JP6664768B1 - Adhesive application device and adhesive application method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To apply a fine portion without fear of dropping the adhesive by applying the adhesive to a peripheral edge of a bottom portion of the upper while moving the upper with respect to an adhesive applying roller. SOLUTION: This is an adhesive application device 1 for applying an adhesive 22 to the peripheral edge of the bottom of an upper 101 set in a wooden mold 102. An application roller 23 is rotatably provided on the adhesive storage box 21. The three-dimensional shape of the bottom edge of the installed upper 101 is acquired, and the upper 101 grasped by the robot hand unit 11 of the industrial robot 5 is attached to the outer peripheral surface of the coating roller 23 based on the three-dimensional shape. The operation of the robot hand unit 11 is controlled so that the robot hand unit 11 is moved so that the peripheral edges of the bottom portion come into contact with each other. [Selection diagram] Fig. 1

Description

  The present invention relates to an adhesive application device and an adhesive application method for applying an adhesive to an upper constituting footwear.

  When manufacturing footwear with soles such as shoes and sandals, there is a process of applying an adhesive to the upper, but the glue (adhesive) used for bonding contains an organic solvent with a unique odor. There is. Automation of such an adhesive application operation is demanded since the operation of applying the adhesive to the upper endlessly for a long time under a harmful and odorous environment is severe.

  Therefore, as a device that automatically performs such application, a holding unit that holds the shoe component with the bottom surface facing upward, a backlight that illuminates the shoe component held by the holding unit, A contour recognition unit for recognizing a contour, an application locus setting unit for setting an application locus when applying the adhesive to the bottom surface based on the contour, an adhesive applying unit, and moving the adhesive applying unit A control for controlling the moving mechanism and the moving mechanism so that the adhesive application unit moves along the application locus so that the adhesive application unit performs the application of the adhesive on the bottom surface. A shoe adhesive application system is known, in which the outline recognition unit recognizes an outline of a shadow of the shoe component illuminated by the backlight (for example, see Patent Literature 1). .

Re-table 2017/037932

  The technique described in Patent Literature 1 described above holds the shoe component with the bottom surface facing upward, and moves and applies the adhesive application section. Therefore, when the adhesive application section is moved, There is a possibility that the adhesive may fall from the adhesive application portion, and it is difficult to apply a small portion.

  The main object of the present invention is to apply an adhesive to a bottom peripheral edge of the upper while moving the upper with respect to the adhesive applying means, without fear of falling of the adhesive, and an adhesive applying apparatus capable of applying a fine portion and An object of the present invention is to provide an adhesive application method.

An adhesive application device according to one aspect of the present invention is an adhesive application device that applies an adhesive to a bottom portion of an upper of footwear, and a shape obtaining unit that obtains a three-dimensional shape of the bottom of the upper, An application roller that applies an adhesive to the bottom of the upper, a moving unit that three-dimensionally moves a gripper that grips the upper, and a signal from the shape obtaining unit, and the moving unit receives the signal from the shape acquiring unit, and applies the moving unit to the application roller. Movement control means for moving the lower edge of the upper so that the lower edge is in contact with the upper edge, wherein the shape obtaining means is a contour line of the lower edge of the upper edge, which is a boundary between a bottom surface and a side surface to which an adhesive is applied. the detected, the movement control means controls the moving means such that said edge of the applying roller along the contour line of the upper moves, which moves the upper three-dimensionally And a rotation drive unit for rotating a rotation shaft, wherein the application roller is fixed to the rotation shaft and has a width smaller than a shortest dimension in a width direction of a bottom of the upper, and the movement control The means controls the moving means to move the moving means such that a bottom edge of the upper contacts a rotating upper portion of the application roller .

By doing so, the upper side is moved so that the bottom peripheral edge of the upper comes into contact with the application roller in order, so that the adhesive can be prevented from dropping or scattering at an unintended location or the like. In addition, since the application of the adhesive is performed at a predetermined place where the application roller is disposed, it is possible to suppress the drop and the scattering before and after the bonding. This allows for the application of finer portions and the automatic application of the adhesive over the periphery of the bottom of the upper. The adhesive can be applied to portions other than the bottom peripheral edge.
Since the upper is moved three-dimensionally so that the edge of the application roller follows the contour of the bottom peripheral edge of the upper, the adhesive is applied exactly along the contour of the upper. In addition, the edge of the application roller refers to the edge of the end of the roller. In the manufacture of shoes, it is very important to apply an adhesive to the contour of the bottom of the upper, that is, the edge of the bottom. If the bottom edge is not coated with adhesive, the upper and sole may roll up from there, while the excess of adhesive will impair the aesthetics of the shoe. Therefore, by moving the edge of the application roller along the edge of the contour line and applying the adhesive, it is possible to prevent the adhesive from protruding and to prevent the edge from being applied. Non-uniformity at the time of application can be suppressed as compared with brush or the like. Further, by disposing the adhesive tank below the application roller, it becomes possible to apply the adhesive to the upper bottom while rotating the application roller to spread the adhesive.
Since the upper is three-dimensionally moved with respect to the narrow application roller so that the edge thereof follows the contour of the bottom peripheral edge of the upper, the adhesive can be finely applied to a necessary portion of the upper. Further, since the width of the application roller is smaller than the shortest dimension in the width direction of the bottom of the upper, it is possible to prevent the adhesive from protruding.

In addition, the shape obtaining means for obtaining the three-dimensional shape of the bottom of the upper includes, for example, information on a height direction in addition to a direction (longitudinal direction) from the toe to the heel at the bottom and a width direction (short direction). It refers to the means of obtaining.

Further, the detection of the contour line is performed by extracting a line segment forming an outline in a cross section cut in the width direction from the acquired three-dimensional shape, and extracting a line segment having a gradient or a gradient change of a predetermined size or more. Is detected as a contour line (see FIG. 8).

  With this configuration, the upper is three-dimensionally moved so that the edge of the application unit follows the contour of the bottom peripheral edge of the upper, so that the adhesive is applied exactly along the contour of the upper. In addition, the edge of the application means means, for example, the edge of the end of the roller, the brush or the sponge when the application means is a roller, a brush or a sponge. In the manufacture of shoes, it is very important to apply an adhesive to the contour of the bottom of the upper, that is, the edge of the bottom. If not applied to the bottom edge, the upper and sole may roll up from there, while the excess adhesive from the edge will damage the aesthetics of the shoe. Therefore, by applying the adhesive to the edge portion of the application unit so as to be along the edge of the contour line, it is possible to suppress the adhesive from protruding and the non-application of the edge portion. In addition, as for the detection of the contour, since the slope of the bottom surface of the upper is configured to be gentle and the slope of the side face is steep, a portion where the slope or change in the slope is large is detected as the contour. The inclination or change in inclination varies depending on the shape of the upper. However, the inclination in the cross section is, for example, 20 degrees, 30 degrees or more, 60 degrees or more, or the inclination change is, for example, 3 or 5 or more, 10, 30, 50 or more. Should be greater than or equal to.

  The adhesive application device further includes an adhesive storage box that is open at the top and stores the adhesive, and the application roller is rotatably provided above the adhesive storage box and is located above the adhesive storage box. The part is exposed, and the moving means receives a signal from the shape obtaining means, and moves the moving means such that the bottom of the upper comes into contact with the outer peripheral surface of the application roller.

  In this way, the rotating application roller lifts the adhesive from the adhesive storage box and always holds the adhesive, so that the application can be performed reliably, and the adhesive in the adhesive storage box can be applied. Since the agent can be agitated by the application roller, the adhesive in the adhesive storage box can be prevented from hardening.

  Further, the adhesive application device includes a wooden pattern attached to the upper, and the gripper grips the wooden pattern. With this configuration, it is possible to hold a hard wooden mold rather than holding the upper as it is, and to reliably hold the upper via the wooden mold.

  Further, the adhesive application device further includes a jig coupled to the wooden mold, and the gripper grips the jig. By using the jig in this way, it is easier to grip than a wooden mold, and gripping can be performed more reliably. The jig may be a jig that can be fixed using a hole provided on the upper surface of a general wooden mold, for example.

  Further, in the adhesive applying apparatus, the wooden mold has two holes on an upper surface, and the jig has two fitting rods inserted into the two holes, and at least one of the fitting rods Is a structure which has a part which expands radially mechanically, and which is mechanically expanded radially and is connected to the hole of the wooden mold.

  In this way, if a jig is formed by additionally providing a hole on the upper surface of the wooden mold to form two holes and fixedly inserted into the two holes, careless rotation of the jig can be suppressed. In addition, by providing a fitting rod that fits into the hole and having a part that mechanically expands radially, the wooden mold is firmly connected to the jig.

  Further, in the adhesive applying apparatus, the shape obtaining unit may capture a signal from the photographing unit and photograph the bottom of the upper in the installed state, and may receive a signal from the photographing unit to process the three-dimensional shape of the bottom of the upper by image processing. And bottom detecting means for detecting.

  With this configuration, since the three-dimensional shape of the periphery of the bottom of the upper is detected, even if there is a difference in the height of the periphery of the bottom, the adhesive can be reliably applied by moving the upper bottom up and down or tilting.

  When detecting the contour line of the bottom edge described above, the three-dimensional shape of the detected upper bottom is used, the bottom edge is detected from the three-dimensional shape, and the inclination of the bottom at the edge is detected. Then, a cross section in the width direction of the three-dimensional shape of the upper is taken, and a line segment of an outer shell constituting the cross section is obtained. Basically, the bottom is closer to the horizontal and the sides are closer to the vertical, but each is actually composed of curves. Then, in the peripheral portion at the bottom, a portion where the inclination of the line segment changes significantly is extracted as a contour line (see FIG. 8).

  Given the three-dimensional curve of the peripheral part and the inclination information there, the three-dimensional position and posture to be moved by the robot with the upper part are determined, so that an operation command value for moving each part of the robot can be determined.

  Such an operation command value determination of the robot can be performed by acquiring the three-dimensional shape of the bottom peripheral edge of the upper, so even if there is a difference in the shape of the upper to be applied, by acquiring the three-dimensional shape of the upper. In addition, the application according to the shape of the upper can be made successful.

  In addition, the adhesive application device receives a signal from the shape obtaining unit, and detects a shift amount from a preset reference installation position at the installation position of the upper in the installation state; Correction means for receiving a signal from the detection means and correcting the basic operation command value in accordance with the amount of deviation from the reference installation position to create an operation command value may be provided.

  With this configuration, the basic operation command value is corrected in accordance with the deviation from the reference installation position to generate the operation instruction value, and therefore, it is possible to cope with the deviation of the installation position.

  Further, the adhesive application device further includes a memory unit capable of storing in advance a basic operation command value corresponding to a moving operation of the moving unit for a predetermined basic size of the upper, and the movement controlling unit includes A configuration may be provided that includes a correction unit that receives a signal from the acquisition unit and corrects the basic operation command value to create an operation command value in accordance with the difference between the left and right or the size of the upper.

  By doing so, the basic operation command value can be corrected according to the left / right opposite of the upper and the size difference, and the target operation command value of the target upper can be determined. Control can be simplified. Further, a database for the difference between the left and right and the difference in size may be created in advance from the basic data of the upper. For example, a left-right difference is created by creating symmetric data from one data, and a size difference is created by adding and subtracting a predetermined dimension from the basic data by each dimension. When creating the basic data and the database, it may be created with reference to the insole used for the upper.

  Further, in this adhesive application device, the adhesive is a solvent-based adhesive. According to this adhesive application device, it is possible to use a solvent-based adhesive which is used for shoes such as leather shoes and pumps and has high viscosity and is easy to solidify.

  The adhesive application device further includes a transport device that transports the upper to which the adhesive has been applied to a drying area for drying, the transport device includes a pair of a plurality of cylinders arranged to face each other, Is configured to be telescopic and lockable and unlockable at any length. By doing so, the upper to which the adhesive has been applied can be smoothly transported to the drying area.

  Further, the adhesive application device further includes a buffing means for polishing a bottom portion of the upper, receives a signal from the shape obtaining means by the movement control means, and moves the moving means to the buffing means. It is good also as a structure which moves so that the bottom periphery of the said upper may contact. This makes it possible to automatically perform the buffing before the application of the adhesive in addition to the application of the adhesive.

  According to the present invention, the adhesive can be firmly and automatically applied to the periphery of the bottom of the upper.

It is a perspective view showing one embodiment of an adhesive application device concerning the present invention. FIG. 2 is a perspective view showing a wooden shoe to which an upper is attached and a shoe sole adhered to the bottom of the upper. It is explanatory drawing of a jig. It is explanatory drawing of a robot hand part. It is explanatory drawing of a coating device. It is explanatory drawing of a separation device. It is a figure which shows an example of the three-dimensional shape of the bottom periphery of an upper. It is explanatory drawing which shows an example of the outline extraction of the bottom periphery of an upper. It is explanatory drawing which shows an example which applies an application roller to a bottom periphery. It is explanatory drawing which shows the procedure of application | coating to the periphery of an upper bottom part. It is a flowchart which shows the flow of a process. It is a flowchart which shows the flow of a process of another embodiment.

<Structure of adhesive application device>
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view showing one embodiment of the adhesive application device according to the present invention. FIG. 2 is a diagram showing a wooden pattern before mounting the upper, a wooden pattern with the upper mounted, and a shoe sole adhered to the lower side of the upper.

  As shown in FIG. 1, an adhesive application device 1 that applies an adhesive to an upper 101 which is a part of a shoe includes an input unit 2, an application unit 3, and a delivery unit 4 from the left side when viewed from the A direction. Are arranged so as to surround the industrial robot 5, and the upper robot 101 is transported by the industrial robot 5 in the order of the charging unit 2, the coating unit 3, and the delivery unit 4. Then, in the transfer unit 4, the upper 101 is separated from the industrial robot 5 and is conveyed to the drying furnace 7 by the belt conveyor 6. Further, the input section 2, the application section 3, the delivery section 4, and the industrial robot 5 are surrounded by a safety fence 8.

  As shown in FIG. 2, the upper 101 is mounted on a wooden mold 102, an adhesive is applied to the periphery of the bottom, and the shoe sole 103 is fixed by bonding. The wooden mold 102 is provided with two holes 102b and 102c and a first hole 102b and a second hole 102c having a large depth in a portion exposed from the upper 101 (the upper surface 102a of the wooden mold 102).

  The upper 101 is made of, for example, leather and is attached to the jig 12 (chuck block) set at a predetermined position in the loading section 2 in a state of being mounted on the wooden mold 102.

  As shown in FIG. 3, the jig 12 includes a main body 12a, a fitting rod 12b provided on an upper portion of the main body 12a and inserted into holes 102b and 102c of the wooden mold 102, and a fitting pin 12c. The fitting rod 12b has a rod 12ba having an enlarged end portion inserted therein so as to be displaceable inside.

  The fitting rod 12a has a radially outwardly bulging portion 12bb formed near the distal end of the outer peripheral portion, and the bulging portion 12bb is displaced downward by displacing the distal end (expanded portion) of the rod 12ba. Are radially mechanically expanded radially outward. Therefore, the jig 12 is set so that the fitting rod 12b and the fitting pin 12c protrude upward in the loading section 2, so that the operator can attach the wooden mold to the fitting rod 12b and the fitting pin 12c. The rod 12ba is displaced downward by being pushed into the fitting holes 102b, 102c of 102, and the bulging portion 12bb is radially bulged. 102) is firmly connected to the jig 12. The fitting between the hole 102c and the fitting pin 12c is for preventing rotation.

  Then, the jig 12 is gripped by the robot hand unit 11 (see FIG. 4) provided at the end of the robot arm of the industrial robot 5, and the upper unit 101 is transported to the application unit 3 together with the wooden mold 102.

  The robot hand unit 11 has left and right gripping arms 11a and 11b that can be opened and closed via a link mechanism, and is provided on the gripping surface portion of one gripping arm 11a below the main body 12a of the jig 12. A pair of engaging pins 11aa, 11aa that engage with the engaging holes 12d, 12d protrude. By closing the grip arm 11a so that each engagement pin 11aa engages with the engagement hole 12d of the jig 12, the jig 12 is firmly gripped so as not to come off the robot hand unit 11.

  In this state, the robot 101 transports the upper 101 together with the wooden mold 102 from the input unit 2 to the coating unit 3.

  As shown in FIG. 5, an adhesive storage box 21 and a liquid adhesive 22 in the box 21 provided above the adhesive storage box 21 are lifted by rotation, and the adhesive is brought into contact with the upper 101 by applying the adhesive to the upper 101. And a coating roller 23 for coating the periphery of the bottom of the coating device. The coating device 24 further includes a rotation driving device 26 that drives the rotation shaft 25 to rotate, and the coating roller 23 is fixed to the rotation shaft 25. The application roller 23 has a narrow width so as to easily apply the periphery of the bottom of the upper 101.

  The movement of the robot hand unit 11 is controlled by the control device 5A of the industrial robot 5, and the bottom periphery of the upper 101 is sequentially rotated while changing the direction of the upper 101 held by the robot hand unit 11. The application roller 3 is moved while being pressed so as to be in contact with the upper portion of the application roller 23, and the application in the application unit 3 is performed. Therefore, a fine portion can be applied, and there is no possibility that the adhesive falls.

  When the application is completed, the upper 101 is transported to the delivery unit 4, and the upper 101 is separated from the jig 12. Note that the jig 12 is returned to the loading section 2 and set in a predetermined state.

  As shown in FIG. 6, a separating device 31 for separating the upper 101 from the jig 12 is arranged in the delivery unit 4. The separation device 31 has a gripper 32 that can be moved up and down, and the gripper 32 is provided with cylinder rods 32a, 32a,... Of a plurality of air cylinders.

  This air cylinder is free from expansion and contraction when air is supplied. When the gripper is closed at the stage where the upper 101 is carried by the moving means 5 at the center of the gripper 32, the cylinder rods 32a of the air cylinders stop at the positions where they contact the upper 101, respectively. By stopping the air, the position of the cylinder rod 32a of the air cylinder is fixed, and the gripper 32 grips the upper 101 gripped by the robot hand unit 11 at the upper position.

  Thereafter, the jig 12 can be separated from the upper 101 by reducing the distal end portion 12bb of the fitting rod 12b of the jig 12. Then, the moving means 5 lowers the holding portion 32 of the jig, thereby separating the upper 101 (the wooden mold 102) from the jig 12, and only the upper 101 remains on the holding portion 32.

  Further, the gripper 32 descends, and lowers the upper 101 on the belt conveyor 6 installed below. The upper 101 is automatically conveyed to the dryer 7 (for example, 60 ° C.) by the belt conveyor 6 and dried for a predetermined time.

<Operation of the adhesive application device>
Subsequently, the operation will be specifically described.

(1. Input)
First, the operator inserts the upper 101 attached to the wooden mold 102 from above into the jig 12 set at a predetermined position of the input unit 2, sets the upper 101, and presses the operation button to start the operation. Is done.

(2. Acquisition of three-dimensional image)
Then, a camera 41 (for example, an Intel RealSense Depth Camera D415), which is a photographing unit disposed above the insertion unit 2, photographs the bottom (three-dimensional shape) of the upper 101 in the installed state.

  Upon receiving a signal from the camera 41, image processing is performed by the image processing unit 5Aa of the control device 5A of the industrial robot 5, and based on the processing result, the bottom peripheral edge detection unit 5Ab requires the upper 101 to be coated. Is detected as a three-dimensional image (3D image) (see FIG. 7). It should be noted that P in the three-dimensional space (each point or a line segment in which the points are gathered) includes not only three-dimensional information of the position but also tilt information of a bottom peripheral edge in contact with the contour. Then, the contour of the upper 101 that moves the edge of the application roller 23 (the boundary between the bottom surface and the side surface where the adhesive is applied) is detected as a line segment P in the three-dimensional space (see FIG. 8).

  The three-dimensional shape of the upper 101 obtained by the camera 41 includes the three-dimensional shape of the bottom surface of the upper bottom and the side surface of the upper bottom. In other words, it is a range that can be captured by the camera 41 above, and includes the position of the maximum width of the bottom surface and the side surface viewed from above. And since the inclination of the bottom surface of the upper is gentle and the inclination of the side surface is steep, the contour line of the bottom peripheral edge can be detected by paying attention to the portion where the inclination changes. In this way, the contour line in the cross section in the width direction shown in FIG. 8 is extracted. If the line segment P in the three-dimensional space is the three-dimensional information of the position, the inclination information of the bottom part in contact with the contour is obtained at that time (see FIG. 7).

(3. Creation of operation command value)
Then, in the 5Ad operation command creation unit, the operation command value of the moving means 5 is determined such that the edge of the roller 23 of the coating device 24 hits the contour of the bottom peripheral edge. That is, from the toe of the upper 101 toward the heel, such that the right edge of the roller 23 hits the right half of the upper 101, and the left edge of the roller 23 hits the left half of the upper 101. It is determined that the rollers move relatively.

  Since it is important to move the roller 23 relatively to the bottom of the upper 101, an operation command of the moving means 5 is determined so that the upper 101 moves relatively to the fixed roller 23. When the bottom of the upper 101 is wide, a place where the adhesive is not applied remains at the center of the bottom. In this case, an operation command for setting the roller 23 at the center is also added. 9, the operation command value of the moving means 5 is determined so that the roller 23 comes in contact with the inclination of the bottom of the upper 101, as shown in FIG.

  Since the operation command value of the moving unit 5 created by the 5Ad operation command creating unit is only an operation part for applying the upper 101 to the roller 23, the remaining operation instruction value of the moving unit 5 is a general operation command value of an industrial robot. It is created by the method and stored in the 5Ac memory unit.

  As described above, when the operation command value is determined, the jig 12 on which the upper 101 is set is detachably held by the robot hand unit 11.

(4. Application of adhesive)
The upper 101 is conveyed to the coating unit 3 while being gripped by the robot hand unit 11, and is moved based on an operation command value such that the bottom edge of the upper 101 contacts the upper part of the coating roller 23, and To perform the coating operation. For example, as shown in FIG. 10, the upper 101 is moved with respect to the application roller 23 installed at a fixed position, and the adhesive 22 is applied along the left half contour line of the bottom peripheral edge. Next, the upper 101 is moved, and the adhesive 22 is applied along the contour of the right half of the bottom peripheral edge. If the bottom of the upper 101 is wide and there is a place where the adhesive is not applied at the center, the upper 101 is moved and the adhesive 22 is applied to the center of the bottom peripheral edge.

  The upper 101 is moved so that the edge of the application roller 23 moves along the contour of the upper 101, and the adhesive 22 is applied so as not to protrude from the contour of the upper 101. Since the application roller 23 is rotated, the adhesive 22 is lifted, the adhesive 22 is constantly held on the outer peripheral surface, and the adhesive 22 in the storage box 21 is stirred, so that the adhesive may harden. Is prevented.

(5. Delivery and drying)
After the application of the adhesive 22 is completed, the upper 101 is transported to the delivery section 4 in which the delivery device 31 is arranged. Then, at the upper position of the transfer section 4, the upper 101 is gripped from both sides by the cylinder rods 32a, 32a of the air cylinder of the gripper 32, and the air is stopped to lock the grip. In this state, in order to release the lock of the jig 12 by the first fitting rod 12b, the jig 12 is raised by the robot 5, the jig 12 is removed from the upper 101, and the jig 12 is removed from the upper 101. Open.

  The gripper 32 gripping the upper 101 descends to the vicinity of the belt conveyor 6 to the dryer 7, lowers the upper 101 on the belt conveyor 6 at an appropriate timing, unlocks the air cylinder, and releases the cylinder rod. The gripping at 32a, 32a is released. Then, the upper 101 and the shoe sole 103 are firmly bonded to each other by being conveyed to the dryer 7 by the belt conveyor 6 and dried by the dryer 7.

  When a series of application operations of the upper 101 is completed, the opened jig 12 is transported by the robot 5 to the loading section 2 and set at a predetermined position.

  As described above, as a large flow of the processing, as shown in FIG. 11, the upper 101 is set on the jig 12 (step S1), and a three-dimensional shape of the upper 101 is acquired as a 3D image (step S2). An operation command value is created (Step S3). Then, the industrial robot 5 performs a coating operation based on the operation command value (Step S4), and after completion of the coating, is put into the dryer 7 (Step S5).

<Other embodiments>
As described above, the preferred embodiments of the present invention have been described with reference to the drawings. However, the present invention can be modified and implemented as follows.

(1) Instead of creating an operation command value for each pair, a representative one pair of operation command values may be created. In this case, a typical one pair of motion command values is stored in the memory, and only shoes of the same type and size are corrected by correcting only the displacement when the jig is mounted, and the basic motion command values are corrected and used. .

  Further, even in the case of shoes of the same type, which differ in size or left and right, the basic operation command value can be corrected and used. That is, since the left and right shoes are symmetrical, the element in the X direction may be reversed. Since the size difference has a rule (grading), the operation command value is corrected by increasing or decreasing each dimension by a predetermined amount. It is possible.

  Specifically, as shown in FIG. 12, after acquiring a 3D image of one pair of the measurement target (step S2), it is determined whether the shoe is new (step SX). The basic operation command value stored in advance is corrected (Step SY), and the subsequent robot application operation (Step S4) is performed. On the other hand, when one foot to be measured is new, a new operation command value may be created from the acquired 3D image.

  In addition, if the basic operation command value as described above is stored in a database by storing a plurality of data according to the type of shoe, when applying a plurality of shoes of the same type and size, the type of the shoe, By inputting the size of the left and right feet and the size, it is also possible to quickly and continuously apply the adhesive to a plurality of shoes.

(2) Further, instead of the application roller, the application means may be changed to a brush or sponge or the like having firm hair, and the adhesive may be applied.

(3) Although the upper is moved by the robot, a configuration in which the application unit is moved may be adopted.

(4) Also, a configuration may be adopted in which the robot directly grips the upper without using a wooden mold or jig.

(5) In addition to the adhesive coating device 24, a buffing means can be added. Thereby, in addition to the application of the adhesive, the buffing before the application of the adhesive can be automatically performed. Further, a buffing device may be provided instead of the coating device 24 for applying the adhesive, and the device may be used as a buffing device.

DESCRIPTION OF SYMBOLS 1 Adhesive application apparatus 2 Input part 3 Application part 4 Delivery part 5 Industrial robot (moving means)
5A control device 5Aa image processing unit 5Ab bottom periphery detection unit (bottom periphery detection means)
5Ac memory unit 5Ad operation command creation unit 5Ae operation control unit (movement control means)
6 Belt conveyor 7 Dryer 8 Safety fence 11 Robot hand (gripping tool)
11a gripping arm 11aa engaging pin 12 jig 12a body 12b fitting rod 12ba rod 12bb rod swelling part 12c fitting pin 12d engaging hole 21 adhesive storage box 22 adhesive 23 applying roller 24 applying device 25 rotating shaft 26 Rotation drive device 31 Separation device 32 Gripping portion 32a Cylinder rod 41 Camera (photographing means)
101 upper 102 wooden mold 102a upper surface 102b, 102c hole 103 shoe sole

Claims (12)

An adhesive application device for applying an adhesive to a bottom portion of the upper of the footwear,
Shape acquisition means for acquiring a three-dimensional shape of the bottom of the upper,
An application roller that applies an adhesive to the bottom of the upper,
Moving means for three-dimensionally moving a gripper for gripping the upper,
Movement control means for receiving a signal from the shape acquisition means and moving the movement means so that the bottom peripheral edge of the upper comes into contact with the application roller,
With
The shape acquisition unit detects a contour of a bottom peripheral edge of the upper, which is a boundary between a bottom surface and a side surface to which an adhesive is applied,
The movement control means controls the movement means to move the upper three-dimensionally, so that the edge of the application roller moves along the contour of the upper ,
Further provided is a rotation driving means for driving the rotation shaft,
The coating roller is fixed to the rotating shaft, and has a width smaller than the shortest dimension in the width direction of the bottom of the upper,
The movement control means controls the movement means, and moves the movement means so that the bottom peripheral edge of the upper comes into contact with the upper part of the rotating application roller.
An adhesive application device characterized by the above-mentioned. The detection of the contour line is performed by extracting, from the acquired three-dimensional shape, a line segment that forms the contour in a cross section cut in the width direction, and extracting the contour line having a slope or a change in the slope greater than or equal to a predetermined size. Detected as
The adhesive application device according to claim 1. Equipped with an adhesive storage box that is open at the top and stores the adhesive,
The application roller is rotatably provided at the top of the adhesive storage box, and an upper portion of the adhesive storage box is exposed,
The moving means receives a signal from the shape obtaining means, and moves the moving means such that the bottom of the upper comes into contact with the outer peripheral surface of the application roller,
The adhesive application device according to claim 2. With a wooden form attached to the upper,
The gripper grips the wooden form;
The adhesive application device according to claim 1. A jig coupled to the wooden form,
The gripper grips the jig,
The adhesive application device according to claim 4 . The wooden mold has two holes on an upper surface,
The jig has two fitting rods inserted into the two holes,
At least one of the fitting rods has a portion mechanically swelling radially, and the portion is mechanically swelling radially to be coupled to the wooden hole.
The adhesive application device according to claim 5 . The shape acquisition means,
Photographing means for photographing the bottom of the upper in an installed state;
Bottom detecting means for receiving a signal from the photographing means and detecting a three-dimensional shape of the bottom of the upper by image processing,
The adhesive application device according to claim 1. A shift detection unit that receives a signal from the shape acquisition unit and detects a shift amount from a preset reference installation position at the installation position of the upper in the installation state,
Correction means for receiving a signal from the shift detection means, correcting the basic operation command value according to the shift amount from the reference installation position, and creating an operation command value,
The adhesive application device according to claim 1. For a predetermined basic size of the upper, further comprising a memory unit capable of storing in advance a basic operation command value corresponding to the moving operation of the moving means,
The movement control unit has a correction unit that receives a signal from the shape acquisition unit, corrects the basic operation command value, and creates an operation command value according to a difference in left and right or size of the upper,
The adhesive application device according to claim 1. The adhesive is a solvent-based adhesive,
The adhesive application device according to claim 1. Further comprising a transport device for transporting the upper coated with the adhesive to a drying area for drying,
The transfer device includes a pair of cylinders arranged opposite to each other,
The cylinder is telescopic, and is configured to be lockable and unlockable at any length.
The adhesive application device according to claim 1. Further comprising a buffing means for polishing the bottom of the upper,
The movement control unit receives a signal from the shape acquisition unit, and moves the movement unit such that the bottom peripheral edge of the upper comes into contact with the buffing unit.
The adhesive application device according to claim 1.

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