WO2013123662A1 - 鞋底黏着剂自动化喷洒系统及其喷洒方法 - Google Patents

鞋底黏着剂自动化喷洒系统及其喷洒方法 Download PDF

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Publication number
WO2013123662A1
WO2013123662A1 PCT/CN2012/071522 CN2012071522W WO2013123662A1 WO 2013123662 A1 WO2013123662 A1 WO 2013123662A1 CN 2012071522 W CN2012071522 W CN 2012071522W WO 2013123662 A1 WO2013123662 A1 WO 2013123662A1
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WO
WIPO (PCT)
Prior art keywords
sole
adhesive
opening
spraying
top surface
Prior art date
Application number
PCT/CN2012/071522
Other languages
English (en)
French (fr)
Inventor
马柯佛•杰可福
马尔斯巴•可恰哇
沙德•亚可福
Original Assignee
欧利速精密工业股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 欧利速精密工业股份有限公司 filed Critical 欧利速精密工业股份有限公司
Priority to PCT/CN2012/071522 priority Critical patent/WO2013123662A1/zh
Publication of WO2013123662A1 publication Critical patent/WO2013123662A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
    • A43D25/00—Devices for gluing shoe parts
    • A43D25/18—Devices for applying adhesives to shoe parts
    • A43D25/183—Devices for applying adhesives to shoe parts by nozzles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/02—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/28—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with integral means for shielding the discharged liquid or other fluent material, e.g. to limit area of spray; with integral means for catching drips or collecting surplus liquid or other fluent material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0457—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles specially designed for applying liquid or other fluent material to 3D-surfaces of the articles, e.g. by using several moving spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
    • A43D2200/00—Machines or methods characterised by special features
    • A43D2200/10—Fully automated machines, i.e. machines working without human intervention
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
    • A43D2200/00—Machines or methods characterised by special features
    • A43D2200/60—Computer aided manufacture of footwear, e.g. CAD or CAM
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces

Definitions

  • This invention relates to an adhesive spray system and a spray method thereof, and more particularly to a spray system for spraying an adhesive onto the inner periphery of a contour line of a top surface of a sole and a spray method therefor. Background technique
  • the sizing operation of the sole is a part of the process of attaching the sole to the upper.
  • the conventional sole 10 has a top surface 101 and a bottom surface 102.
  • the top surface 101 is formed by combining the upper surface with the upper surface.
  • the edge contour 11 is disposed inside the peripheral contour 11 of the sole 10 and is provided with a sizing area 12 for gluing and assembling the adhesive after applying the adhesive.
  • the ordinary sole 10 is mainly coated with the brush or cloth and manually applied to the sizing area 12, and the artificial production method is not easy to control the amount of the adhesive. When the amount is insufficient, the upper is obviously affected.
  • the strength of the connection structure with the top surface 102 of the sole 10 if the adhesive is excessive and exceeds the peripheral contour 11 of the top surface 102 of the sole 10, the peripheral side of the sole 10 will form a stain that affects the overall appearance of the shoe and can only rely on manual removal. , and the adhesive itself has the risk of volatilization to form a poisonous gas;
  • the object of the present invention is to provide an automatic spraying system for a sole adhesive and a method thereof, which are mainly provided with a spray gun and a plastic container at the end of a mechanical arm, so that the spray gun and the plastic container are disposed correspondingly on the top surface of the sole.
  • the inner and outer sides of the edge line cooperate with the computer to read the top surface scan data of the sole and the sole position data, so that the spray gun sprays the adhesive on the inner side of the sole contour edge and slightly beyond the contour edge line, and the adhesive is sprayed on the top surface of the sole. Spraying the area and allowing the adhesive beyond the contour edge to fall into the plastic container, achieving automatic and precise sizing on the top surface of the sole, and avoiding the purpose of the adhesive staining the sole.
  • an automatic spray system for a sole adhesive for spraying an adhesive onto a sole
  • the sole is formed with a bottom surface and a top surface, and a contour edge is formed on the periphery of the top surface.
  • the top surface of the sole is provided with a spraying area along the inner side of the contour line
  • the system comprises: a conveying platform having an opposite starting end and a terminal, wherein a glue dispensing section is disposed between the two ends, so that the sole is The starting end of the conveying table is conveyed to the terminal, and the conveying table is provided with a position sensor for sensing the position of the sole on the conveying table and outputting a position data; a three-dimensional scanner is disposed at the starting end of the conveying table a side view, wherein the three-dimensional scanner scans a contour edge of the top surface of the sole and outputs a scan data; a spraying device includes a mechanical arm disposed on the spray section of the transport table and formed with an end on the upper side of the spray section a clamp is disposed at an end of the mechanical arm, the clamp has opposite ends, one end is formed with a first clamping portion, and the other end is formed with a second clamping portion.
  • the first clamping portion is provided with a spray gun
  • the second clamping portion is provided with a rubber container, such that a nozzle of the spray gun is disposed toward the sole spray area, an opening of the plastic container is disposed toward the spray gun, and the plastic container is disposed
  • the peripheral edge of the opening is in tangential contact with the contour edge of the top surface of the sole;
  • a computer is electrically connected to the position sensor of the conveying table, the three-dimensional scanner and the mechanical arm of the spraying device, so that the computer receives and according to the position data
  • the scanning data forms a spray path command to drive the mechanical arm to drive the spray gun to spray the adhesive along the spray area of the top surface of the sole, and simultaneously drive the adhesive container opening to move along the contour edge and hold the adhesive beyond the contour edge.
  • Agent is provided with a spray gun
  • the second clamping portion is provided with a rubber container, such that a nozzle of the spray gun is disposed toward the sole spray area, an opening of the plastic container is disposed toward the spray
  • a method for spraying a sole adhesive automatic spraying system comprising:
  • the computer reads the scan data
  • the computer receives and reads the position data, and determines that the sole is transported to the spray section of the transport table; f.
  • the computer outputs a motion path command to drive the mechanical arm according to the position data and the scan data;
  • the mechanical arm drives the spray gun to spray the adhesive along the spray area on the top surface of the sole, and the adhesive container opening is in tangential contact with the contour edge of the sole to hold the adhesive beyond the edge of the sole contour.
  • the sole adhesive automatic spraying system and the method thereof are characterized in that the top surface of the sole is automatically and precisely sized to ensure the strength of the link structure with the upper, and at the same time, the adhesive is prevented from contaminating the appearance of the sole.
  • Figure 1 is a schematic view of the contour line of the top surface of the common sole and the glued area
  • FIG. 2 is a schematic view showing the overall structure of the automatic spraying system for the sole adhesive of the present invention
  • FIG. 3 is a side view showing the spray state of the automatic spraying system of the present invention
  • Figure 4 is a front view showing the spray state of the automatic spraying system of the present invention.
  • Figure 5A is a schematic view showing another embodiment of the gel container of the present invention.
  • Figure 5B is a perspective view showing the three-dimensional structure of the plastic container of Figure 5;
  • Figure 5C is a schematic perspective view showing another embodiment of the container of the present invention.
  • Fig. 6 is a flow chart showing the method of spraying the sole adhesive of the present invention.
  • A is an adhesive
  • a spraying device 51 is a mechanical arm
  • 521 is the first clamping portion 522 is the second clamping portion
  • the nozzle 54 is a plastic container
  • 543 is the tip of the 544.
  • the present invention provides a preferred embodiment of an automatic spray system for a sole adhesive.
  • the system is mainly for spraying an adhesive A on a sole 20, and the sole 20 is As shown in FIG. 2, a bottom surface 201 and a top surface 202 are formed.
  • the top surface 202 is formed with a contour edge 21, and the top surface 202 of the sole 20 is provided with a spray area 22 along the inner side of the contour edge 21.
  • the system is mainly
  • the utility model comprises a conveying table 30, a three-dimensional scanner 40, a spraying device 50 and a computer 60, wherein:
  • the transport platform 30, as shown in FIG. 2, has an opposite starting end 301 and a terminal 302.
  • a glue dispensing section 303 is disposed between the two ends, so that the sole 20 is transported from the starting end 301 of the conveying table 30 to the terminal 302.
  • the position sensor 31 is configured to sense the position of the sole 20 at the transport table 30 and is converted into a position data output.
  • the position sensor 31 can be a read angle sensor.
  • the three-dimensional scanner 40 is disposed on the upper side of the starting end 301 of the transport table 30, so that the three-dimensional scanner 40 scans the contour edge 21 of the top surface 202 of the sole 20 and converts it into a scan data output; in this embodiment,
  • the three-dimensional scanner 40 can be any known three-dimensional measuring device, for example, a triangulation camera using a laser line projection, a 3D laser sensing scanner manufactured by LMI (Gocator sc) Anner);
  • the spraying device 50 includes a mechanical arm 51, a clamp 52, a spray gun 53, and a rubber container 54, wherein the mechanical arm 51 is disposed on the spray section 303 of the transport table 30.
  • the end portion 511 is formed on the upper side of the glue spray segment 303.
  • the clamp 52 is disposed at the end 511 of the mechanical arm 51.
  • the clamp 52 has opposite ends, and a first clamping portion 521 is formed at one end and a second portion is formed at the other end.
  • the clamping portion 522; in the embodiment, the mechanical arm 51 is a multi-axis manipulating arm structure, and preferably a five-axis steering;
  • the spray gun 53 is disposed on the first clamping portion 521 and has a nozzle 531 disposed toward the spray area 22 of the sole 20.
  • the plastic container 54 is disposed on the second clamping portion 522 and has an opening 541 formed toward the spray gun.
  • the setting of the opening 541 of the rubber container 54 is tangentially contacted with the contour edge 21 of the top surface 202 of the sole 20; in the embodiment, the first clamping portion 521 and the second clamping portion 522 of the clamping device 50 of the spraying device 50.
  • the first and second clamping portions 521, 522 are placed by an adjusting bolt 523 and the clamping tightness is adjusted;
  • the computer 60 is electrically connected to the position sensor 31 of the transport table 30, the three-dimensional scanner 40 and the mechanical arm 51 of the spray device 50, so that the computer 60 receives and drives the machine according to the position data and the scan data.
  • the arm 51 drives the spray gun 53 to spray the adhesive A along the spray area 22 of the top surface 20 of the sole 20, and simultaneously drives the opening 541 of the plastic container 54 along the contour edge 21 to hold the adhesive beyond the contour edge 21.
  • the sole 20 placed at the starting end 301 of the transport platform 30 and transporting it to the terminal 302; b. Scanning the top surface 202 of the sole 20 with the three-dimensional scanner 40, and outputting a scan data of the contour edge 21 of the top surface 20 of the sole 20; in the embodiment, the three-dimensional scanner 40 is a fixed three-dimensional triangulation method. Scanning the moving sole 20;
  • the position sensor 31 of the transport table 30 senses the position of the sole 20 at the transport table 20, and converts and outputs a position data
  • the computer 60 determines that the sole 20 is delivered to the glue section 303 of the transport table 30, the computer 60 generates the sole 20 using position data from the position sensor 31 of the transport stage 30 and scan data from the three-dimensional scanner 40.
  • the three-dimensional contour data of the contour edge 21 is formed according to the three-dimensional contour data and the displacement of the end 511 of the mechanical arm 51 to the periphery of the opening 541 of the plastic container 54 in a three-dimensional space to form a motion path for driving the movement of the mechanical arm 51.
  • the robot arm 51 drives the spray gun 53 to spray the adhesive A along the spray area 22 of the top surface 202 of the sole 20 according to the movement path instruction, and the periphery of the opening 541 of the plastic container 54 and the top surface 202 of the sole 20
  • the spray gun 53 sprays the adhesive A beyond the contour edge 21 of the sole 20 by the Sheng.
  • the opening 541 of the glue container 54 is received.
  • the rubber container 54 of the sole adhesive automatic spraying system of the present invention is mainly formed into a cylindrical structure and has a circular opening 541, which is further shaped as As shown in FIG. 5A and FIG. 5B, in the form of a container having a rounded opening and a narrow body width, the plastic container 54 is formed with two tips 542 on the circumference of the opening 541 on the circumference of the opening 541 for one of them.
  • the tip end 542 is in tangential contact with the contour edge 21 of the top surface 202 of the sole 20, and the tip end 542 moves along the contour edge 21; as shown in FIG.
  • the opening 541 of the plastic container 54 is formed into a triangular opening structure.
  • the plastic container 54 is formed with abutment tip 543 at the periphery of the opening 541 thereof, and the body of the plastic container 54 is formed in a container shape corresponding to the abutment tip 543 by a receiving portion 544, and the abutment tip 543 is along the contour
  • the edge 21 moves.
  • the present invention achieves the inside of the contour edge 21 of the top surface 202 of the sole 20 by the above-described automatic adhesive spraying system for the sole adhesive and the spraying method thereof.
  • the adhesive and the adhesive agent A are sprayed on the top of the sole 20 automatically and automatically.
  • the spray area 22 of the face 202 is automatically automated to hold the excess viscous agent A against the contour edge 21 of the sole 20 to ensure the strength of the connection between the upper and the sole 20. And effectively avoiding the purpose of the adhesive A staining the appearance of the sole 20.

Abstract

一种鞋底黏着剂自动化喷洒系统及其方法，其主要是在一机械臂（51）末端设置喷枪（53）及盛胶容器（54），令该喷枪（53）与盛胶容器（54）呈对应形态地设置在鞋底顶面（202）轮廓边线（21）的内外侧，配合计算机（60）读取的鞋底顶面（202）扫描数据及鞋底（20）位置数据，令该喷枪（53）将黏着剂（A）洒于鞋底（20）轮廓边线（21）内侧且略为超出该轮廓边线（21），则该黏着剂（A）喷洒于该鞋底顶面（202）的喷洒区域（22），并使超出该轮廓边线（21）的黏着剂（A）落入该盛胶容器（54）内，达到于鞋底顶面（202）自动化精准上胶以确保其与鞋面的连接结构强度，同时避免黏着剂（A）污损鞋底（20）外观的目的。

Description

鞋底黏着剂自动化喷洒系统及其喷洒方法 技术领域
本发明涉及一种黏着剂喷洒系统及其喷洒方法， 特别是指一种用于将 黏着剂喷洒于鞋底顶面轮廓边线内侧周缘的喷洒系统及其喷洒方法。 背景技术
鞋底的上胶作业是将鞋底贴附于鞋面的部分制程， 如图 1所示， 显示 普通鞋底 10具有一顶面 101及一底面 102，该顶面 101是供与鞋面胶合并 成形有一周缘轮廓线 11，该鞋底 10的周缘轮廓线 11内侧并设有一上胶区 域 12， 供涂布黏着剂后与鞋面胶合组装。
然而，普通鞋底 10上胶主要是利用刷子或布配合人工手动方式涂设在 该上胶区域 12， 如此的人工制作方式并不易于控制黏着剂的用量， 当用量 不足时， 将明显影响鞋面与鞋底 10顶面 102的连接结构强度， 若黏着剂 过多而超出该鞋底 10顶面 102的周缘轮廓线 11，则鞋底 10周侧会形成脏 污影响鞋子整体的美观而只能依赖人工去除， 且黏着剂本身有挥发形成毒 气的风险；
为了解决上述问题， 有相关业者试图以自动化喷洒黏着剂到鞋底的方 式来取代人工操作； 值得注意的是， 即使是以同一模具生产的鞋底， 其尺 寸轮廓仍有些微误差存在， 因此， 即使改良后的现有技术加入机器视觉 (m achine vi sion)来测量各个鞋底的实际边缘轮廓并相应修改喷洒路径因 而克服上述第一个问题；
然而， 上胶用的喷枪并无法精确控制其喷流， 部分黏着剂仍会喷洒在 超出该鞋底 10上胶区域 12之外， 仍无法达到精准地喷洒黏着剂至该上胶 区域 12; 有鉴于此， 本案的目的在于克服这一问题并使得黏着剂精确地涂 在鞋底的边缘。 发明内容 本发明的目的在于提供一种鞋底黏着剂自动化喷洒系统及其方法， 其 主要是在一机械臂末端设置喷枪及盛胶容器， 令该喷枪与盛胶容器呈对应 形态地设置在鞋底顶面轮廓边线的内外侧， 配合计算机读取的鞋底顶面扫 描数据及鞋底位置数据， 令该喷枪将黏着剂喷洒于鞋底轮廓边线内侧且略 为超出该轮廓边线， 则该黏着剂喷洒于该鞋底顶面的喷洒区域， 并使超出 该轮廓边线的黏着剂落入该盛胶容器内， 达到于鞋底顶面自动化精准上 胶， 同时可避免黏着剂污损鞋底外观的目的。
为达上述目的，依据本发明所提供的一种鞋底黏着剂自动化喷洒系统， 其是供将一黏着剂喷洒于一鞋底， 该鞋底成形有一底面及一顶面， 该顶面 周缘成形有一轮廓边线， 该鞋底顶面沿该轮廓边线的内侧设有一喷洒区 域， 其中， 该系统包括： 一输送台， 具有相对的一起始端及一终端， 该两 端之间设有一喷胶段， 令该鞋底由该输送台起始端往终端输送， 且该输送 台设有一位置传感器， 用以感测该鞋底于该输送台的位置并输出一位置数 据； 一三维扫描仪， 是设于该输送台起始端上侧， 令该三维扫描仪扫描该 鞋底顶面的轮廓边线并输出一扫描数据； 一喷洒装置， 包括一机械臂设于 该输送台的喷胶段且成形有一末端位于该喷胶段上侧， 一夹具是设于该机 械臂末端， 该夹具具有相对两端， 一端成形有一第一夹部， 另端成形有一 第二夹部， 该第一夹部设有一喷枪， 该第二夹部设有一盛胶容器， 令该喷 枪的一喷嘴朝向该鞋底喷洒区域设置， 该盛胶容器的一开口朝向该喷枪设 置，且该盛胶容器开口周缘与该鞋底顶面的轮廓边线相切接触；一计算机， 是与该输送台的位置传感器、 该三维扫描仪及该喷洒装置的机械臂电性连 接， 令该计算机接收并根据该位置数据及该扫描数据形成一喷洒路径指令 驱动该机械臂带动该喷枪沿该鞋底顶面的喷洒区域喷洒该黏着剂， 同时带 动该盛胶容器开口沿该轮廓边线移动并盛接超出该轮廓边线的黏着剂。
此外， 依据本发明所提供的一种鞋底黏着剂自动化喷洒系统的喷洒方 法， 该方法步骤包括：
a、 将鞋底置于输送台起始端并往终端输送；
b、以三维扫描仪扫描鞋底顶面，并输出鞋底顶面轮廓边线的一扫描数 据；
C、 计算机读取该扫描数据；
d、以输送台的位置传感器感测鞋底于输送台的位置，并输出一位置数 据；
e、 计算机接收读取该位置数据， 并判断鞋底输送至输送台喷胶段； f、计算机根据该位置数据及该扫描数据输出一运动路径指令驱动机械 臂；
g、机械臂带动喷枪沿鞋底顶面的喷洒区域喷洒黏着剂，且令盛胶容器 开口与鞋底轮廓边线相切接触， 以盛接超出鞋底轮廓边线的黏着剂。
本发明鞋底黏着剂自动化喷洒系统及其方法， 其在鞋底顶面自动化精 准上胶以确保其与鞋面的链接结构强度， 同时避免黏着剂污损鞋底外观的
附图说明
图 1普通鞋底顶面周缘轮廓线及上胶区域示意图；
图 2本发明鞋底黏着剂自动化喷洒系统的整体架构示意图； 图 3本发明自动化喷洒系统的喷洒状态侧视示意图；
图 4本发明自动化喷洒系统的喷洒状态前视示意图；
图 5A本发明盛胶容器的另一实施态样示意图；
图 5B 本发明图 5A盛胶容器的立体结构示意图；
图 5C 本发明盛胶容器的再一实施态样立体结构示意图；
图 6本发明鞋底黏着剂喷洒方法的流程示意图。
附图标记说明
10是鞋底 101是顶面
102是底面 11是周缘轮廓线
12是上胶区域
A是黏着剂
20是鞋底 201是底面 202是顶面 21是轮廓边线
22是喷洒区域
30是输送台 301是起始端
302是终端 303是喷胶段
31是位置传感器
40是三维扫描仪
50是喷洒装置 51是机械臂
511是末端 52是夹具
521是第一夹部 522是第二夹部
523是调整栓 53是喷枪
531是喷嘴 54是盛胶容器
541是开口 542是尖端
543是靠置尖端 544是盛接部
具体实施方式
首先， 以图 2配合图 3、 4说明， 本发明所提供一种鞋底黏着剂自动化 喷洒系统的较佳实施例， 该系统主要是供将一黏着剂 A喷洒于一鞋底 20， 该鞋底 20是如图 2所示， 成形有一底面 201及一顶面 202， 该顶面 202周 缘成形有一轮廓边线 21，且该鞋底 20顶面 202沿该轮廓边线 21的内侧设 有一喷洒区域 22 ; 该系统主要包括一输送台 30、 一三维扫描仪 40、 一喷 洒装置 50及一计算机 60， 其中：
该输送台 30， 如图 2所示， 具有相对的一起始端 301及一终端 302， 该两端之间设有一喷胶段 303， 令该鞋底 20由该输送台 30起始端 301往 终端 302输送， 且该输送台 30设有一位置传感器 31， 用以感测该鞋底 20 于该输送台 30 的位置并转换为一位置数据输出； 于本实施例中， 该位置 传感器 31可为一读角传感器或为一读数编码器； 该三维扫描仪 40， 是设于该输送台 30起始端 301上侧， 令该三维扫 描仪 40扫描该鞋底 20顶面 202的轮廓边线 21并转换为一扫描数据输出； 于本实施例中， 该三维扫描仪 40 可为任何已知的三维测量装置， 例如， 使用雷射投影的三角测量摄影机（triangulation camera using a laser line projection)、 由 LMI 公司生产的 3D雷射感测扫描仪（Gocator sc anner)；
该喷洒装置 50， 如图 2至 4所示， 包括一机械臂 51、 一夹具 52、 一 喷枪 53及一盛胶容器 54， 其中， 该机械臂 51设于该输送台 30的喷胶段 303且成形有一末端 511位于该喷胶段 303上侧，该夹具 52是设于该机械 臂 51末端 511， 该夹具 52具有相对两端， 一端成形有一第一夹部 521， 另端成形有一第二夹部 522; 于本实施例中， 该机械臂 51为多轴操纵的机 械臂结构， 且较佳为五轴操纵；
该喷枪 53是设于该第一夹部 521， 且具有一喷嘴 531朝向该鞋底 20 喷洒区域 22设置， 该盛胶容器 54是设于该第二夹部 522， 并成形有一开 口 541朝向该喷枪 53设置， 该盛胶容器 54开口 541周缘与该鞋底 20顶 面 202的轮廓边线 21相切接触； 于本实施例中， 该喷洒装置 50夹具 52 的第一夹部 521及第二夹部 522是成形为 C形夹口结构， 令该第一、 第二 夹部 521、 522为一调整栓 523穿置并调整其夹持紧度；
该计算机 60， 是与该输送台 30 的位置传感器 31、 该三维扫描仪 40 及该喷洒装置 50的机械臂 51 电性连接， 令该计算机 60接收并根据该位 置数据及该扫描数据驱动该机械臂 51带动该喷枪 53沿该鞋底 20顶面 20 2的喷洒区域 22喷洒该黏着剂 A, 同时带动该盛胶容器 54开口 541沿该 轮廓边线 21移动并盛接超出该轮廓边线 21的黏着剂 A。
以上所述即为本发明实施例主要构件及其组态说明， 至于本发明较佳 实施例的喷洒方式及其功效， 做以下说明。
请以图 2配合参阅图 6观之， 说明本发明鞋底黏着剂自动化喷洒系统 的喷洒方法， 该方法步骤是如下所述：
a、 将该鞋底 20置于该输送台 30起始端 301并往该终端 302输送； b、 以三维扫描仪 40扫描鞋底 20顶面 202， 并输出该鞋底 20顶面 20 2轮廓边线 21的一扫描数据； 于本实施例中， 该三维扫描仪 40是以固定 的三维三角测量方法扫描该移动的鞋底 20;
c、 由该计算机 60读取该扫描数据；
d、以该输送台 30的位置传感器 31感测该鞋底 20于该输送台 20的位 置， 并转换输出一位置数据；
e、 由该计算机 60 读取该位置数据， 并依该位置数据判断该鞋底 20 是否输送至输送台 30的喷胶段 303， 若鞋底 20未到达该喷胶段 303， 则 回到上一步骤 d继续感测该鞋底 20的位置；
f、当该计算机 60判断该鞋底 20输送至该输送台 30的喷胶段 303时， 该计算机 60利用来自输送台 30位置传感器 31的位置数据和来自三维扫 描仪 40的扫描数据产生该鞋底 20轮廓边线 21的三维轮廓数据， 并依该 三维轮廓数据以及该机械臂 51末端 51 1至该盛胶容器 54开口 541周缘在 三维空间的偏移量， 形成驱动该机械臂 51移动的一运动路径指令；
g、 该机械臂 51依据该运动路径指令带动该喷枪 53沿该鞋底 20顶面 202的喷洒区域 22喷洒该黏着剂 A, 且令该盛胶容器 54开口 541周缘与 该鞋底 20顶面 202的轮廓边线 21相切接触， 则该盛胶容器 54为该机械 臂 51同时带动而开口 541周缘沿该轮廓边线 21移动时， 该喷枪 53喷洒 超出该鞋底 20轮廓边线 21的黏着剂 A被该盛胶容器 54开口 541承接。
另外， 请以图 4配合图 5A至 5C观之， 本发明鞋底黏着剂自动化喷洒 系统的盛胶容器 54主要成形为圆柱形结构， 且具有呈圆形的开口 541， 该 开口 541另得以成形如图 5A、 5B所示， 为具有楕圆开口且开口窄身部宽 的容器形态， 则该盛胶容器 54于其开口 541周缘成形有位于楕圆长轴上 的二尖端 542， 供以其中一尖端 542与该鞋底 20顶面 202的轮廓边线 21 相切接触， 且该尖端 542沿该轮廓边线 21移动； 又如图 5C所示， 该盛胶 容器 54开口 541成形为三角开口结构， 该盛胶容器 54于其开口 541周缘 成形有一靠置尖端 543，且该盛胶容器 54身部对应该靠置尖端 543凸出成 形有一盛接部 544的容器形态， 且该靠置尖端 543沿该轮廓边线 21移动。 综上所述，本发明通过上述鞋底黏着剂自动化喷洒系统及其喷洒方法， 达到在鞋底 20顶面 202轮廓边线 21内侧， 自动化且位置、 用量皆精确地 将黏着剂 A喷洒于该鞋底 20顶面 202的喷洒区域 22内， 并得以自动化地 将该盛胶容器 54开口 541靠抵于鞋底 20轮廓边线 21盛接多余的黏着剂 A, 达到确保鞋面与鞋底 20之间连接结构的强度， 并有效避免黏着剂 A污损 鞋底 20外观的目的。

Claims

权利要求书
1、 一种鞋底黏着剂自动化喷洒系统， 是供将一黏着剂喷洒于一鞋底， 该鞋底成形有一底面及一顶面， 该顶面周缘成形有一轮廓边线， 该鞋底顶 面沿该轮廓边线的内侧设有一喷洒区域， 其特征在于： 该系统包括：
一输送台，具有相对的一起始端及一终端，该两端之间设有一喷胶段， 令该鞋底由该输送台起始端往终端输送， 且该输送台设有一位置传感器， 用以感测该鞋底于该输送台的位置并输出一位置数据；
一三维扫描仪， 是设于该输送台起始端上侧， 令该三维扫描仪扫描该 鞋底顶面的轮廓边线并输出一扫描数据；
一喷洒装置， 包括一机械臂设于该输送台的喷胶段且成形有一末端位 于该喷胶段上侧， 一夹具是设于该机械臂末端， 该夹具具有相对两端， 一 端成形有一第一夹部， 另端成形有一第二夹部， 该第一夹部设有一喷枪， 该第二夹部设有一盛胶容器， 令该喷枪的一喷嘴朝向该鞋底喷洒区域设 置， 该盛胶容器的一开口朝向该喷枪设置， 且该盛胶容器开口周缘与该鞋 底顶面的轮廓边线相切接触；
一计算机， 是与该输送台的位置传感器、 该三维扫描仪及该喷洒装置 的机械臂电性连接， 令该计算机接收并根据该位置数据及该扫描数据形成 一喷洒路径指令驱动该机械臂带动该喷枪沿该鞋底顶面的喷洒区域喷洒 该黏着剂， 同时带动该盛胶容器开口沿该轮廓边线移动并盛接超出该轮廓 边线的黏着剂。
2、如权利要求 1所述的鞋底黏着剂自动化喷洒系统， 其特征在于： 该 喷洒装置的盛胶容器成形为圆柱形结构， 且该开口成形为圆形开口。
3、如权利要求 1所述的鞋底黏着剂自动化喷洒系统， 其特征在于： 该 喷洒装置的盛胶容器开口成形为楕圆开口结构， 且该盛胶容器于其开口周 缘成形有位于楕圆长轴上的二尖端， 令该盛胶容器以其中一尖端与该鞋底 顶面的轮廓边线相切接触。
4、如权利要求 1所述的鞋底黏着剂自动化喷洒系统， 其特征在于： 该 喷洒装置的盛胶容器开口成形为三角开口结构， 该盛胶容器于其开口周缘 成形有一靠置尖端， 且该盛胶容器身部对应该靠置尖端凸出成形有一盛接 部。
5、如权利要求 1所述的鞋底黏着剂自动化喷洒系统， 其特征在于： 该 喷洒装置夹具的第一夹部及第二夹部是成形为 C形夹口结构， 令该第一、 第二夹部为一调整栓穿置并调整其夹持紧度。
6、一种鞋底黏着剂自动化喷洒系统的喷洒方法， 其特征在于： 该方法 包含如下步骤：
a、 将该鞋底置于该输送台起始端并往该终端输送；
b、以该三维扫描仪扫描该鞋底顶面轮廓边线，并输出该轮廓边线的一 扫描数据；
c、 该计算机接收读取该扫描数据；
d、以该输送台的位置传感器感测该鞋底于该输送台的位置并输出一位 置数据；
e、该计算机接收读取该位置数据，并根据该位置数据判断鞋底是否输 送至该输送台的喷胶段；
f、当该计算机判断该鞋底输送至该输送台的喷胶段， 即根据该位置数 据及该扫描数据输出一运动路径指令驱动该机械臂；
g、该机械臂带动该喷枪沿该鞋底顶面的喷洒区域喷洒该黏着剂，且令 该盛胶容器开口与该鞋底轮廓边线相切接触， 以盛接超出该轮廓边线的黏 着剂。
7、如权利要求 6所述的喷洒方法， 其特征在于： 该喷洒装置的盛胶容 器是成形为圆柱形结构， 且该开口成形为圆形开口。
8、如权利要求 6所述的喷洒方法， 其特征在于： 该喷洒装置的盛胶容 器开口成形为楕圆开口结构， 且该盛胶容器于其开口周缘成形有位于楕圆 长轴上的二尖端， 令该盛胶容器以其中一尖端与该鞋底顶面的轮廓边线相 切接触， 且该尖端沿该轮廓边线移动。
9、如权利要求 6所述的喷洒方法， 其特征在于： 该喷洒装置的盛胶容 器开口成形为三角开口结构， 该盛胶容器于其开口周缘成形有一靠置尖 端， 且该盛胶容器对应该靠置尖端凸出成形有一盛接部， 且该靠置尖端沿 该轮廓边线移动。
10、 如权利要求 6所述的喷洒方法， 其特征在于： 该计算机利用来自 输送台位置传感器的位置数据和来自三维扫描仪的扫描数据产生该鞋底 轮廓边线的三维轮廓数据， 并依该三维轮廓数据以及该机械臂末端至该盛 胶容器开口周缘在三维空间的偏移量， 形成驱动该机械臂移动的该运动路 径指令。
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