TW202011856A - Apparatus for processing a vamp and routing method thereof - Google Patents

Abstract

An apparatus for processing a vamp includes a claw member configured to clamp a shoe last fit with an unrough vamp, a roughing member disposed adjacent to the claw member, a first processing unit combining a vamp digital model of the unrough vamp with a sole digital model of the unrough vamp and generating a roughing path according to the intersection of the vamp digital model and the sole digital model, and a second processing unit coupled with the claw member and the roughing member. After the second processing unit drives the claw member and the roughing member and controls the claw member to abut the unrough vamp of the shoe last with the roughing member, the second processing unit controls the claw member to move along the roughing path.

Description

Shoe upper processing control device and its path planning method

The invention relates to a processing control device and a path planning method thereof, in particular to a vamp processing control device and a path planning method based on analyzing digital image file data after combining a shoe last and a sole to obtain a processing path of a shoe last.

Please refer to FIG. 1, which is a conventional shoe upper processing control device 9, usually a shoe cover is set on a shoe last, and then the shoe last and a shoe sole are pressed and assembled, and then the shoe sole and the shoe sole Mark the junction where the shoe lasts are joined. The conventional vamp processing control device 9 has a frame device 91, a pressing device 92, a carrying device 93, and a control device 94. After the pressing device 92 and the carrying device 93 are positioned on the rack device 91 in alignment, after the controlling device 94 controls the pressing device 92 to press the shoe last placed on the carrying device 93, the operator then uses a mercury pen to pair The junction between the upper and the sole is marked. The upper processing control device 9 similar to this conventional one has been disclosed in the patent case of the "Shoe upper marking machine" No. M475188U published by the Republic of China.

In order to distinguish the joint between the upper and the sole, the conventional upper processing control device 9 is used to manually mark the junction between the upper and the sole. However, the accuracy of manual scribing may decrease as the fatigue of the author increases, resulting in the scribing not being able to fit the junction.

In view of this, the conventional shoe upper processing control device still needs to be improved.

In order to solve the above problems, an object of the present invention is to provide a shoe upper processing control device, which can obtain a shoe last processing path based on the analysis of the digital image file data after combining the shoe last and the sole to obtain the shoe last processing path and its path planning Methodist.

The next object of the present invention is to provide a method for planning a shoe upper processing path, which can be applied to the above device.

The following directivity or similar terms of the invention, such as "front", "rear", "left", "right", "upper (top)", "lower (bottom)", "inner", "outer" , "Side", etc., mainly refer to the directions of the attached drawings, and each directivity or its approximate terms are only used to help explain and understand the embodiments of the present invention, not to limit the present invention.

The upper processing control device of the present invention includes: a clamping jaw part for clamping a set of shoe lasts with a thick upper to be thickened; a thick part, which is arranged adjacent to the clamping jaw part; and a first processing unit , Combining a digital model of the upper and a digital model of the sole to be roughened, and generating a roughing processing path according to the intersection of the digital model of the upper and the digital model of the sole; and a second process A unit coupled to the clamping jaw member and the thickening member, the second processing unit drives the clamping jaw member and the thickening member, and controls the clamping jaw member to abut the thick upper of the shoe last to be roughened to the After roughing, control the gripper to move according to the roughing processing path.

The upper processing path planning method of the present invention includes: combining a digital model of an upper with a digital model of a sole to be thickened; according to the intersection of the digital model of the upper and the digital model of the sole, a Roughing processing path; controlling a clamping jaw piece to clamp a set of shoe lasts with the to-be-roughed upper, and making the to-be-roughed upper contact with a dozen of thick parts; and driving the thickened parts, and The jaw part is moved according to the roughing processing path.

According to the above, the upper processing control device and the path planning method of the present invention can obtain a roughing processing path of the thick upper with the digital model of the combined upper and sole, without the need to manually draw the line The rough machining path is generated in this way, which has the effect of reducing labor costs. In addition, by adjusting the roughing processing path through the processing digital model and adjusting the feedback force generated by the force feedback unit, the upper processing control device and the path planning method of the present invention have improved processing accuracy and improved shoe quality Efficacy.

Wherein, the upper digital model is formed by superimposing a digital model of the last with the same specifications as the last, and the digital data of the thick upper corresponding to one of the uppers to be thickened. In this way, the upper processing control device of the present invention has the effect of improving the model design efficiency of the upper digital model.

The upper processing control device of the present invention may further include a storage unit coupled to the processing unit, and used to store the upper digital model and the sole digital model, or to store the last digital model, The digital data of the rough upper to be hit and the digital model of the sole. In this way, the upper processing control device of the present invention has the effect of improving the convenience of use.

Wherein, the storage unit is further used to store the roughing processing path. In this way, the upper processing control device of the present invention has the effect of improving the roughing efficiency.

The upper processing control device of the present invention may further include a scanning unit coupled to the processing unit. The processing unit controls the scanning unit to scan toward the bottom surface of the upper to be roughened to obtain a processed digital model The processing unit superimposes the processed digital model and the bottom surface of the upper digital model to generate an upper displacement, and the processing unit adjusts the roughing processing path according to the upper displacement. In this way, the upper processing control device of the present invention can achieve a uniform roughening effect, and has the effect of improving processing accuracy.

The upper processing control device of the present invention may further include a force feedback component, the force feedback component is coupled to the processing unit, and has a sliding member and a force feedback unit, the sliding member allows the thickening member to move in an axial direction , The force feedback unit is arranged along the axial direction, and abuts against the thickened piece. In this way, the upper processing control device of the present invention can make the thickening force that the to-be-thickened upper bears meet the specified requirements, so as to achieve the required thickening depth, and prevent the sole from sticking to the upper due to the thickening depth The insufficient strength causes the adhesive strength to decrease, which in turn causes the sole and upper to easily separate, which has the effect of improving the quality of the shoe.

Wherein, the first processing unit and the second processing unit are the same processing unit. As such, the upper processing control device of the present invention has the effect of reducing the cost of the device.

Wherein, the upper digital model is formed by superimposing a digital model of the last with the same specifications as the last, and the digital data of the thick upper corresponding to one of the uppers to be thickened. In this way, the method for planning the upper processing path of the present invention has the effect of improving the model design efficiency of the digital model of the upper.

Wherein, the digital model of the upper and the digital model of the sole are obtained from a storage unit, or the digital model of the last, the digital data of the rough upper to be hit and the digital model of the sole are obtained. In this way, the method for planning the upper processing path of the present invention has the effect of improving the convenience of use.

Wherein, the storage unit is further used to store the roughing processing path. In this way, the method for planning the upper processing path of the present invention has the effect of improving the roughing efficiency.

Wherein, a scanning unit is controlled to scan towards the bottom surface of the upper to be roughened to obtain a processed digital model, and the processed digital model and the bottom surface of the upper digital model are superimposed to generate a displacement of the upper, And adjust the roughing processing path according to the displacement of the shoe upper. In this way, the shoe upper processing path planning method of the present invention can achieve a uniform roughening effect, and has the effect of improving processing accuracy.

Wherein, a sliding member is used to move the thickening member in an axial direction, and a force feedback unit provided in the axial direction is used to apply a force to the thickening member through the upper surface to be roughened according to the jaw member, The corresponding feedback force is generated. When the acting force is less than the thickening force required by the thick upper to be hit, the feedback force of the force feedback unit is increased. When the acting force is greater than that of the thick upper to be hit When the required force is thickened, the feedback force of the force feedback unit is reduced. In this way, the shoe upper processing path planning method of the present invention can make the thickening force that the to-be-thickened upper bears meet the specified requirements, so as to achieve the required thickening depth, and prevent the sole from sticking to the upper due to thickening The lack of depth causes the adhesion strength to decrease, which in turn causes the sole and upper to easily separate, which has the effect of improving the quality of the shoe.

In order to make the above and other objects, features and advantages of the present invention more obvious and easy to understand, the following is a detailed description of preferred embodiments of the present invention, in conjunction with the attached drawings, as follows:

Please refer to FIG. 2, which is a preferred embodiment of the upper processing control device of the present invention, which includes a jaw member 1, a thickening member 2, a first processing unit 3 and a second processing unit 4. The thickening member 2 is disposed adjacent to the jaw member 1. The second processing unit 4 is coupled to the jaw member 1 and the roughening member 2. The second processing unit 4 can be coupled to the first processing unit 3 .

The clamping jaw member 1 is a clamping mechanism that enables the workpiece to be correctly positioned and properly fixed to bear the cutting force of the grinding tool. For example, but not limited to, the clamping jaw member 1 may be a mechanical arm. The jaw member 1 can be used to clamp a set of shoe lasts S provided with a thick upper V to be driven, and drive the shoe lasts S to move in a plane or three-dimensional space.

The thickening member 2 is disposed adjacent to the jaw member 1. In this embodiment, the thickening member 2 may be a thickening machine. The roughening member 2 can be used to roughen the upper V to be roughened on the shoe last S.

Please refer to FIG. 3 together. The first processing unit 3 can be any circuit unit with image processing, signal generation and control, for example, it can be a microcontroller. The first processing unit 3 can combine a digital model of the upper M1 and a digital model of the sole M2 of the upper V to be thickened, and generate according to the intersection of the digital model of the upper M1 and the digital model of the sole M2 A dozen rough machining paths.

The second processing unit 4 can be any circuit unit with data processing, signal generation and control, such as a microcontroller. The second processing unit 4 is coupled to the jaw member 1 and the roughening member 2, the second processing unit 4 can also be coupled to the first processing unit 3, and the second processing unit 4 can drive the jaw member 1 And the roughening part 2, and the gripper part 1 is controlled to abut the rough upper V of the shoe last S to be roughened against the roughening part 2, and then the gripper part 1 is controlled to move according to the roughing processing path In order to roughen the upper V to be roughened on the shoe last S. The upper digital model M1 may be formed by superimposing a digital model M3 of a shoe last with the same specifications as the shoe last S, and digital data corresponding to one of the thick uppers V to be hit . In another embodiment of the present invention, the first processing unit 3 and the second processing unit 4 may be the same processing unit.

Preferably, the upper processing control device of the present invention may further include a storage unit 5 coupled to the first processing unit 3 and used to store at least one upper digital model M1 and at least one sole digital model M2 . In another embodiment, the storage unit 5 can be used to store at least one digital model of the shoe last M3, at least one digital data of the upper to be roughened, and at least one digital model of the sole M2. Wherein, the digital data of the rough upper to be roughened may be information such as the thickness of the leather used for the rough upper V to be thickened, and the width of adhesion. The storage unit 5 can also be used to store the roughing processing path generated by the first processing unit 3 so that the second processing unit 4 can obtain the roughing processing path from the storage unit 5.

Specifically, in this embodiment, the first processing unit 3 can directly obtain a shoe upper digital model M1 and a shoe sole digital model M2 from the storage unit 5. In addition, in another embodiment, the first processing unit 3 can obtain from the storage unit 5 a shoe last digital model M3 having the same specifications as the shoe last S, and a rough to-be-thickened sleeved on the shoe last S Digital data of the rough upper to be hit corresponding to the upper V, and a sole digital model M2 corresponding to the digital model of the shoe last M3, the first processing unit 3 then compares the digital model of the shoe last M3 with the rough upper to be hit The digital data are superimposed to form a shoe upper digital model M1.

Please refer to Figures 2 and 4, in practice, due to the thickness of the leather, where the curvature of the bottom of the upper is large, protruding wrinkles are likely to form after the leather is adhered, which may cause the thickened piece 2 to respond to The thickening depth of the thickened upper V is too deep or insufficient. Therefore, the upper processing control device of the present invention may further include a scanning unit 6, the scanning unit 6 is coupled to the first processing unit 3, and the first processing unit 3 Control the scanning unit 6 to scan toward the bottom surface of the rough upper V to be processed to obtain a processed digital model M4, and the first processing unit 3 stacks the processed digital model M4 and the bottom surface of the shoe last digital model M3 Combine and compare with the upper digital model M1 to generate an upper displacement. The first processing unit 3 then adjusts the roughing processing path according to the upper displacement to obtain a uniform roughening effect. In another embodiment of the present invention, the scanning unit 6 is coupled to the second processing unit 4, and the adjustment of the roughing processing path is performed at the second processing unit 4.

Referring to FIG. 2, the shoe upper processing control device of the present invention may further include a force feedback component 7, which is coupled to the second processing unit 4, and has a sliding member 71 and a force feedback unit 72. The sliding member 71 can move the thickening member 2 in an axial direction. In this embodiment, the sliding member 71 can be a combination of a slide rail and a slider, but not limited to this. The force feedback unit 72 is disposed along the axial direction, and abuts against the thickening member 2.

In detail, the force feedback unit 72 may act on the thickened part 2 according to the shoe last S clamped by the clamping jaw member 1 and the thick upper V to be punched on the shoe last S The force generates a corresponding feedback force, so that the roughing force that the to-be-roughed upper V bears meets the requirements. Specifically, when the force is less than the thickening force required by the thick upper V, the second processing unit 4 may increase the feedback force of the force feedback unit 72; conversely, when the force is greater than the When the thickening force required by the upper V is thickened, the second processing unit 4 can reduce the feedback force of the force feedback unit 72. In this way, the roughening force that the to-be-roughed upper V bears meets the specified requirements to achieve the required roughening depth.

Please refer to FIGS. 2 and 5, according to the foregoing structure, when the upper processing control device of the present invention intends to roughen the upper V to be roughened, the first processing unit 3 may be first stored by the storage unit 5. Obtain a shoe last digital model M3 with the same specifications as the shoe last S, the digital data of the thick upper to be hit corresponding to the thick upper V to be hit on the shoe last S, and the corresponding digital number of the shoe last A digital model of sole M2 of model M3. The first processing unit 3 superimposes the shoe last digital model M3 and the digital data of the upper to be roughened to form a shoe upper digital model M1. The first processing unit 3 combines the shoe last digital model M1 and the sole digital model M2, and generates a rough machining path according to the intersection of the shoe upper digital model M1 and the shoe sole digital model M2. The roughing processing path can be stored in the storage unit 5.

Furthermore, the first processing unit 3 controls the scanning unit 6 to scan the bottom surface of the upper V to be roughened to obtain a processed digital model M4. The first processing unit 3 superimposes the processed digital model M4 with the bottom surface of the shoe last digital model M3 and compares it with the shoe upper digital model M1 to generate an upper displacement. The first processing unit 3 adjusts the roughing processing path according to the displacement of the shoe upper, and transmits the adjusted roughing processing path to the second processing unit 4, or the adjusted roughing processing path is stored in In the storage unit 5, the second processing unit 4 obtains the roughing processing path from the storage unit 5. Subsequently, the second processing unit 4 drives the jaw member 1 and the thickening member 2 and controls the jaw member 1 to abut the to-be-roughed upper V of the shoe last S after the thickening member 2 Then, the jaw member 1 is controlled to move according to the roughing processing path to roughen the upper V to be roughened on the shoe last S.

During the roughing process, the force feedback unit 72 may generate a corresponding feedback force according to the force exerted by the shoe last S clamped by the jaw member 1 on the roughening member 2, so that the waiting The thickening force that the thick upper V bears meets the requirements. When the acting force is less than the thickening force required by the thick upper V, the second processing unit 4 can increase the feedback force of the force feedback unit 72 so that the thickening member 2 passes through the sliding member 71 Move in the direction of the jaw member 1. Conversely, when the acting force is greater than the thickening force required by the thick upper V to be thickened, the second processing unit 4 can reduce the feedback force of the force feedback unit 72 to make the thickening member 2 slide through The member 71 moves in the reverse direction of the jaw member 1.

Please refer to FIG. 6, which is a preferred embodiment of the upper shoe processing path planning method of the present invention, which can be applied to the above upper shoe processing control device. The method includes: a path establishing step S1 and a roughing step S2.

The path creation step S1 can combine a digital model of the upper M1 and a digital model of the sole M2 of the upper V to be thickened, and generate a part according to the intersection of the digital model of the upper M1 and the digital model of the sole M2. Roughing the machining path. Wherein, the upper digital model M1 is composed of a shoe last digital model M3 having the same specifications as a shoe last S, and digital data corresponding to one of the thick uppers to be thickened. Preferably, the path creation step S1 can directly obtain the upper digital model M1 and the sole digital model M2 from a storage unit 5. In another embodiment, the storage unit 5 can obtain the shoe last digital model M3 having the same specifications as the shoe last, the digital data of the upper to be roughened, and the sole digital model M2. In addition, the roughing processing path can be stored in the storage unit 5.

The roughing processing step S2 can control a clamping jaw member 1 to clamp the shoe last S provided with a vamp upper V to be roughened, and make the rough upper V to be roughened to a roughing piece 2. Subsequently, the roughening member 2 is driven, and the jaw member is moved according to the roughening processing path, so that the roughening member 2 roughens the upper V to be roughened.

Among them, the method for planning a shoe upper processing path of the present invention may further include a step S3 for adjusting the path. The adjusting path step S3 can control a scanning unit 6 to scan toward the bottom surface of the upper V to be roughened to obtain a processed digital model M4. Subsequently, the processed digital model M4 and the bottom surface of the shoe last digital model M3 are superimposed and compared with the upper digital model M1 to generate an upper displacement, and then adjusted according to the upper displacement The roughing path.

Furthermore, the shoe upper processing path planning method of the present invention may further include a step S4 for adjusting the force. The adjusting force step S4 can use a sliding member 71 for the thickening member 2 to move in an axial direction, and a force feedback unit 72 provided in the axial direction is applied through the upper surface V to be roughened according to the jaw member 1 Due to the force of the thickening member 2, a corresponding feedback force is generated. When the force is less than the thickening force required by the upper V to be thickened, the feedback force of the force feedback unit 72 is increased. When the acting force is greater than the thickening force required by the thick upper V to be hit, the feedback force of the force feedback unit 72 is reduced. In this way, the roughening force that the to-be-roughed upper V bears meets the specified requirements to achieve the required roughening depth.

In summary, the upper processing control device and the path planning method of the present invention can obtain a roughing processing path of the thick upper with the digital model of the combined upper and sole, without the need of manual labor to draw The rough machining path is generated by the line method, which has the effect of reducing labor cost. In addition, by adjusting the roughing processing path through the processing digital model and adjusting the feedback force generated by the force feedback unit, the upper processing control device and the path planning method of the present invention have improved processing accuracy and improved shoe quality Efficacy.

Although the present invention has been disclosed using the above-mentioned preferred embodiments, it is not intended to limit the present invention. Anyone who is familiar with this art without departing from the spirit and scope of the present invention still makes various changes and modifications to the above-mentioned embodiments. The technical scope of the invention is protected, so the scope of protection of the present invention shall be subject to the scope defined in the appended patent application.

﹝The invention﹞1: Claw piece 2: Thick piece 3: First processing unit 4: Second processing unit 5: Storage unit 6: Scanning unit 7: Force feedback assembly 71: Slider 72: Force feedback unit M1: Shoe upper digital model M2: sole digital model M3: shoe last digital model M4: processed digital model S: shoe last V: to be roughened upper S1: path creation step S2: roughing processing step S3: adjustment path step S4: adjustment Force steps (practical) 9: upper processing control device 91: frame device 92: pressing device 93: carrying device 94: control device

[Figure 1] A combined perspective view of a conventional shoe upper processing control device. [Figure 2] A combined perspective view of an embodiment of the present invention. [Figure 3] An assembled perspective view of an upper digital model and a sole digital model according to an embodiment of the present invention. [FIG. 4] An assembled perspective view of the processed digital model and the bottom surface of the shoe upper digital model overlapping with an embodiment of the present invention. [Figure 5] A usage state diagram of roughing according to an embodiment of the present invention. [Figure 6] A system flowchart of an embodiment of the present invention.

1: jaw piece

2: Thick pieces

3: The first processing unit

4: Second processing unit

5: storage unit

6: Scanning unit

7: Force feedback component

71: Slider

72: Force feedback unit

S: Shoe last

V: To be thickened

Claims (13)

A shoe upper processing control device, comprising: a clamping jaw piece for clamping a set of shoe lasts with a thick upper to be roughened; a dozen thick pieces adjacent to the clamping jaw piece; a first processing unit, which A digital model of the upper and a digital model of the sole of the to-be-thickened upper are combined, and a roughing processing path is generated according to the intersection of the digital model of the upper and the digital model of the sole; and a second processing unit, Coupling the jaw member and the thickening member, the second processing unit drives the jaw member and the thickening member, and controls the jaw member to abut the shoe upper to be thickened to the thickened upper After the workpiece, the jaw member is controlled to move according to the roughing processing path. The shoe upper processing control device as described in item 1 of the patent application scope, wherein the shoe upper digital model is composed of a shoe last digital model with the same specifications as the shoe last, and one corresponding to the thick shoe upper It is formed by superimposing the rough upper digital data. The upper processing control device as described in item 2 of the patent application scope further includes a storage unit coupled to the first processing unit and used to store the digital model of the upper and the digital model of the sole, or To store the digital model of the shoe last, the digital data of the rough upper to be hit and the digital model of the sole. The upper processing control device as described in item 3 of the patent application scope, wherein the storage unit is further used to store the roughing processing path. The upper processing control device as described in item 2 of the patent application scope further includes a scanning unit coupled to the first processing unit, and the first processing unit controls the scanning unit toward the surface of the upper to be thickened The bottom surface is scanned to obtain a processed digital model. The first processing unit superimposes the processed digital model with the bottom surface of the shoe last digital model and compares it with the upper digital model to generate a vamp displacement The first processing unit adjusts the roughing processing path according to the displacement of the upper. The upper processing control device as described in item 1 of the patent application scope further includes a force feedback component coupled to the second processing unit, and having a sliding member and a force feedback unit, the sliding member is provided for The thickening member moves in an axial direction, and the force feedback unit is disposed along the axial direction and abuts against the thickening member. The upper processing control device according to any one of the items 1 to 6 of the patent application scope, wherein the first processing unit and the second processing unit are the same processing unit. A vamp processing path planning method using the vamp processing control device according to any one of items 1 to 7, the vamp processing path planning method includes: a vamp digital model of a vamp to be roughened Combine with a sole digital model; generate a dozen roughing paths based on the intersection of the upper digital model and the sole digital model; control a gripper to clamp a set of shoe lasts with the thick upper to be hit And make the upper to be roughened abut against a thickened piece; and drive the thickened piece, and make the jaw piece move according to the roughened processing path. The method for planning a vamp processing path as described in item 8 of the patent application scope, wherein the vamp digital model is composed of a vamp digital model with the same specifications as the vamp, and one of the vamps corresponding to the vamp To be superimposed by the digital data of the rough upper. The method for planning a vamp processing path as described in item 9 of the patent scope, wherein the digital model of the vamp and the digital model of the sole are obtained from a storage unit, or the digital model of the shoe last and the vamp Digital data and digital model of the sole. The method for planning a shoe upper machining path as described in item 10 of the patent application scope, wherein the storage unit is further used to store the roughing machining path. The shoe upper processing path planning method as described in item 9 of the patent application scope, wherein a scanning unit is controlled to scan toward the bottom surface of the upper to be roughened to obtain a processed digital model, and the processed digital model and the shoe The bottom surface of the last digital model is superimposed and compared with the upper digital model to generate a vamp displacement, and the roughing processing path is adjusted according to the vamp displacement. The shoe upper machining path planning method as described in any one of items 8 to 12 of the patent application scope, wherein a sliding member is used to move the thickening member in an axial direction, and the force feedback is provided in the axial direction The unit generates a corresponding feedback force according to the force exerted on the thickened part by the jaw part through the thick upper to be roughened, when the force is less than the thickening force required by the thick upper Then, the feedback force of the force feedback unit is increased, and when the acting force is greater than the thickening force required by the thick upper to be thickened, the feedback force of the force feedback unit is reduced.

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