TW201922131A - Method for roughing and gluing shoe upper capable of achieving stable quality and fast production - Google Patents

Abstract

A method for roughing and gluing a shoe upper which includes the following steps: putting a shoe upper into a shoe last and holding the shoe last by a robot arm for movement; before moving, operating the robot arm with a computer to move the shoe last to a scanner for scanning the bottom of the shoe upper to obtain a contour line of the bottom of the shoe upper; performing path planning of the contour line of the bottom of the shoe upper to obtain a roughing path line and a gluing path line; respectively converting the roughing path line and the gluing path line into a roughing movement path and a gluing movement path for allowing the robot arm to move the shoe last; and finally, respectively controlling the robot arm to move the shoe last according to the roughing movement path and the gluing movement path, so that the shoe last is moved along a roughing head and a gluing head, thereby the roughing head and the gluing head can respectively perform roughing and gluing operations on the shoe upper along the roughing path line.

Description

Method for roughing and gluing the upper

The invention relates to the technology of shoemaking, in particular to a method for roughing and gluing the upper.

In the process of making shoes, one step is to glue the bottom of the upper and then stick the sole to the bottom of the upper. Before the glue is applied to the bottom of the upper, the surface of the upper must be thickened, and the roughness of the surface can make the glue adhere better, so that the sole can be firmly adhered to the bottom of the upper.

Since the design of the upper of the upper is mostly complicated by the freeform surface, the shoe factory can only rely on the manual method for roughing and gluing of the upper, resulting in a large number of rough coating technicians in the factory. Dependence. The manual method of roughing, gluing and pasting the upper is disadvantageous in that the quality is different due to the different quality of the personnel and the manufacturing speed is slow.

The main purpose of the present invention is to provide a method for roughing and gluing a shoe upper, which utilizes a robot arm and a computer to complete the path planning and action of roughing and gluing, which can replace manual, stable quality and fast production speed. Effect.

In order to achieve the above object, the present invention provides a method for roughing and gluing a shoe upper, comprising: A) inserting a shoe upper into a shoe last, wherein the shoe last is fixed to a mechanical arm; B) operating by a computer The mechanical arm scans the bottom of the upper before moving the shoe last to a scanner, and obtains a scan result file, wherein the scan result file mainly has digital data corresponding to the upper, and the upper of the upper The digital data is parsed to obtain the outline of the bottom of the upper; C) the operation is performed on the computer, the path of the bottom line of the upper is planned, and the rough path line and the glue path line are planned, and the decision is made. The starting point of the thick path line and the glue path line; D) according to the spatial relationship between the mechanical arm and the fixed position of a dozen thick heads and a glue head, the computer divides the thick path line and the glue line path respectively Converting to the mechanical arm to move a thick moving path of the last and a gluing moving path; E) controlling, by the computer, the mechanical arm to move the last according to the thick moving path, so that the last is along the starting point Playing heavy heads, borrowing So that the roughing head can perform the thickening action on the upper along the thickening path line; and F) controlling the mechanical arm to move the last shoe according to the glue moving path with the computer, so that the shoe last is taken along the starting point The glue head is moved so that the glue head can perform the gluing action on the upper along the glue path line.

Thereby, the invention utilizes a robot arm and a computer to complete the path planning of the thickening and sizing, and can achieve the results of the roughing and sizing operations by the machine, and can achieve the effect of replacing the manual, the quality is stable, and the production speed is fast. .

In order to explain the technical features of the present invention in detail, the following preferred embodiments will be described with reference to the drawings, wherein:

As shown in FIG. 1 to FIG. 4, a method for roughening and gluing a shoe upper according to a first preferred embodiment of the present invention has the following steps:

A) As shown in Fig. 1, a shoe upper 11 is fitted into a shoe last 13, wherein the shoe last 13 is fixed to a robot arm 21.

B) As shown in FIGS. 2 to 3, the robot arm 21 is operated by a computer 23 to move the shoe last 13 to a scanner 22 to scan the bottom of the upper 11 to obtain a scan result file ( Not shown in the figure, the scan result file mainly has digital data 233 corresponding to the upper, and the digital data 233 of the upper is analyzed to obtain the outline 235 at the bottom of the upper. The foregoing analytical action means that when the bottom of the upper 11 is a flat bottom shoe type without a side wall, the digital data 233 of the upper obtained by scanning mainly has a plurality of scanning lines 233L, each of which is curvature and boundary conditions. The two end points of the scanning line 233L are defined as contour points 233P, and after combining these contour points 233P, the contour line 235 of the upper of the upper is formed.

C) operating on the computer 23, path planning of the contour line 235 at the bottom of the upper, planning a rough path line 25 and a glue path line 27, and determining the thickening path line 25 and the glue path The starting point of line 27 (not shown), since the starting point can be arbitrarily selected by the operator, it is not necessary to display it in the drawing. In the present embodiment, when the thickening path line 25 and the sizing path line 27 are planned, the contour line 235 at the bottom of the upper is used as the thickening path line 25 and the sizing path line 27, thereby The position of the thickened path line 25 and the gumming path line 27 relative to the upper 11 is the same. In addition, the thickening path line 25 and the sizing path line 27 may actually be planned differently. For example, after determining the relative position of the thickening position and the sizing position, the thickening path line 25 and the The relative positions are inserted between the sizing path lines 27 to form a positionally different relationship.

D) According to the spatial relationship between the mechanical arm 21 and the one-piece thick head 31 and the upper plastic head 32 at the fixed position, the computer 23 converts the thickening path line 25 and the sizing path line 27 into the mechanical arm 21, respectively. A one-step rough moving path 251 and a gumming moving path 271 of the shoe last 13 are moved.

E) as shown in FIG. 4, the robot 23 controls the robot arm 21 to move the last 13 from the starting point according to the thickening movement path 251, so that the last 13 moves along the roughing head 31, thereby making the hitting The thick head 31 can perform a thickening action on the upper 11 along the thickened path line 25.

F) controlling, by the computer 23, the robot arm 21 to move the last 13 from the starting point according to the glue moving path 271, so that the last 13 moves along the upper plastic head 32, so that the upper plastic head 32 can follow the The gumming path line 27 performs a gluing action on the upper 11.

By the above steps, the path planning and the actual thickening and squeezing action of the upper 11 of the upper 11 by the computer 23 and the robot arm 21 can be achieved, thereby achieving the replacement of labor, quality stability and production speed. Fast effect.

Referring to FIG. 5 to FIG. 6 and FIG. 1 , a method for thickening and gluing a shoe upper according to a second preferred embodiment of the present invention is mainly the same as the first embodiment. the difference lies in:

In the step B), the analytic action means that when the bottom of the upper is a covered sole type with a side wall, the digital data 233 of the upper is not composed of a plurality of scanning lines as in the first embodiment. The scan data is constructed into a kd tree (k-dimensional tree) data structure, and the digital data 233 of the upper also includes a standard outline 233S, which is built into the computer 23 according to the standard. Each point of the contour line 233S searches for the closest three scanning points. As shown in FIG. 5, each point of the standard contour line 233S is projected onto the plane formed by the closest three scanning points, in FIG. A state of a point projection of the standard contour 233S is displayed. Next, as shown in Fig. 6, the projection points are joined to form a contour 235 at the bottom of the upper.

The remaining steps are similar to the first embodiment disclosed above.

The second embodiment illustrates the difference in the step B) for the covered shoe type, and the effect that can be achieved is the same as that of the first embodiment, and will not be described again.

11‧‧‧Shoes

13‧‧‧ Shoes

21‧‧‧ Robotic arm

22‧‧‧Scanner

23‧‧‧ computer

233‧‧‧Digital information on the upper

233L‧‧‧ scan line

233P‧‧‧ contour points

235‧‧‧ contour of the bottom of the upper

25‧‧‧Dough path line

251‧‧‧ Thick moving path

27‧‧‧Gluing path line

271‧‧‧Gluing moving path

31‧‧‧dough

32‧‧‧Glue head

233S‧‧‧ standard outline

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a block diagram showing the structure of a first preferred embodiment of the present invention. Figure 2 is a scanning schematic view of a first preferred embodiment of the present invention showing the data obtained from the sole scan. Fig. 3 is a schematic view showing the conversion of the first preferred embodiment of the present invention, showing the outline of the bottom of the upper. Fig. 4 is a view showing the action of the first preferred embodiment of the present invention, showing a state in which the roughing movement path and the gluing movement path are input to the robot arm to move. Figure 5 is a schematic view of a second preferred embodiment of the present invention showing the state of projection. Figure 6 is another schematic view of a second preferred embodiment of the present invention showing the position of the outline of the bottom of the upper after projection.

Claims (5)

A method for roughing and gluing a shoe upper, comprising the following steps: A) inserting a shoe upper into a shoe last, wherein the shoe last is fixed to a mechanical arm; B) operating the mechanical arm with a computer to make the shoe楦 scanning the bottom of the upper before moving to a scanner, and obtaining a scan result file, the scan result file mainly has digital data corresponding to the upper, and parsing the digital data of the upper to obtain The contour of the bottom of the upper; C) operation on the computer, path planning of the contour of the bottom of the upper, planning a thick path line and a glue path line, and determining the thick path line and the upper line The starting point of the glue path line; D) according to the spatial relationship between the mechanical arm and the fixed position of a dozen thick heads and a glue head, the computer converts the thick path line and the glue path line into the robot arm movement respectively a thick moving path of the shoe last and a glue moving path; E) controlling, by the computer, the mechanical arm to move the shoe last according to the rough moving path, so that the shoe last moves from the starting point along the roughing head, thereby Make the chunks And bending the upper along the thickening path; and F) controlling, by the computer, the mechanical arm to move the last according to the glue moving path, so that the last moves from the starting point along the upper plastic head, Thereby, the glue head can perform the gluing action on the upper along the glue path line. The method for thickening and gluing a shoe upper according to the first aspect of the patent application, wherein: the thickening path line and the position of the glue path line are the same with respect to the upper. According to the method of claim 1, the method for roughing and gluing the upper, wherein: in step B), the digital data of the upper mainly has a plurality of scanning lines, and each scanning line is controlled by curvature and boundary conditions. The two end points are defined as contour points, and the contour points are formed after the contour points are combined. A method for roughing and gluing a shoe upper according to item 3 of the patent application scope, wherein: in step C), when planning the thickening path line and the glue path line, the contour of the bottom of the upper is used As the thick path line and the glue path line. The method for roughing and gluing a shoe upper according to the first aspect of the patent application, wherein: in step B), the digital data of the upper is mainly constructed to constitute a kd tree (k-dimensional tree) data structure, and The digital data of the upper also includes a standard contour line, searching for the closest three scanning points according to each point of the standard contour line, and projecting each point of the standard contour line to the nearest three scanning points. The plane, which in turn produces each point of the contour of the bottom of the upper, joins the projection points to form the contour of the bottom of the upper.