit moves along the application trajectory through an application trajectory setting step for setting an application trajectory when applying the adhesive to the bottom surface and a moving mechanism for moving the adhesive application unit. And an application step of controlling the adhesive application unit to apply the adhesive to the bottom surface.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to reduce the effort at the time of apply | coating an adhesive agent to the bottom face of shoe components, such as upper.

It is a perspective view which shows an example of the external appearance of the adhesive agent coating system for shoes which concerns on embodiment of this invention. It is a perspective view which shows an example of the external appearance of the adhesive agent coating system for shoes which concerns on embodiment of this invention. It is a figure for demonstrating an installation stand, a backlight, and an imaging | photography part. It is a figure for demonstrating a robot. It is a functional block diagram which shows an example of the functional block relevant to registration mode. It is a functional block diagram which shows an example of the functional block relevant to application | coating implementation mode. It is a flowchart which shows an example of a registration process. It is a figure which shows an example of an automatic production | generation screen. It is a figure which shows an example of the outline of the adhesion surface of shoe components. It is a figure which shows an example of a reference axis. It is a figure which shows an example of an application | coating locus | trajectory. It is a figure which shows another example of an application | coating locus | trajectory. It is a figure which shows an example of a registration screen. It is a figure which shows an example of the data structure of a memory | storage part. It is a flowchart which shows an example of an application | coating implementation process. It is a flowchart which shows an example of an application | coating implementation screen. It is a flowchart for demonstrating the detail of the process which implements the adhesive agent application to the adhesive surface of a shoe component. It is a functional block diagram which shows another example of the functional block relevant to application | coating implementation mode. It is a flowchart which shows another example of an application | coating implementation process.

  Hereinafter, an example of an adhesive application system for shoes according to an embodiment of the present invention will be described in detail with reference to the drawings. A shoe adhesive application system is a system for applying an adhesive to shoe components.

  FIG.1 and FIG.2 is a perspective view which shows an example of the external appearance of the adhesive application system for shoes which concerns on embodiment of this invention. 1 and 2 illustrate a three-dimensional orthogonal coordinate system (XYZ coordinate system) including a Z-axis having a vertically upward direction as a positive direction for the sake of simplicity of explanation.

  As shown in FIGS. 1 and 2, the shoe adhesive application system 1 according to the embodiment of the present invention includes a first installation table 10 (first installation unit) and a second installation table 15 (second installation). Installation section), the first transport rail 20, the second transport rail 25, the first backlight 30, the second backlight 35, the first photographing section 40, and the second photographing. The unit 45 and the robot 50 are included.

  The first installation table 10 and the second installation table 15 are tables for installing shoe components. The shoe component is installed on the first installation table 10 or the second installation table 15 with the adhesive surface facing upward. The “adhesion surface” is a surface to be bonded to another shoe component and is a surface to which an adhesive is applied.

  The first installation base 10 is moved between the human work place PA and the robot work place PB by the first transport rail 20. Similarly, the second installation table 15 moves between the human work place PA and the robot work place PB by the second transport rail 25.

  The human work place PA installs shoe components on the first installation table 10 or the second installation table 15, and collects shoe components installed on the first installation table 10 or the second installation table 15. Is the place where workers are carried out. On the other hand, the robot work place PB is a place where the robot 50 performs processing (application of an adhesive, etc.) on shoe components installed on the first installation table 10 or the second installation table 15.

  FIG. 1 shows a state in which the first installation table 10 and the second installation table 15 are located in the human work place PA. FIG. 2 shows a state where the first installation table 10 and the second installation table 15 are located at the robot work place PB.

  In the state shown in FIG. 1, when a transfer button provided near the human work place PA is pressed, the first installation table 10 is transferred from the human work place PA to the robot work place PB. Similarly, the second installation table 15 is also transported from the human work place PA to the robot work place PB.

  A first backlight 30 is installed at the robot work place PB on the first transport rail 20. An opening is formed on the side surface of the first installation table 10 facing the robot work place PB. Moreover, the inside of the first installation base 10 is hollow. For this reason, when the 1st installation stand 10 is conveyed to the robot working place PB, the 1st backlight 30 is accommodated in the 1st installation stand 10.

  Similarly, a second backlight 35 is installed at the robot work place PB on the second transport rail 25. Similarly, an opening is formed on the side surface of the second installation table 15 that faces the robot work place PB. The second installation table 15 is also hollow. For this reason, when the second installation table 15 is transported to the robot work place PB, the second backlight 35 is accommodated in the second installation table 15.

  The first imaging unit 40 is installed above the first backlight 30 (in other words, the robot work place PB on the first transport rail 20). The 1st imaging | photography part 40 is used in order to image | photograph the shoe component currently installed in the 1st installation stand 10 conveyed to the robot working place PB. Similarly, the second imaging unit 45 is installed above the second backlight 35 (in other words, the robot work place PB on the second transport rail 25). The second photographing unit 45 is used for photographing the shoe components installed on the second installation table 15 transported to the robot work place PB.

  In the example shown in FIGS. 1 and 2, a jib crane is used to fix the first photographing unit 40 and the second photographing unit 45, but the first photographing unit 40 and the second photographing unit 45 are used. The fixing method is not limited to this example. For example, the first photographing unit 40 and the second photographing unit 45 may be fixed to the ceiling.

  FIG. 3 illustrates the first installation table 10, the first backlight 30, the first imaging unit 40, the second installation table 15, the second backlight 35, and the second imaging unit 45 in more detail. It is a figure for doing. Note that FIG. 3 shows a state where the first installation table 10 and the second installation table 15 have been transported to the robot work place PB.

  In the example illustrated in FIG. 3, it is assumed that the upper 60 and the sole 65 bonded to the bottom (lower) of the upper 60 are bonded together. That is, it is assumed that the bottom surface 61 (lower surface) of the upper 60 and the upper surface 66 of the sole 65 are bonded together. Therefore, in the example shown in FIG. 3, the upper 60 is installed on the first installation base 10 with the bottom surface 61 of the upper 60 facing upward. Further, the sole 65 is installed on the second installation table 15 with the upper surface 66 of the sole 65 facing upward.

  As shown in FIG. 3, the first installation base 10 includes a holding unit 11 that holds the upper 60 with the bottom surface 61 of the upper 60 facing upward. In the example shown in FIG. 3, the holding part 11 includes a foot part 12 made of resin or metal called “last” and a pin 13 fixed on the first installation base 10. A hole for inserting the pin 13 is provided on the upper surface of the foot mold part 12, and by inserting the pin 13 into this hole, the foot mold part 12 is turned upside down in the first installation base. 10 is fixed. The upper 60 is attached to the holding part 11 so that the foot mold part 12 is inserted into the upper 60. Accordingly, the upper 60 is fixed with the bottom surface 61 of the upper 60 facing upward and with the bottom surface 61 of the upper 60 being substantially horizontal. As a result, the adhesive can be reliably applied to the bottom surface 61 of the upper 60. Moreover, it becomes easy to apply | coat an adhesive agent to the bottom face 61 of the upper 60 uniformly, and it also becomes possible to suppress generation | occurrence | production of the adhesive nonuniformity.

  The holding unit 11 is not limited to the example shown in FIG. For example, you may make it implement | achieve the holding | maintenance part 11 using the L-shaped member which has a substantially L shape. That is, the L-shaped member may be fixed on the first installation base 10 in an upside down state (inverted L-shaped state: a state rotated 180 degrees or 90 degrees clockwise from an upright state). . Then, the upper 60 may be attached to the holding portion 11 by inserting the L-shaped member (holding portion 11) into the upper 60. Even in this case, the upper 60 is held with the bottom surface 61 of the upper 60 facing upward and with the bottom surface 61 of the upper 60 being substantially horizontal.

  The first installation base 10 is formed of a material that can transmit light, such as transparent plastic or glass, and the light from the first backlight 30 passes through the first installation base 10. Therefore, the upper 60 installed on the first installation base 10 is illuminated by the light from the first backlight 30, and the shadow of the upper 60 illuminated by the first backlight 30 is the first imaging unit 40. Taken by.

  Similar to the first installation table 10, the second installation table 15 is also formed of a material that can transmit light, and light from the second backlight 35 passes through the second installation table 15. For this reason, the sole 65 installed on the second installation table 15 is illuminated by the light from the second backlight 35, and the shadow of the sole 65 illuminated by the second backlight 35 is reflected by the second imaging unit 45. Taken by.

  The first photographing unit 40 and the second photographing unit 45 may be set at a relatively high position and a telephoto lens may be used. In this way, in the first photographing unit 40 and the second photographing unit 45, the light from the first backlight 30 and the second backlight 35 approaches the parallel light. As a result, the size of the shadow of the shoe component in the captured image of the first image capturing unit 40 or the second image capturing unit 45 is such that the shoe component is bonded from the upper surface of the first installation table 10 or the second installation table 15. It becomes possible to suppress changes due to the difference in height to the surface. For example, in the example shown in FIG. 3, the height from the upper surface of the first installation table 10 to the bottom surface 61 of the upper 60 is different from the height from the upper surface of the second installation table 15 to the upper surface 66 of the sole 65. By doing so, the size of the shadow of the upper 60 in the captured image of the first imaging unit 40 and the size of the shadow of the sole 65 in the captured image of the second imaging unit 45 are made substantially equal. Become.

  Further, regarding the first photographing unit 40 and the second photographing unit 45, it is preferable to narrow down the lenses. In this way, the number of in-focus positions increases, and the contours of shoe components in the captured images of the first imaging unit 40 and the second imaging unit 45 become clear. In addition, since a picked-up image will become dark when a lens is squeezed, it is good to lighten the 1st backlight 30 and the 2nd backlight 35, and to lengthen exposure time.

  The robot 50 is a robot for applying an adhesive to shoe components. The robot 50 is disposed at a position facing the first installation table 10 and the second installation table 15 that are transported to the robot work place PB.

  FIG. 4 is a diagram for explaining an example of the configuration of the robot 50. The robot 50 is a so-called multi-joint type (multi-axis) robot. For example, a robot having at least six degrees of freedom is used as the robot 50. As shown in FIG. 4, the robot 50 includes a base 51, a turning base 52, a first arm 53, a second arm 54, an adhesive application unit 55, and a height measuring unit. 56.

  The base part 51 is a support base part fixed to the floor surface or the like. The turning base portion 52 is connected to the base portion 51. The robot 50 includes a servo motor for turning the turning base 52 around the S axis, which is an axis corresponding to the normal direction of the surface to which the base 51 is fixed. The turning base 52 is an S axis. It is connected to the base 51 so as to be able to turn around (see arrow A1 in FIG. 4).

  The first arm portion 53 is connected to the turning base portion 52. The robot 50 includes a servo motor for rotating the first arm portion 53 around the L axis, which is an axis substantially perpendicular to the S axis, and the first arm portion 53 pivots so as to be rotatable around the L axis. It connects with the base part 52 (refer arrow A2 of FIG. 4).

  The second arm portion 54 is connected to the distal end portion of the first arm portion 53. The robot 50 includes a servo motor for rotating the second arm portion 54 around a U axis that is an axis substantially parallel to the L axis (that is, an axis substantially perpendicular to the S axis). 54 is connected to the tip of the first arm portion 53 so as to be rotatable around the U axis (see arrow A3 in FIG. 4).

  The robot 50 also includes a servo motor for twisting the tip of the second arm portion 54 around the R axis, which is an axis corresponding to the extending direction (longitudinal direction) of the second arm portion 54. The tip of the second arm portion 54 is provided so as to be able to twist around the R axis (see arrow A4 in FIG. 4).

  The adhesive application unit 55 applies an adhesive. An adhesive discharge port is provided at the tip of the adhesive application unit 55, and the adhesive application unit 55 is configured to be able to discharge the adhesive from the discharge port.

  The adhesive application part 55 is connected to the tip part of the second arm part 54. The robot 50 includes a servo motor for rotating the adhesive application unit 55 about the B axis, which is an axis substantially perpendicular to the extending direction (longitudinal direction) of the adhesive application unit 55. The adhesive application unit 55 includes: It is connected to the tip of the second arm portion 54 so as to be rotatable about the B axis (see arrow A5 in FIG. 4).

  The robot 50 also includes a servo motor for twisting the adhesive application unit 55 around the T-axis that is an axis corresponding to the extending direction (longitudinal direction) of the adhesive application unit 55. Is provided to be able to twist around the T-axis (see arrow A6 in FIG. 4).

  By controlling each servo motor included in the robot 50, the swivel base portion 52, the first arm portion 53, and the second arm portion 54 operate to move the adhesive application portion 55. Therefore, the robot 50 serves as a moving mechanism that moves the adhesive application unit 55.

  A height measuring unit 56 is provided along with the adhesive application unit 55 at the tip of the second arm unit 54. The height measuring unit 56 measures the height (distance) from the object. For example, the height measurement unit 56 is a height measurement sensor, and measures the height from the object by emitting light toward the object and receiving light reflected by the object. The height measuring unit 56 is provided in the vicinity of the tip (discharge port) of the adhesive application unit 55 and is used to measure the height from the object to the tip of the adhesive application unit 55.

  Although omitted in FIGS. 1 and 2, the shoe adhesive application system 1 includes a first transport rail 20, a second transport rail 25, a first backlight 30, a second backlight 35, A control unit for controlling the first imaging unit 40, the second imaging unit 45, and the robot 50 is included. The control device is realized by, for example, a computer including a microprocessor, a main storage unit, an auxiliary storage unit, an operation unit (such as a mouse, a keyboard, or a touch panel), and a display unit. The control device includes the first transport rail 20, the second transport rail 25, the first backlight 30, the second backlight 35, the first photographing unit 40, the second photographing unit 45, and the robot 50. Connected and controls them.

  5 and 6 are functional block diagrams showing functions realized by the control device among the functions of the shoe adhesive application system 1.

  The shoe adhesive application system 1 has two modes of operation. The first operation mode is a mode for automatically generating and registering control data (application trajectory, etc.) of the adhesive application unit 55 when applying adhesive to shoe components (hereinafter referred to as “registration mode”). To do). The second operation mode is a mode in which the adhesive is applied to the shoe components by controlling the adhesive application unit 55 using the control data registered in the registration mode (hereinafter referred to as “ It is described as “application mode”). For example, when the upper and the sole are bonded together, the shoe adhesive application system 1 first uses the registration mode to control the adhesive application unit 55 for applying the adhesive to the upper and the adhesion to the sole. The control data of the adhesive application unit 55 for applying the adhesive is automatically generated and registered, and thereafter, the adhesive is applied to each of the upper and the sole using the application execution mode. .

  FIG. 5 is a functional block diagram showing an example of functional blocks related to the registration mode. As illustrated in FIG. 5, the control device 70 (application trajectory generation device) includes a designation receiving unit 71, an outer shape recognition unit 72, an application trajectory generation unit 73, and height information generation as functional blocks related to the registration mode. Part 74, registration part 75, and storage part 76. Among these, the designation receiving unit 71 includes an outer periphery offset designation receiving unit 71A (predetermined distance designation receiving unit), an application width designation receiving unit 71B, and an application interval designation receiving unit 71C. For example, the functional blocks other than the storage unit 76 are realized when the microprocessor of the control device 70 executes a program stored in the auxiliary storage unit, and the storage unit 76 is realized by the auxiliary storage unit.

  On the other hand, FIG. 6 is a functional block diagram showing an example of functional blocks related to the application execution mode. As shown in FIG. 6, the control device 70 includes an outline recognition unit 72, a storage unit 76, a determination unit 77, an application locus setting unit 78, and a control unit 79 as functional blocks related to the application execution mode. Including. For example, the functional blocks other than the storage unit 76 are realized by the microprocessor executing a program stored in the auxiliary storage unit, and the storage unit 76 is realized by the auxiliary storage unit. The outline recognition unit 72 and the storage unit 76 are the same as the outline recognition unit 72 and the storage unit 76 of FIG.

  First, the registration mode will be described. Hereinafter, for convenience, the registration mode will be described assuming that control data of the adhesive application unit 55 for applying adhesive to the shoe component A is automatically generated and registered. Further, the shoe component A is, for example, an upper for a left foot of a shoe having shoe types and shoe sizes “SH1” and “23.0 cm”.

  In order to automatically generate and register the control data, first, the worker activates the registration mode by performing a predetermined operation using the operation unit of the control device 70. When the registration mode is activated, a process (hereinafter referred to as “registration process”) for automatically generating and registering the control data of the adhesive application unit 55 is executed.

  FIG. 7 is a flowchart showing an example of the registration process. The content of the registration process and each functional block shown in FIG. 5 will be described with reference to FIG.

  As shown in FIG. 7, the designation receiving unit 71 first displays an automatic generation screen for automatically generating control data of the adhesive application unit 55 on the display unit (S10). FIG. 8 shows an example of the automatic generation screen. As shown in FIG. 8, the automatic generation screen 80 includes a plurality of forms for receiving designation of various types of information necessary for generating control data for the adhesive application unit 55.

  For example, the automatic generation screen 80 includes a shoe type form 81, a shoe size form 82, a part type form 83, and a left / right form 84. The shoe type form 81 is a form for accepting designation of which shoe component the shoe component A is. The shoe type form 81 accepts designation of identification information (for example, type code or name) that uniquely identifies the type of shoe. The shoe size form 82 is a form for accepting designation as to which size shoe the shoe component A is. The component type form 83 is a form for accepting designation of which component (for example, upper or sole) the shoe component A is. The left / right form 84 is a form for accepting designation of whether the shoe component A is a component of a shoe for a left foot or a right foot.

  The automatic generation screen 80 includes a camera form 85 and an exposure time form 86. The camera form 85 is a form for accepting designation of a camera (photographing unit) used for photographing the shoe component A, and the exposure time form 86 is a form for accepting designation of an exposure time. For example, when the shoe component A is installed on the first installation base 10, the operator selects the first imaging unit 40 (“Camera 1” in FIG. 8) on the camera form 85.

  Further, the automatic generation screen 80 includes a trajectory type form 87, an application width form 88, an application interval form 89, an outer periphery offset form 90, and an application height form 91.

  The trajectory type form 87 is a form for accepting designation of the type of application trajectory that is automatically generated. In the example shown in FIG. 8, an application locus including a rectangular portion and an outer peripheral portion (see FIG. 9C described later) is selected as the type of application locus that is automatically generated.

  The application width form 88 is a form for accepting designation of the application width of the adhesive. The application width designation receiving unit 71B receives an application width designation via the application width form 88.

  The application interval form 89 is a form for accepting designation of an adhesive application interval. Here, the “application interval” means how far apart (approaching) between one locus part of the application locus and the other locus part approaching the one locus part. . The application interval designation receiving unit 71 </ b> C receives an application interval designation via the application interval form 89. In addition, like the example shown in FIG. 8, when a negative value is set as an application | coating space | interval, it shows applying an adhesive agent so that an adhesive agent may overlap. The numerical value in this case indicates the overlap amount.

  The outer periphery offset form 90 is a form for receiving designation of an offset from the outer periphery of the shoe component A to the application locus. In other words, the outer periphery offset form 90 is a form for accepting designation of how much the application locus is set from the outer periphery of the shoe component A. The outer periphery offset designation receiving unit 71A accepts designation of the outer periphery offset via the outer periphery offset form 90.

  The application height form 91 is a form for accepting designation of the height of the adhesive application part 55 when applying the adhesive to the shoe component A. For example, the application height form 91 designates the height of the adhesive application portion 55 from the adhesive surface of the shoe component A (that is, how far the adhesive application portion 55 is separated from the adhesive surface of the shoe component A). It is a form for accepting.

  The automatic generation screen 80 includes a generation button 92 and a cancel button 93. The generation button 92 is a button for receiving an instruction for automatically generating control data of the adhesive application unit 55. The cancel button 93 is a button for receiving an instruction to stop automatic generation of control data for the adhesive application unit 55.

  When the generation button 92 is selected, the control device 70 enters a standby state. At this time, the first installation table 10 and the second installation table 15 are located in the human work place PA, and the control device 70 is configured so that the shoe installation component A is installed on the first installation table 10 or the second installation table 10. It waits for the installation table 15 to be transported to the robot work place PB.

  In this case, the worker installs the shoe component A on the installation base corresponding to the photographing unit (camera) designated by the camera form 85 on the automatic generation screen 80. For example, when the imaging unit designated by the camera form 85 is the first imaging unit 40, the worker installs the shoe component A on the first installation table 10. Thereafter, the worker presses a transfer button provided near the human work place PA. When the transfer button is pressed, the first installation table 10 is transferred from the human work place PA to the robot work place PB.

  When the first installation table 10 is transported to the robot work place PB, the shoe component A installed on the first installation table 10 is imaged by the first imaging unit 40 (S11). That is, the shadow of the shoe component A illuminated by the first backlight 30 is photographed by the first photographing unit 40 based on the control by the control device 70. The exposure time at this time is controlled based on the exposure time specified on the exposure time form 86 on the automatic generation screen 80. In addition, the image captured by the first imaging unit 40 is supplied to the control device 70.

  After execution of step S11, the outline recognition unit 72 recognizes the outline of the bonding surface of the shoe component A in the captured image (S12). As described above, since the shadow of the shoe component A illuminated by the first backlight 30 is reflected in the photographed image, the outline recognition unit 72 recognizes the outline of the shadow as the outline of the adhesive surface of the shoe component A. To do. FIG. 9A shows an example of the outline of the adhesive surface of the shoe component A recognized in step S12.

  After execution of step S12, the application trajectory generating unit 73 generates an application trajectory when applying the adhesive to the adhesive surface of the shoe component A based on the outline recognized in step S12 (S13). The application trajectory is generated based on the types or values designated by the trajectory type form 87, the application width form 88, the application interval form 89, and the outer periphery offset form 90 on the automatic generation screen 80.

  For example, for the outline 100 of the bonding surface of the shoe component A, the reference axis is set based on at least two feature points. FIG. 9B shows an example of the reference axis. In the example shown in FIG. 9B, the toe position 101 and the heel position 102 are used as feature points. Further, an Xs axis corresponding to the direction from the toe position 101 to the heel position 102 and a Ys axis orthogonal to the Xs axis and passing through the toe position 101 are set as reference axes. In the shoe adhesive application system 1, calibration is executed in advance to store the correspondence between the position in the captured image and the position on the first installation table 10 (or the second installation table 15). ing. That is, the coordinates in the captured image are associated with the coordinates in the real space. Further, since the coordinates in the XsYs coordinate system are associated with the coordinates in the captured image, the coordinates in the XsYs coordinate system are also associated with the coordinates in the real space. For this reason, the shoe adhesive application system 1 can grasp which coordinate in the real space corresponds to the XsYs coordinate system. Note that the feature points and reference axes are not limited to the example shown in FIG. 9B, and other feature points and reference axes may be set.

  In step S <b> 13, the application trajectory is set in the outline 100 of the shoe component A. That is, the application trajectory is set on a two-dimensional plane (XsYs plane), and the application trajectory is indicated by the XsYs coordinate system. FIG. 9C shows an example of the application locus generated in step S13. In FIG. 9C, the application locus 110 is indicated by a dotted line. As shown in FIG. 9C, the application trajectory 110 is a one-stroke trajectory from the start point P1 to the end point P4.

  The start point P1 and the end point P4 of the application trajectory 110 are set at predetermined positions in the outer contour 100 of the shoe component A. For example, the starting point P1 is set based on the toe position 101. Specifically, for example, the starting point P1 is set to a position moved from the toe position 101 by a predetermined distance (a distance larger than the distance D shown in FIG. 9C) in the Xs-axis positive direction. Further, for example, the end point P4 is set based on the heel position 102. Specifically, for example, the end point P4 is set to a position moved from the heel position 102 by a predetermined distance (a distance larger than the distance D shown in FIG. 9C) in the Xs-axis negative direction.

  As illustrated in FIG. 9C, the application locus 110 includes a first locus portion 111, a second locus portion 112, and a third locus portion 113.

  The first trajectory portion 111 is a trajectory portion from the start point P1 to the point P2 on the second trajectory portion 112. The first trajectory portion 111 is set in a region surrounded by the second trajectory portion 112, and is a trajectory portion for applying an adhesive in the region. In the example illustrated in FIG. 9C, the first locus portion 111 has a rectangular wave shape (a shape similar to a rectangular wave).

  The second trajectory portion 112 is a trajectory portion following the first trajectory portion 111, and is a trajectory portion from point P2 to point P3 shown in FIG. 9C. The second trajectory portion 112 is a trajectory portion corresponding to the outer contour 100 of the shoe component A, and is a trajectory portion for applying an adhesive along the outer contour 100 of the shoe component A. Specifically, the second trajectory portion 112 is set along the outer contour 100 of the shoe component A and inside the predetermined distance D from the outer contour 100 of the shoe component A. Here, as the predetermined distance D, a value set in the outer periphery offset form 90 of the automatic generation screen 80 is used. As described above, the second locus portion 112 is set so as to surround the first locus portion 111.

  The third trajectory portion 113 is a trajectory portion following the second trajectory portion 112, and is a trajectory portion from the point P3 to the end point P4 on the second trajectory portion 112. The third locus portion 113 is also set in the area surrounded by the second locus portion 112.

  As described above, the start point P <b> 1 and the end point P <b> 4 of the application locus 110 are set inside the second locus portion 112. When the adhesive is applied to the shoe component, it is necessary to prevent the adhesive from protruding from the shoe component. When the application of the adhesive starts and ends, a pool called “spid” is generated, so that the adhesive is particularly likely to protrude from the shoe components. Therefore, in the shoe adhesive application system 1, the start point P <b> 1 and the end point P <b> 4 of the application locus 110 are set inside the second locus portion 112 along the outer contour 100 of the shoe component A. By doing in this way, the application | coating locus | trajectory which the adhesive agent does not protrude from shoe components by the speed is produced | generated. Further, in the shoe adhesive application system 1, the application trajectory 110 is a one-stroke trajectory. By doing in this way, the application | coating locus | trajectory which does not produce a spid is produced | generated.

  In the shoe adhesive application system 1, the application trajectory 110 includes the first trajectory portion 111 and the third trajectory portion 113, and the second trajectory portion 112 surrounding them. By doing in this way, the application | coating locus | trajectory which is hard to produce the area | region where the application | coating of an adhesive is insufficient is produced | generated.

  The application trajectory 110 is not limited to the example shown in FIG. 9C. For example, in the example shown in FIG. 9C, the start point P1 is set on the toe position 101 side and the end point P4 is set on the heel position 102 side, but the start point P1 is set on the heel position 102 side and the end point P4 is set on the toe position. You may make it set to 101 side.

  In the example shown in FIG. 9C, the first trajectory portion 111 has a rectangular wave shape, but the first trajectory portion 111 may have another shape. For example, the first trajectory portion 111 may have a sine wave shape, a triangular wave shape, or a sawtooth wave shape.

  In the example shown in FIG. 9C, the first trajectory portion 111 extends over the entire region surrounded by the second trajectory portion 112, but a partial region (for example, the left half region) within the region surrounded by the second trajectory portion 112. : The first locus portion 111 may be set in the toe position 101 side region), and the third locus portion 113 may be set in another region (for example, the right half region: the heel position 102 side region).

  Moreover, the application locus | trajectory 110 is good also as a spiral locus | trajectory which spreads from the inner side to the outer side as a starting point P1, for example, as shown to FIG. 9D for the predetermined position in the outline 100 of the shoe component A. FIG. In this aspect as well, the end point P4 of the application trajectory 110 may be set inside the trajectory portion along the outline 100.

  After execution of step S13, the height information generation unit 74 generates height information indicating the height of the adhesive application unit 55 when the adhesive is applied along the application locus generated in step S13 ( S14).

  For example, the control device 70 controls the robot 50 to move the adhesive application unit 55 on the shoe component A along the application locus generated in step S13. At this time, while the adhesive application part 55 is moving along the application locus, the height of the adhesive application part 55 (position in the Z-axis direction) is kept constant, and the direction of the adhesive application part 55 is The adhesive discharge port is maintained in a predetermined state (for example, a state in which the adhesive discharge port faces in the vertical direction (in other words, the state in which the adhesive discharge port coincides with the normal direction of the first installation base 10). Then, since the adhesive application part 55 is moved for the purpose of performing the measurement by the height measurement part 56, the application of the adhesive is not performed.

  While the adhesive application unit 55 is moving along the application locus, measurement by the height measurement unit 56 is performed. The height measuring unit 56 measures the height of the bonding surface of the shoe component A at a point on the application trajectory. The measurement result obtained by the height measuring unit 56 is supplied to the control device 70, and the control device 70 generates height information based on the measurement result.

  Here, the height of the adhesive application unit 55 (height measurement unit 56) during the measurement by the height measurement unit 56 is set to “Ha”, and the height measurement unit 56 at a certain point on the application trajectory. It is assumed that the measurement result is “Hb”. In this case, “Ha” indicates the height from the reference surface (for example, the upper surface of the first installation base 10) to the adhesive application unit 55 (height measurement unit 56), and “Hb” is on the application locus. The height from the adhesion surface of the shoe component A at the above point to the adhesive application part 55 (height measurement part 56) is shown.

In this case, the height Hc of the bonding surface of the shoe component A at the above point on the application trajectory is calculated by the following equation (1).
Hc = Ha−Hb (1)

If the value specified in the application height form 91 on the automatic generation screen 80 is “Hd”, the height He of the adhesive application part 55 when applying the adhesive to the point on the application trajectory is as follows. Calculated by equation (2).
He = Hc + Hd (2)

  As described above, the height information (He) of the adhesive application unit 55 when the adhesive is applied to each point on the application locus is generated.

  Here, when the adhesive application part 55 moves in accordance with the application trajectory, the height from the point on the application trajectory in the shoe component to the adhesive application part 55 is a constant value Hd (designated by the application height form 91). The height information (He) of the adhesive application unit 55 is set so that the height information is set to the above-described value. However, the method of setting the height information of the adhesive application unit 55 is the method described above. Not limited. For example, the value Hd when the adhesive application unit 55 moves the first trajectory portion 111 and the third trajectory portion 113 is set to H1, and the adhesive application unit 55 moves the second trajectory portion 112. The above-described value Hd may be set to H2. In this case, designation of the values of H1 and H2 may be accepted on the automatic generation screen 80. Further, H2 may be set to a value smaller than H1. By doing in this way, in the outer locus part (second locus part 112), the adhesive is applied from a position close to the adhesive surface of the shoe component, and the inner locus part (first locus part 112). In the portion 111 and the third locus portion 113), the adhesive may be applied from a position away from the bonding surface of the shoe component. By doing so, the adhesive can be more suitably applied.

  After execution of step S14, the control device 70 displays a registration screen for registering the application locus and height information generated in steps S13 and S14 on the display unit (S15).

  FIG. 10 shows an example of a registration screen. As shown in FIG. 10, on the registration screen 120, the application trajectory 110 generated in step S13 is displayed in association with the outer contour 100 of the shoe component A recognized in step S12. Although omitted in FIG. 10, the height information generated in step S <b> 14 may also be displayed on the registration screen 120.

  The registration screen 120 includes a registration button 121. The registration button 121 is a button for registering the application locus and height information generated in steps S <b> 13 and S <b> 14 in the storage unit 76. When the registration button 121 is selected, the registration unit 75 registers the control data of the adhesive application unit 55 for applying the adhesive to the shoe component A in the storage unit 76 (S16). Hereinafter, for convenience, the control data of the adhesive application unit 55 for applying the adhesive to the shoe component A is simply referred to as “control data A”.

The control data A is data indicating control contents (movement control contents and the like) for the adhesive application unit 55 when applying an adhesive to the adhesive surface of the shoe component A. For example, the following data is the control data A include.
Application trajectory generated in step S13 Height information generated in step S14 Application width (value set in the application width form 88 on the automatic generation screen 80)

  The control data A may include inclination information indicating the inclination of the adhesive application unit 55 at each point on the application locus. For example, on the first trajectory portion 111 and the third trajectory portion 113, the adhesive application part 55 is oriented in the vertical direction (that is, the direction of the adhesive application part 55 is substantially the normal direction of the shoe component). The adhesive application part 55 may be set so that the adhesive application part 55 is slightly inclined with respect to the normal direction of the shoe component on the second trajectory part 112. For example, on the second trajectory portion 112, the adhesive application unit 55 may be slightly inclined so that the direction of the adhesive application unit 55 is from the outer side to the inner side.

  The storage unit 76 stores control data of the adhesive application unit 55 in association with information related to at least one of the type and size of shoe components. FIG. 11 shows an example of the data configuration stored in the storage unit 76. In the example shown in FIG. 11, the control data of the adhesive application unit 55 is stored in association with the information regarding the shoe type, part type, shoe size, and left and right.

  In step S16, the control data A (application trajectory and height information generated in steps S13 and S14) is stored in the shoe type form 81, the shoe size form 82, the part type form 83, and the left and right forms 84 on the automatic generation screen 80. Registered in association with the specified information. As will be described later, the control data A registered in the storage unit 76 is used in the application execution mode (see step S33 in FIG. 14).

  In step S16, outline data indicating the outline of the shoe component A recognized in step S12 is also registered together with the control data A. As will be described later, this outline data is also used in the application execution mode (see step S32 in FIG. 14).

  The registration screen 120 includes a mirror registration button 122. The mirror registration button 122 is a button for generating control data of the adhesive application unit 55 for applying an adhesive to the shoe component A ′ for the foot opposite to the shoe component A. For example, when the shoe component A is an upper for the left foot of a shoe having shoe types and shoe sizes “SH1” and “23.0 cm”, the shoe component A ′ has a shoe type and shoe size “SH1”. ”And“ 23.0 cm ”are uppers for the right foot of the shoe. Hereinafter, for convenience, the control data of the adhesive application unit 55 for applying the adhesive to the shoe component A ′ is simply referred to as “control data A ′”.

  When the mirror registration button 122 is selected, the control device 70 generates control data A ′ based on the control data A (S17).

  For example, the control device 70 generates an application trajectory when applying the adhesive to the adhesive surface of the shoe component A ′ based on the application trajectory generated in step S13. For example, the control device 70 generates a trajectory that is a mirror image of the application trajectory generated in step S13 as an application trajectory for the shoe component A ′. In addition, the locus | trajectory which is a mirror image of the application | coating locus | trajectory produced | generated by step S13 is a locus | trajectory obtained by reversing right and left the application locus | trajectory produced | generated by step S13. That is, the trajectory that is a mirror image of the application trajectory generated in step S13 is a trajectory obtained by reversing the application trajectory 110 shown in FIG. 9C with the Xs axis as the reverse axis. Further, the control device 70 generates height information at each point on the application locus generated in this manner based on the height information generated in step S14.

After execution of step S17, the control device 70 registers the control data A ′ in the storage unit 76 (S18). For example, the following data is registered as control data A ′.
Application trajectory generated in step S17 Height information generated in step S17 Application width (value set in the application width form 88 on the automatic generation screen 80)

  In step S18, the control data A ′ is specified in the shoe type, shoe size, and component type specified in the shoe type form 81, shoe size form 82, and component type form 83 on the automatic generation screen 80, and in the left and right form 84. It is registered in association with the foot opposite to the foot. In step S18, the outline data of the shoe component A 'is also registered together with the control data A'. For example, outline data indicating the outline that is a mirror image of the outline of the shoe component A recognized in step S12 is generated and registered as outline data of the shoe component A ′. That is, outline data obtained by reversing the outline of the shoe component A recognized in step S12 (in other words, the outline of the shoe component A recognized in step S12 is inverted with the Xs axis as the inversion axis. Is generated and registered as the contour data of the shoe component A ′.

  Further, the registration screen 120 includes an end button 123 and a return button 124. The return button 124 is a button for redoing the generation of control data (application trajectory and height information) of the adhesive application unit 55. When the return button 124 is selected, the automatic generation screen 80 is displayed on the display unit. On the other hand, the end button 123 is a button for ending registration of control data of the adhesive application unit 55. When the end button 123 is selected, the first installation base 10 on which the shoe component A is installed returns to the human work place PA.

  As described above, the control data (control data A) of the adhesive application unit 55 for applying the adhesive to the shoe component A is automatically generated and registered. For example, when the shoe component A and the shoe component B are bonded together, the control data of the adhesive application unit 55 for applying the adhesive to the shoe component B is also automatically performed in the same manner as the shoe component A. Must be created and registered automatically.

  The registration process flow is not limited to the example shown in FIG. For example, in the example shown in FIG. 7, when the generation button 92 on the automatic generation screen 80 is selected, steps S11 to S14 are executed at a time. However, these steps are executed. Each time, the execution result of the step may be presented to the operator. Then, when the confirmation operation is performed by the operator, the next step may be executed.

  Next, the application mode will be described. As described above, the application execution mode is an operation mode in which the adhesive is applied to the shoe components. In the following, for the sake of convenience, the application implementation mode will be described assuming that the adhesive is applied to both the shoe component A and the shoe component B bonded to the bottom (bottom) of the shoe component A. . Further, for example, the shoe component A is an upper for the left foot of a shoe having shoe types and shoe sizes “SH1” and “23.0 cm”, and the shoe component B has a shoe type and shoe size “SH1”. ”And“ 23.0 cm ”are the soles for the left foot of the shoe. Further, it is assumed that all the control data of the adhesive application unit 55 for the shoe components A and B are already registered in the storage unit 76.

  In order to apply the adhesive to the shoe components A and B, first, the operator activates the application execution mode by performing a predetermined operation using the operation unit of the control device 70. When the application execution mode is activated, a process for applying an adhesive to shoe components (hereinafter referred to as “application application process”) is executed.

  FIG. 12 is a flowchart showing an example of the coating execution process. With reference to FIG. 12, the content of the application execution process and each functional block shown in FIG. 6 will be described.

  As shown in FIG. 12, first, the control device 70 displays an application execution screen for applying the adhesive on the display unit (S20). FIG. 13 shows an example of the application execution screen. As shown in FIG. 13, the application execution screen 130 includes a shoe type form 131, a first installation table form 132, and a second installation table form 133.

  The shoe type form 131 is a form for accepting designation of which shoe component the shoe components A and B are. In the shoe type form 131, one of a plurality of shoe types registered in the storage unit 76 can be specified.

  The first installation base form 132 is a form for accepting designation of shoe components to be installed on the first installation base 10. On the other hand, the second installation base form 133 is a form for accepting designation of shoe components to be installed on the second installation base 15. For example, when the shoe components A and B are installed on the first installation table 10 and the second installation table 15, respectively, the operator uses the first installation table form 132 and the second installation table form 133, respectively. "And" sole "are specified.

  The application execution screen 130 includes an execution button 134 and a cancel button 135. The execution button 134 is a button for executing the application of the adhesive. On the other hand, the cancel button 135 is a button for stopping the application of the adhesive.

  When the execution button 134 is selected, the control device 70 enters a standby state. At this time, the first installation table 10 and the second installation table 15 are located in the human work place PA, and the control device 70 is configured such that the first installation table 10 on which the shoe component A is installed and the shoe configuration. It waits for the second installation table 15 on which the part B is installed to be transferred to the robot work place PB.

  In this case, the worker installs the shoe component A on the first installation table 10 and installs the shoe component B on the second installation table 15. Thereafter, the worker presses a transfer button provided near the human work place PA. When the transfer button is pressed, the first installation table 10 and the second installation table 15 are respectively transferred from the human work place PA to the robot work place PB.

  When the first installation table 10 and the second installation table 15 are respectively transferred from the human work place PA to the robot work place PB, for example, to the bonding surface of the shoe component A installed on the first installation table 10. The adhesive is applied (S21). Thereafter, the adhesive is applied to the adhesive surface of the shoe component B installed on the second installation table 15 (S22).

  Note that the order of execution of steps S21 and S22 may be changed, and step S21 may be executed after execution of step S22. Further, steps S21 and S22 may be executed in parallel.

  Here, the processing executed in steps S21 and S22 will be described in detail. FIG. 14 is a flowchart showing an example of processing executed in steps S21 and S22. In the following, the process executed in step S21 will be described with reference to FIG. 14, but the process executed in step S22 is the same.

  As shown in FIG. 14, first, the shoe component A installed on the first installation base 10 is imaged by the first imaging unit 40 (S30). That is, the shadow of the shoe component A illuminated by the first backlight 30 is photographed by the first photographing unit 40 based on the control by the control device 70. An image captured by the first imaging unit 40 is supplied to the control device 70.

  After execution of step S30, the outline recognition unit 72 recognizes the outline of the bonding surface of the shoe component A in the captured image (S31). This process is the same as step S12 in FIG.

  After execution of step S31, the determination unit 77 determines the left and right and size of the shoe component A based on the outline recognized in step S31 (S32).

  As described above, the storage unit 76 stores outline data in association with combinations of shoe types, component types, shoe sizes, and left and right (see FIG. 11). For this reason, the control device 70 accesses the storage unit 76 and the shoe type (SH1) designated on the shoe type form 131 on the application execution screen 130 and the part type (upper) designated on the first installation base form 132. A plurality of outline data stored in association with the combination is read out. In this case, a plurality of outline data having different shoe sizes and left and right are read out.

  Further, the control device 70 compares the outline recognized in step S31 with each of the plurality of read outline data. For example, the control device 70 compares the outline recognized in step S31 and the outline indicated by the outline data in a state where the Xs axis and the Ys axis are matched, and how similar they are. Determine. And the control apparatus 70 specifies outline data with the highest similarity with the outline recognized by step S31 among said several outline data. In this case, the control device 70 determines that the shoe size and the left and right associated with the outline data are the shoe size and the left and right of the shoe component A.

  After execution of step S32, the application trajectory setting unit 78 sets the application trajectory, height information, and application width when applying the adhesive to the shoe component A (S33). The application trajectory setting unit 78 sets the application trajectory, height information, and application width when applying the adhesive to the shoe component A based on the outline recognized in step S31.

  For example, the control device 70 acquires the application locus, height information, and application width associated with the determination result in step S <b> 32 from the storage unit 76. That is, the control device 70 reads the control data of the adhesive application unit 55 stored in association with the determination result. Specifically, the control device 70 determines the shoe type specified on the shoe type form 131 on the application execution screen 130, the part type specified on the first installation base form 132, and the shoe size determined in step S32. And the control data stored in association with the combination of left and right.

  Then, based on the read control data, the control device 70 sets an application locus, height information, and application width when applying the adhesive to the shoe component A. As described above, since the control data includes data relating to the application trajectory, height information, and application width, these application trajectory, height information, and application width indicate that the adhesive is applied to the shoe component A. It is set as an application trajectory, height information, and application width when applying.

  After execution of step S33, the control unit 79 applies the adhesive to the shoe component A based on the application locus, height information, and application width set in step S33 (S34).

  That is, the control unit 79 controls the robot 50 so that the adhesive application unit 55 moves along the application trajectory set in step S33, thereby bonding the adhesive application to the bonding surface of the shoe component. Control is performed by the agent application unit 55. As described above, since the application trajectory is shown in the XsYs coordinate system, the application trajectory set in step S33 is applied so as to match the outline XsYs coordinate system recognized in step S31.

  Further, the control unit 79 determines that the height of the adhesive application unit 55 when the adhesive application unit 55 moves along the application trajectory set in step S33 corresponds to the height information set in step S33. The robot 50 is controlled to have a height.

  Further, the control unit 79 sets the application width of the adhesive by the adhesive application unit 55 to the application width set in step S33.

  When step S34 ends, the process shown in FIG. 14 is completed. As described above, the process shown in FIG. 14 is executed in step S21 with the shoe component A installed on the first installation table 10 as an adhesive application target. In step S22, the process is performed on the second installation table 15. The installed shoe component B is executed as an adhesive application target.

  When steps S21 and S22 are completed, the first installation table 10 and the second installation table 15 each return from the robot work place PB to the human work place PA. In this case, the operator collects the shoe components A and B from the first installation table 10 and the second installation table 15, respectively. And an operator bonds the adhesive surfaces of shoe components A and B together. In this way, the shoe is manufactured by bonding the shoe components A and B together.

  Further, the worker installs new shoe components A and B on the first installation table 10 and the second installation table 15 respectively, and presses the transport button. Thereby, application | coating of the adhesive agent to new shoe components A and B is implemented. In this manner, the adhesive is applied to the shoe components A and B one after another.

  The application process is not limited to the examples shown in FIGS.

  For example, in step S33 executed in step S22 of FIG. 12, the application trajectory when applying the adhesive to the shoe component B and the application trajectory when applying the adhesive to the shoe component A (in step S21). May be set based on the application trajectory set in step S33 executed in step S33.

  In this case, for example, a trajectory that is a mirror image of the application trajectory when the adhesive is applied to the shoe component A may be set as the application trajectory when the adhesive is applied to the shoe component B. In this way, it is possible to reduce the processing load for setting the application trajectory when applying the adhesive to the shoe component B. Or you may make it set the locus | trajectory which is a non-mirror image of the application | coating locus | trajectory at the time of apply | coating an adhesive agent to the shoe component A as an application | coating locus | trajectory at the time of apply | coating an adhesive agent to the shoe component B. If it does in this way, it will become possible to control that the field of insufficient application of an adhesive occurs.

  In addition, if it is a case where the execution order of step S21, S22 is replaced, the application locus | trajectory at the time of apply | coating an adhesive agent to shoe component A will be based on the application locus | trajectory at the time of applying an adhesive agent to shoe component B. You may make it set.

  Further, for example, in step S32 in FIG. 14, the component type may be automatically determined together with the shoe size and the left and right of the shoe components A and B. In this case, the first installation table form 132 and the second installation table form 133 may not be provided on the application execution screen 130.

  Further, for example, in step S32 in FIG. 14, the shoe type may be automatically determined together with the shoe size, left and right, and component type of the shoe components A and B. In this case, the shoe type form 131 may not be provided on the application execution screen 130.

  Alternatively, by providing a form for accepting specification of shoe size on the application execution screen 130, the shoe size of the shoe components A and B may not be automatically determined in step S32 of FIG. Similarly, by providing a form for accepting left and right designation on the application execution screen 130, the left and right of the shoe components A and B may not be automatically determined in step S32 of FIG.

  In the shoe adhesive application system 1 described above, the shoe component is held by the holding unit 11 with the bottom surface of the shoe component (for example, upper) facing upward, and the shoe component is bonded to the bottom surface of the shoe component. An application trajectory at the time of applying the agent is automatically generated, and an adhesive is applied to the bottom surface of the shoe component based on the automatically generated application trajectory. According to the shoe adhesive application system 1, it is possible to reduce time and labor for designating the application trajectory.

  Further, according to the shoe adhesive application system 1, the height information indicating the height of the adhesive application portion 55 when the adhesive is applied to the bottom surface of the shoe component is automatically generated, and the automatically generated height information is generated. Based on the above, the height of the adhesive application portion 55 when applying the adhesive to the bottom surface of the shoe component is set. For this reason, it becomes possible to reduce the effort for designating said height information.

  Further, according to the shoe adhesive application system 1, the height and inclination of the adhesive application unit 55 with respect to shoe components are provided by providing the adhesive application unit 55 at the tip of the arm of the robot 50 having at least six degrees of freedom. The degree of freedom increases, and complex control of the adhesive application unit 55 is also possible, so that it is possible to apply adhesive to shoe components having complex shapes. If necessary, the adhesive can be applied by tilting the adhesive application portion with respect to the shoe component.

  Further, according to the shoe adhesive application system 1, by providing the height measuring unit 56 at the tip of the arm of the robot 50 together with the adhesive applying unit 55, it is possible to measure the height of shoe components by the operation of the robot. become. For example, even when the application trajectory is complicated, the height on the application trajectory can be measured.

  In the shoe adhesive application system 1, an application locus 110 as shown in FIGS. 9C and 9D is generated. That is, the start point P1 and the end point P4 of the application trajectory 110 are set on the inner side of the trajectory portion (second trajectory portion 112) corresponding to the outline of the shoe component. As a result, the influence of so-called “spid” can be suppressed, and the adhesive can be prevented from protruding from the bonding surface of the shoe component.

  In the shoe adhesive application system 1, the adhesive can be applied to both the shoe component A and the shoe component B bonded to the shoe component A at a time.

  In the shoe adhesive application system 1, the application locus when applying the adhesive to the bottom surface of the shoe component is automatically generated based on the outline of the shoe component. In this regard, the shoe adhesive application system 1 captures the shadow of the shoe component illuminated by the backlight and recognizes the outline of the shadow. By doing so, it becomes possible to recognize the outline of the shoe component without being affected by the color or pattern of the shoe component.

  Further, in the shoe adhesive application system 1, the automatic generation screen 80 is displayed so that the operator can change the outer periphery offset (distance from the outer periphery of the bottom surface of the shoe component to the adhesive application portion), the application width of the adhesive, Alternatively, it is possible to specify the application interval of the adhesive.

  The present invention is not limited to the embodiment described above.

  [1] For example, as shown in FIG. 15, a combination determination unit 140 and an output unit 141 may be added as functional blocks related to the application execution mode. In this case, for example, the combination determination unit 140 is realized by a microprocessor or the like of the control device 70, and the output unit 141 is realized by a display unit or an audio output unit. In this case, as the application execution process, the process shown in FIG. 16 is executed instead of the process shown in FIG.

  In the application execution process shown in FIG. 16, first, the control device 70 displays the application execution screen 130 on the display unit (S40). This process is the same as step S20 in FIG.

  When the execution button 134 on the application execution screen 130 is selected, the control device 70 enters a standby state. In this case, the worker installs the shoe component A on the first installation table 10 and installs the shoe component B on the second installation table 15. Thereafter, the worker presses a transfer button provided near the human work place PA. When the transfer button is pressed, the first installation table 10 and the second installation table 15 are respectively transferred from the human work place PA to the robot work place PB.

  When the first installation table 10 and the second installation table 15 are respectively transferred from the human work place PA to the robot work place PB, the shoe component A installed on the first installation table 10 is the first imaging unit. 40 is photographed (S41). The shoe component B installed on the second installation table 15 is imaged by the second imaging unit 45 (S42). These processes are the same as step S30 in FIG.

  After execution of steps S41 and S42, the outline recognition unit 72 recognizes the outline of the adhesive surface of the shoe component A in the captured image acquired in step S41, and the shoe component B in the captured image acquired in step S42. The outline of the bonding surface is recognized (S43). This process is the same as step S31 in FIG.

  After execution of step S43, the combination determination unit 140 bonds the combination of the shoe component A installed on the first installation table 10 and the shoe component B installed on the second installation table 15 to each other. It is determined whether or not the combination is to be achieved (S44). This determination is made based on the outline recognized in step S43.

  For example, the combination determination unit 140 determines the left and right of the shoe component A installed on the first installation base 10 and the shoe size. Further, the combination determination unit 140 determines the left and right and size of the shoe component B installed on the second installation table 15. These determination processes are the same as step S32 of FIG.

  The combination determination unit 140 compares the determination result of the shoe component A (left and right and shoe size) with the determination result of the shoe component B (left and right and shoe size), thereby determining the shoe components A and B. It is determined whether or not the combination is a combination to be pasted together. For example, when at least one of right and left and shoe size is different between the shoe components A and B, it is determined that the combination of the shoe components A and B is not a combination to be bonded to each other. On the other hand, when both the left and right shoes and the shoe size match between the shoe components A and B, it is determined that the combination of the shoe components A and B is a combination to be bonded to each other.

  The control device 70 controls the output unit 141 to perform output according to the determination result of step S44. For example, when it is determined that the combination of the shoe components A and B is not a combination to be pasted together, the control device 70 displays an error message on the output unit 141 (display unit) (S45). After the execution of step S45, the application execution process is stopped. In step S45, an error sound may be output from the output unit 141 (audio output unit: speaker or the like).

  On the other hand, when it is determined that the combination of the shoe components A and B is a combination to be bonded to each other, the adhesive is applied to the bonding surface of the shoe component A installed on the first installation base 10. (S46). In addition, the adhesive is applied to the bonding surface of the shoe component B installed on the second installation table 15 (S47). These processes are the same as steps S21 and S22 in FIG. However, in this case, since the same processes as steps S30 to S32 in FIG. 14 have already been executed (steps S41 to S44), these processes are unnecessary.

  In this way, the operator can grasp that the combination of the shoe components A and B is not a predetermined combination to be bonded to each other. Further, when the combination of the shoe components A and B is not a predetermined combination to be bonded to each other, the application of the adhesive can be stopped.

  In the process shown in FIG. 16, when it is determined in step S44 that the combination of the shoe components A and B is not a combination to be bonded to each other, a warning message is output instead of the error message. Also good. If the worker agrees, steps S46 and S47 may be executed so that the application process is not stopped.

  [2] For example, when the mirror registration button 122 on the registration screen 120 is selected, the control data of the adhesive application unit 55 for applying an adhesive to the shoe component B to be bonded to the shoe component A May be generated. For example, if the shoe component A is an upper for the left foot of a shoe whose shoe type and shoe size are “SH1” and “23.0 cm”, when the mirror registration button 122 is selected, the shoe type and Control data of the adhesive application unit 55 for applying an adhesive to the sole (shoe component B) for the left foot of a shoe having shoe sizes “SH1” and “23.0 cm” may be generated. .

  [3] For example, the mirror registration button 122 on the registration screen 120 and steps S17 and S18 in FIG. 7 are not essential, and may be omitted.

  [4] For example, in the embodiment described above, the shoe adhesive application system 1 has the two operation modes of the registration mode and the application execution mode. However, the shoe adhesive application system 1 performs the application. Only the mode may be provided. That is, in the application execution mode, the control data of the adhesive application unit 55 for applying the adhesive to the shoe component is automatically generated, and the adhesive is applied to the shoe component based on the automatically generated control data. You may make it implement. That is, in the process shown in FIG. 14, steps S13 and S14 in FIG. 7 may be executed instead of steps S32 and S33.

  [5] For example, when the shoe adhesive application system 1 is disposed at a plurality of locations, only the shoe adhesive application system 1 at a specific location may have a registration mode. Then, the shoe adhesive application system 1 at other sites may be provided with only the application execution mode and not the registration mode. In this case, the control data generated by the shoe adhesive application system 1 at a specific site may be provided (distributed) to other sites.

  [6] For example, in the registration mode, only one of the first installation table 10 and the second installation table 15 is used, but both may be used. By doing in this way, you may make it produce | generate the control data of the adhesive application part 55 regarding two shoe components at once.

  [7] Also, for example, in the above description, the shoe adhesive application system 1 includes two sets of the installation base, the conveyance rail, the backlight, and the photographing unit. However, only one of the above sets is provided. May be. That is, the second installation table 15, the second transport rail 25, the second backlight 35, and the second imaging unit 45 may not be provided. The shoe adhesive application system 1 may include three or more sets.

  [8] For example, the first backlight 30 and the second backlight 35 are not essential, and may be omitted. However, as described above, by providing the first backlight 30 and the second backlight 35, the outline of the shoe component can be clearly recognized without being affected by the color or pattern of the shoe component. Become.

  [9] For example, the control device may be realized by a plurality of computers. For example, the registration mode (automatic generation and registration of control data) and the application execution mode (execution of adhesive application) may be executed by separate computers.

  [10] For example, a plurality of robots 50 may be used. For example, the shoe adhesive application system 1 includes a first robot that applies an adhesive to a shoe component installed on the first installation table 10 and a shoe component installed on the second installation table 15. A second robot that applies an adhesive may be included.

  [11] Further, for example, in the embodiment described above, the robot 50 is used as the moving mechanism for moving the adhesive application unit 55, but another mechanism may be used as the moving mechanism.

Claims (20)

A holding portion that holds the bottom of the shoe component in a state of facing upward;
A backlight for illuminating a shoe component held by the holding unit;
An outline recognition unit for recognizing the outline of the bottom surface;
Based on the outline, an application trajectory setting unit that sets an application trajectory when applying an adhesive to the bottom surface;
An adhesive application section;
A moving mechanism for moving the adhesive application section;
A control unit that controls the adhesive application unit to apply the adhesive to the bottom surface by controlling the moving mechanism so that the adhesive application unit moves along the application locus; and
I have a,
The outline recognition unit recognizes an outline of a shadow of the shoe component illuminated by the backlight;
Shoe adhesive application system. An adhesive application section;
A moving mechanism for moving the adhesive application section;
A holding portion that holds the bottom of the shoe component in a state of facing upward;
An outline recognition unit for recognizing the outline of the bottom surface;
Based on the outline, an application trajectory setting unit that sets an application trajectory when applying an adhesive to the bottom surface;
A height measuring unit for measuring the height of the bottom surface at a point on the coating locus;
A height information generation unit that generates height information indicating the height of the adhesive application unit when the adhesive application unit moves along the application locus based on the measurement result of the height measurement unit; ,
A control unit that controls the adhesive application unit to apply the adhesive to the bottom surface by controlling the moving mechanism so that the adhesive application unit moves along the application locus; and
I have a,
The control unit controls the moving mechanism so that a height of the adhesive application unit when the adhesive application unit moves along the application locus becomes a height according to the height information.
Shoe adhesive application system. The moving mechanism is a robot having at least six degrees of freedom;
The height measuring unit is provided at the tip of the robot arm together with the adhesive application unit,
The shoe adhesive application system according to claim 2. A holding portion that holds the bottom of the shoe component in a state of facing upward;
An outline recognition unit for recognizing the outline of the bottom surface;
Based on the outline, an application trajectory setting unit that sets an application trajectory when applying an adhesive to the bottom surface;
An adhesive application section;
A moving mechanism for moving the adhesive application section;
A control unit that controls the adhesive application unit to apply the adhesive to the bottom surface by controlling the moving mechanism so that the adhesive application unit moves along the application locus; and
A shoe adhesive application system comprising:
A first installation unit comprising the holding unit that holds the bottom of the first shoe component in an upward direction;
A second installation part in which the second shoe component to be bonded to the bottom surface of the first shoe component is installed with the upper surface facing upward,
The outline recognition unit recognizes at least an outline of the bottom surface of the first shoe component;
The application trajectory setting unit sets a first application trajectory when applying an adhesive to the bottom surface of the first shoe component based on an outline of the bottom surface of the first shoe component, Setting a second application locus when applying adhesive to the upper surface of the second shoe component;
The control unit applies the adhesive to the bottom surface of the first shoe component by controlling the moving mechanism so that the adhesive application unit moves along the first application locus. The upper surface of the second shoe component is controlled by controlling the adhesive application unit and controlling the moving mechanism so that the adhesive application unit moves along the second application locus. Controlling the adhesive application unit to apply the adhesive to
Shoe adhesive application system. The outline recognition unit recognizes the outline of the bottom surface of the first shoe component and the outline of the top surface of the second shoe component;
The shoe adhesive application system comprises:
Based on the outline of the bottom surface of the first shoe component and the outline of the top surface of the second shoe component, a combination of the first shoe component and the second shoe component is obtained. A determination unit for determining whether or not a predetermined combination is to be bonded to each other;
An output unit that performs output according to the determination result of the determination unit;
The shoe adhesive application system according to claim 4 . The application trajectory setting unit sets a trajectory that is a mirror image of the first application trajectory as the second application trajectory.
The shoe adhesive application system according to claim 4 or 5 . The application trajectory setting unit sets a trajectory that is a non-mirror image of the first application trajectory as the second application trajectory;
The shoe adhesive application system according to claim 4 or 5 . The application locus includes an outer periphery locus portion corresponding to the outer periphery of the bottom surface,
The start point and end point of the application locus are set inside the outer periphery locus portion,
The shoe adhesive application system according to any one of claims 1 to 7. The outer periphery locus portion is set a predetermined distance inside the outer periphery of the bottom surface,
The shoe adhesive application system further includes a distance designation receiving unit that receives designation of the predetermined distance.
The adhesive application system for shoes according to claim 8. An application width designation receiving unit that receives designation of the application width of the adhesive by the adhesive application unit;
The shoe adhesive application system according to any one of claims 1 to 9. An application interval designation receiving unit that accepts designation of an application interval of the adhesive by the adhesive application unit;
The adhesive application system for shoes according to any one of claims 1 to 10. A storage unit that stores an application locus in association with information on at least one of the type and size of the shoe component;
A discrimination unit that discriminates at least one of the type and size of the shoe component held by the holding unit based on the outline;
The application trajectory setting unit acquires an application trajectory associated with the determination result by the determination unit from the storage unit.
The shoe adhesive application system according to any one of claims 1 to 11. An application trajectory generating unit that generates the application trajectory based on the outline;
An application trajectory registration unit that stores the application trajectory generated by the application trajectory generation unit in the storage unit in association with information related to at least one of the type and size of the shoe component held by the holding unit; Further having
Shoe adhesive application system of claim 1 2. The application trajectory setting unit generates the application trajectory based on the outline.
The shoe adhesive application system according to any one of claims 1 to 11. A holding portion that holds the bottom of the shoe component in a state of facing upward;
A backlight for illuminating a shoe component held by the holding unit;
An outline recognition unit for recognizing the outline of the bottom surface;
Based on the outline, an application trajectory generating unit that generates an application trajectory when applying an adhesive to the bottom surface;
I have a,
The outline recognition unit recognizes an outline of a shadow of the shoe component illuminated by the backlight;
Coating cloth locus generating device. An outer shell recognition step for recognizing the outer shell of the bottom surface of the shoe component held by a holding unit that holds the bottom surface of the shoe component upward.
Based on the outline, an application trajectory setting step for setting an application trajectory when applying an adhesive to the bottom surface;
By controlling the movement mechanism for moving the adhesive application unit so that the adhesive application unit moves along the application locus, the adhesive application unit applies the adhesive to the bottom surface. An application step to control;
Only including,
In the outline recognition step, the outline of the shadow of the shoe component illuminated by the backlight that illuminates the shoe component held by the holding unit is recognized.
Shoe manufacturing method. A holding portion that holds the bottom of the shoe component in a state of facing upward;
An outline recognition unit for recognizing the outline of the bottom surface;
Based on the outline, an application trajectory generating unit that generates an application trajectory when applying an adhesive to the bottom surface;
A height measuring unit for measuring the height of the bottom surface at a point on the coating locus;
Height information generating unit that generates height information indicating the height of the adhesive application unit when the adhesive application unit moves along the application locus, based on the measurement result of the height measurement unit,
An application trajectory generating apparatus having An outer shell recognition step for recognizing the outer shell of the bottom surface of the shoe component held by a holding unit that holds the bottom surface of the shoe component upward.
Based on the outline, an application trajectory setting step for setting an application trajectory when applying an adhesive to the bottom surface;
A height measuring step for measuring the height of the bottom surface at a point on the coating locus;
Height information generation step for generating height information indicating the height of the adhesive application portion when the adhesive application portion moves along the application locus, based on the measurement result of the height measurement step,
By controlling a moving mechanism for moving the adhesive application unit so that the adhesive application unit moves along the application trajectory, the adhesive application unit applies the adhesive to the bottom surface. An application step to control,
Including
In the application step, the movement mechanism is controlled so that the height of the adhesive application part when the adhesive application part moves along the application locus becomes a height according to the height information.
Shoe manufacturing method. A first installation part comprising a holding part for holding the bottom of the first shoe component in an upward direction;
A second installation part in which the second shoe component to be bonded to the bottom surface of the first shoe component is installed with the upper surface facing upward;
An outline recognition unit for recognizing at least the outline of the bottom surface of the first shoe component;
A first application trajectory when applying an adhesive to the bottom surface of the first shoe component is generated based on an outline of the bottom surface of the first shoe component, and the second shoe component An application trajectory generator for generating a second application trajectory when applying an adhesive to the upper surface;
An application trajectory generating apparatus having Recognizing at least the outline of the bottom surface of the first shoe component held by the holding portion of the first installation portion provided with a holding portion that holds the bottom surface of the first shoe component facing upward An outline recognition step;
A first application locus when applying an adhesive to the bottom surface of the first shoe component is set based on an outline of the bottom surface of the first shoe component, and the first shoe component When the adhesive is applied to the upper surface of the second shoe component installed in the second installation part where the second shoe component bonded to the bottom surface is installed with the upper surface facing upward An application locus setting step for setting a second application locus of
By controlling a movement mechanism that moves the adhesive application part so that the adhesive application part moves along the first application trajectory, the adhesive to the bottom surface of the first shoe component The second shoe component is controlled by controlling the adhesive application unit to perform application and controlling the moving mechanism so that the adhesive application unit moves along the second application trajectory. An application step of controlling the adhesive application unit to apply the adhesive to the upper surface of
A shoe manufacturing method including:

Images