WO2015180016A1 - 鞋底粘着剂自动化喷洒系统及其喷洒方法 - Google Patents

鞋底粘着剂自动化喷洒系统及其喷洒方法 Download PDF

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Publication number
WO2015180016A1
WO2015180016A1 PCT/CN2014/078413 CN2014078413W WO2015180016A1 WO 2015180016 A1 WO2015180016 A1 WO 2015180016A1 CN 2014078413 W CN2014078413 W CN 2014078413W WO 2015180016 A1 WO2015180016 A1 WO 2015180016A1
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WO
WIPO (PCT)
Prior art keywords
sole
spray
adhesive
coating
top surface
Prior art date
Application number
PCT/CN2014/078413
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
杨昌镇
许千昱
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/CN2014/078413 priority Critical patent/WO2015180016A1/zh
Priority to MX2016015493A priority patent/MX2016015493A/es
Priority to DE112014006703.2T priority patent/DE112014006703T5/de
Priority to US15/314,076 priority patent/US20170202317A1/en
Publication of WO2015180016A1 publication Critical patent/WO2015180016A1/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
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
    • A43D111/00—Shoe machines with conveyors for jacked shoes or for shoes or shoe parts
    • 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
    • B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
    • 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
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
    • 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

Definitions

  • the present invention relates to a sole adhesive spraying system and a spraying method thereof, and more particularly to a spraying system for automatically spraying an adhesive onto the inner periphery of a contour line of a top surface of a sole and a spraying method thereof.
  • 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 glue application area 12 for gluing and assembling the adhesive after the adhesive is applied.
  • the sizing operation of the sole 10 is generally applied to the sizing area 12 by manually holding a tool such as a brush or a cloth impregnated with a glue.
  • the conventional manual coating method is easy to handle the coating amount of the adhesive.
  • the coating amount is insufficient, the bonding strength between the upper surface and the bottom surface 102 of the sole 10 is remarkably lowered to be easily separated, and when the coating amount is excessive, The excess adhesive is easy to overflow out of the peripheral contour 11 of the top surface 101 of the sole 10 when the upper and the sole 10 are press-bonded, and forms a stain on the peripheral side of the sole 10 that affects the overall appearance of the shoe.
  • the manual removal of the glue marks leads to an increase in the process and the overall manufacturing cost.
  • the adhesive itself is solidified by the volatile chemicals, which will cause the volatile chemicals to form a poison gas that is easily inhaled by the workers. Go ahead and overcome.
  • the technical problem to be solved by the present invention is to provide an adhesive spraying system and a spraying method thereof.
  • the spray gun and the coating tool are disposed by providing a spray gun and a coating tool at the end of a mechanical arm.
  • the spray gun and the coating tool are respectively disposed on the inner side and the outer side of the contour line of the top surface of the sole, and the scanning data of the top surface of the sole and the position information of the sole are read by the computer, so that the spray gun sprays the adhesive on the contour edge.
  • the inside is slightly beyond the contour edge, so that most of the adhesive is sprayed on the spray area of the top surface of the sole, and a small portion of the adhesive beyond the contour edge is attached to and absorbed by the coating tool.
  • the top surface is automatically and precisely sized, and the coating tool is used to block and absorb the adhesive which may exceed the contour of the top surface of the sole, to prevent the adhesive from being sprayed beyond the contour line and to avoid excessive coating, which may cause the glue to smudge the sole appearance.
  • the effect, and the application of the tool to the top surface of the sole has a more uniform application of the adhesive to the periphery of the top contour line, increasing the bond strength between the sole and the upper.
  • the present invention provides an automatic spray system for a sole adhesive for spraying an adhesive on a sole, the sole is formed with a bottom surface and a top surface, and the top surface of the top surface is formed in a three-dimensional shape and higher than a contoured edge of the concave top surface, defining a top surface of the sole along the inner edge of the contour edge as a coating area, and an annular area at an inner edge of the coating area is a spraying area; wherein 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, the sole is conveyed from the starting end of the conveying platform 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 on an upper side of the starting end of the conveying table, so that the three-dimensional scanner scans a contour edge of the top surface of the sole and outputs a scan data;
  • a spraying device comprising a mechanical arm disposed on the spray section of the conveying table and having an end formed on an upper side of the spray section, a connecting member disposed at an end of the mechanical arm, the connecting piece having opposite ends, one end forming a first assembly portion is formed at the other end, and a second assembly portion is formed.
  • the first assembly portion is provided with a spray gun
  • the second assembly portion is provided with a coating tool for aligning a nozzle of the spray gun with the coating.
  • the central spray of the tool causes the spray range of the spray gun to fall and overlap with the application area and the spray area of the top surface of the sole and slightly beyond the outer edge of the contour line, and the application tool coating portion end and the sole
  • the coated area of the top surface contacts and is in tangential contact with the contour edge;
  • a computer is electrically connected to the position sensor of the transport table, the three-dimensional scanner and the mechanical arm of the spray device, so that the computer receives and forms a spray path command according to the position data and the scan data to drive the machine
  • the arm drives the spray gun to spray the adhesive along the inner edge of the top edge of the sole to the coating area and the spray area, and simultaneously drives the coating tool coating portion to move along the coating area and absorb the adhesion beyond the contour edge. Agent.
  • the application area of the sole is reduced by about 2 to 3 mm from the inner edge of the contour edge.
  • An annular region, and the coating tool is a brush structure, and the coating portion is composed of bristles or sponges.
  • a method for spraying a sole adhesive automatic spraying system includes:
  • the computer receives and reads the scanned data
  • the position sensor of the conveying table senses the position of the sole on the conveying table and outputs a position data corresponding to the scanned data of the three-dimensional scanner; e. the computer Receiving and reading the location data, and determining, according to the location data, whether the sole is delivered to the glue segment of the delivery platform, and if the sole does not reach the glue segment, returning to the previous step d to continue sensing the position of the sole;
  • the mechanical arm drives the spray gun to spray the adhesive along the contour edge of the top surface of the sole, and the coating tool coating portion is in contact with the sole application region and is in tangential contact with the contour edge to absorb beyond An adhesive of the outline is applied, and the coated area is coated with the absorbed adhesive by contact with the coating portion.
  • FIG. 1 is a schematic view of a contour line and an upper area of a top surface of a common sole.
  • FIG. 2 is a schematic view showing the overall structure of the sole spray adhesive automatic spraying system of the present invention.
  • Figure 3 is a perspective view showing the state of use of the spray device and the sole of the present invention.
  • Fig. 4 is a partially enlarged schematic view showing the state of use of the spray device and the sole of the present invention.
  • Fig. 5 is a schematic view showing the state in which the spray device and the sole of the cross section of the present invention are used.
  • Fig. 6 is a schematic view showing the state in which the spray device and the sole of the longitudinal section of the present invention are used.
  • Fig. 7 is a schematic view showing the spray device of the cross section sole of the present invention in cooperation with the sponge and the sole.
  • Fig. 8 is a flow chart showing the method of spraying the sole adhesive of the present invention. detailed description
  • the sole 20 is formed with a bottom surface 201 and a top surface 202 as shown in FIG. 2 and FIG. 3.
  • the top surface 202 is formed with a three-dimensional shape and a contour edge 21 higher than the concave top surface 202, wherein
  • the annular region of the top surface 202 of the sole 20 along the inner edge of the contour edge 21 is about 2 to 3 mm, and the annular region of the inner edge of the coating region 22 is a spraying region 23, and
  • the spray area 23 can adjust the width of the annular area according to actual production requirements.
  • the system mainly includes a transport stand 30, a three-dimensional scanner 40, a spray 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 spray section 303 is disposed between the two ends, so that the sole 20 is transported from the starting end 301 of the transporting station 30 to the terminal 302.
  • the position sensor 31 is provided with a position sensor 31 for sensing the position of the sole 20 at the transport table 30 and converting it into a position data output.
  • the position sensor 31 can be a read angle sensor or a reading encoder;
  • the three-dimensional scanner 40 is disposed on the upper side of the starting end 301 of the transporting 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 scanned 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 l ine projection, a 3D laser sensing scanner (Gocator) manufactured by LMI Corporation.
  • the spraying device 50 as shown in FIG. 2, FIG. 3, FIG. 5 and FIG.
  • the mechanical arm 51 includes a mechanical arm 51, a connecting member 52, a spray gun 53, and a coating tool 54, wherein the mechanical arm 51
  • the connecting portion 511 is disposed at the upper end of the spray arm segment 303
  • the connecting member 52 is disposed at the end 511 of the mechanical arm 51.
  • the connecting member 52 has opposite ends and one end is formed.
  • the mechanical arm 51 is a multi-axis operated mechanical arm structure, and preferably has a five-axis operation.
  • the spray gun 53 is disposed on the first assembly portion 521 and has a nozzle 531 aligned with the center of the coating tool 54 to spray the spray gun 53 to the spray surface of the sole 20 and the top surface 202 of the sole 20
  • the region 22 and the spray region 23 overlap and slightly extend beyond the outer edge of the contour line 21.
  • the coating tool 54 is disposed on the second assembly portion 522 and has a coating portion 541 disposed opposite to the spray gun 53.
  • the coating tool 54 is configured to block the excess adhesive A that is absorbed beyond the contour edge 21 of the sole 20, and the absorbed adhesive A is concentrated and applied to the application area 22 of the sole 20; in this embodiment, the coating The tool 54 may be a brush having a straight rod, and the purpose of blocking and absorbing the spray-like adhesive A is achieved by forming the coating portion 541 at the end of the straight rod in the form of the bristles of Figs. 2 to 6 or the sponge of Fig. 7 .
  • the nozzle 531 of the spray gun 53 is preferably aligned toward the center of the coating portion 541; the coater The end of the coated portion 541 is in contact with the coated region 22 of the top surface 202 of the sole 20 and is in tangential contact with the contoured edge 21.
  • the first assembly portion 521 of the connecting member 52 of the spraying device 50 is formed into a C-shaped jaw structure for clamping the spray gun 53, and is adjusted for the clamping tightness of an adjusting bolt 523.
  • the second assembly portion 522 is formed into a straight rod structure for pivoting the end of the coating tool 54 so that the second assembly portion 522 and the coating tool 54 are pivoted by an adjusting bolt 524 for The relative position of the spray gun 53 to the application portion 541 of the application tool 54 is adjusted to ensure that the nozzle 531 of the spray gun 53 is sprayed toward the application portion 541.
  • the coating portion 541 of the coating tool 54 may be directly disposed at the end of the straight rod-shaped second assembly portion 522, or may be disposed on the second assembly portion 522 by other connecting members. End.
  • 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 according to the position data and the scan data.
  • the robot arm 51 drives the spray gun 53 to spray the adhesive A to the coating area 22 and the spray area 23 along the inner edge of the contour edge 21 of the top surface 202 of the sole 20, and simultaneously drives the coating tool 54 to apply the coating portion 541 along the coating.
  • the application zone 22 moves and absorbs the adhesive eight beyond the contoured edge 21.
  • the sole 20 is placed at the starting end 301 of the transport table 30 and transported to the terminal 302; b.
  • the top surface 202 of the sole 20 is scanned by the three-dimensional scanner 40, and a scan of the contour edge 21 of the top surface 202 of the sole 20 is output.
  • the three-dimensional scanner 40 scans the moving sole 20 by a fixed three-dimensional triangulation method;
  • the position sensor 31 of the transport table 30 senses the position of the sole 20 at the transport table 20, and converts the output to correspond to the scanned data of the three-dimensional scanner 40.
  • the location data is read by the computer 60, and according to the location data, whether the sole 20 is delivered to the glue section 303 of the delivery table 30, and if the sole 20 does not reach the glue section 303, return to the previous step. d continues to sense the position of the sole 20;
  • 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 three-dimensional contour data of the contour edge 21 of the sole 20 by using the position data from the position sensor 31 of the conveying table 30 and the scanned data from the three-dimensional scanner 40, and according to the three-dimensional contour data and the end 511 of the robot arm 51. Up to the offset of the end of the coating portion 541 of the coating tool 54 in three-dimensional space, forming a motion path command for driving the movement of the robot arm 51;
  • the robot arm 51 drives the spray gun 53 to spray the adhesive A along the contour edge 21 of the top surface 202 of the sole 20 according to the movement path instruction, and the end of the coating tool 54 and the sole 20 of the coating tool 54
  • the coating tool 54 sprays the spray gun 53 when the mechanical arm 51 is simultaneously driven and the end of the coating portion 541 moves along the contour edge 21.
  • the adhesive A exceeding the contour side line 21 of the sole 20 is stopped by the application portion 541 of the coating tool 54, and the application region 22 is coated with the absorbed adhesive A via contact with the coating portion 541.
  • the present invention achieves the inside of the contour edge 21 of the top surface 202 of the sole 20 through the above-described sole adhesive automatic spraying system and the spraying method thereof.
  • the adhesive is sprayed onto the sole 20 accurately and in position and in the amount.
  • the spray area 23 of the top surface 202 is automatically and the coating tool 541 is applied to the inner edge of the contour edge 21 of the sole 20 to prevent the excess adhesive A from being absorbed, thereby preventing the adhesive A from being sprayed beyond the contour edge.
  • 21 and avoiding the effect of excessive coating amount causing spillage to stain the appearance of the sole 20, and contacting the top surface 202 of the sole 20 by the applicator tool 54 has a more uniform application of the adhesive A to the contour edge of the top surface 202. 21 weeks, increasing the bonding strength between the sole and the upper. List of reference signs
  • Spraying device 50 Arm 51 End 511 Connecting piece 52 First set of parts 521 Second set part 522 Adjusting pin 523 Adjusting pin 524 Spray gun 53 Nozzle 531 Application tool 54 Coating part 541 Computer 60

Abstract

一种鞋底粘着剂自动化喷洒系统及其喷洒方法，其是通过在一机械臂末端设置喷枪及涂敷工具，令喷枪与涂敷工具位于喷胶路径上，且喷枪与涂敷工具分别设置在鞋底顶面轮廓边线的内侧及外侧，配合电脑读取的鞋底顶面扫描资料及鞋底位置资料，令喷枪的粘着剂喷洒区域略为超出鞋底顶面轮廓边线地与鞋底顶面上胶区域重迭，使大部分粘着剂喷洒于该上胶区域，而少部分超出该轮廓边线的粘着剂则被涂敷工具挡止并吸收，藉此达到鞋底自动化精准上胶、避免粘着剂溢胶污损鞋底外观以及均匀涂抹粘着剂增加鞋底与鞋面的粘结强度等技术功效。

Description

鞋底粘着剂自动化喷洒系统及其喷洒方法 技术领域
本发明涉及鞋底粘着剂喷洒系统及其喷洒方法， 特别是指一种将粘着 剂自动化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， 供涂布粘着剂后与鞋面胶合组装。
其中，鞋底 10的上胶作业一般是通过人工握持刷子或布等含浸粘胶的 工具将粘着剂涂布在该上胶区域 12上。然而， 普通人工涂布的方式并易顾 制粘着剂的涂布量， 当涂布量不足， 鞋面与鞋底 10底面 102粘结强度将明 显降低而易于分离， 而当涂布量过多， 则多余的粘着剂易在鞋面与鞋底 10 压合粘结时溢胶至鞋底 10顶面 101的周缘轮廓线 11之外，在鞋底 10周侧 形成影响鞋子整体美观的脏污， 不仅需要也只能以人工清除该些溢胶痕迹 导致增加工序及整体制造成本， 同时， 粘着剂本身通过挥发化学物质而固 化， 溢胶将使该些挥发化学物质将形成易为工人吸入的毒气， 而有待进一 歩克服。
为了解决上述问题， 有相关业者试图以自动化喷洒粘着剂到鞋底的方 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， 虽可通过加入机器视觉（machine vision)来测 量各个鞋底的实际边缘轮廓， 供电脑程式相应修改喷洒路径而克服前述尺 寸轮廓所造成的技术问题； 然而， 上胶用喷枪因无法精确控制其喷流， 而 难以精准地将粘着剂仅喷洒在鞋底 10的上胶区域 12 内， 换言之， 由喷枪 喷出的粘着剂仍有部分会喷洒超出至鞋底 10上胶区域 12之外， 而末能有 效克服溢胶所导致的缺失。 发明内容
本发明所要解决的技术问题在于提供一种粘着剂喷洒系统及其喷洒方 法， 通过在一机械臂末端设置喷枪及涂敷工具， 令该喷枪与涂敷工具位于 喷胶路径上， 且该喷枪与涂敷工具分别设置在鞋底顶面轮廓边线的内侧及 外侧， 配合电脑读取的鞋底顶面扫描资料及鞋底位置资料， 令该喷枪将粘 着剂喷洒于轮廓边线内侧且略为超出该轮廓边线， 使大部分粘着剂喷洒于 该鞋底顶面的喷洒区域， 而少部分超出该轮廓边线的粘着剂则附着在该涂 敷工具并为其吸收， 本发明除了达到鞋底顶面自动化精准上胶， 通过该涂 敷工具挡止及吸收可能超出鞋底顶面轮廓线的粘着剂， 具有避免粘着剂喷 洒超出轮廓线以及避免涂布量过多导致溢胶而污损鞋底外观的功效， 且通 过涂敷工具与该鞋底顶面接触， 具有使粘着剂更均匀地涂抹在顶面轮廓线 周缘， 增加鞋底与鞋面的粘结强度。
为解决上述问题， 本发明所提供一种鞋底粘着剂自动化喷洒系统， 供 将一粘着剂喷洒于一鞋底， 该鞋底成形有一底面及一顶面， 该顶面周缘成 形有一具三维形态且高于凹陷状顶面的轮廓边线， 定义该鞋底顶面沿该轮 廓边线内缘下陷环形区域为一涂敷区域， 且位于该涂敷区域内缘的环形区 域为一喷洒区域； 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感测器， 用以感测该鞋底于该输送台的位置并输出一位置资料；
一三维扫描器， 是设于该输送台起始端上侧， 令该三维扫描器扫描该 鞋底顶面的轮廓边线并输出一扫描资料；
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， 一连接件是设于该机械臂末端， 该连接件具有相对两端， 一端成形有一第一组设部， 另端成形有一第二组设部， 该第一组设部设有 一喷枪， 该第二组设部设有一涂敷工具， 令该喷枪的一喷嘴对准该涂敷工 具中央喷洒， 使该喷枪喷流落下的喷洒范围与该鞋底顶面的涂敷区域及喷 洒区域重迭且略为超出至该轮廓线外缘， 且该涂敷工具涂敷部端部与该鞋 底顶面的涂敷区域接触并与该轮廓边线相切接触；
一电脑， 是与该输送台的位置感测器、 该三维扫描器及该喷洒装置的 机械臂电性连接， 令该电脑接收并根据该位置资料及该扫描资料形成一喷 洒路径指令驱动该机械臂带动该喷枪沿该鞋底顶面轮廓边线内缘喷洒该粘 着剂至该涂敷区域及该喷洒区域， 同时带动该涂敷工具涂敷部沿该涂敷区 域移动并吸收超出该轮廓边线的粘着剂。
较佳的， 该鞋底的涂敷区域是自该轮廓边线内缘内缩约 2至 3毫米的 环形区域， 且该涂敷工具为刷具结构， 该涂敷部为刷毛或海棉构成。
此外， 依据本发明所提供的一种鞋底粘着剂自动化喷洒系统的喷洒方 法， 该方法歩骤包括：
a、 将该鞋底置于该输送台起始端并往该终端输送；
b、 以该三维扫描器扫描该鞋底顶面轮廓边线， 并输出该轮廓边线的一 扫描资料；
c、 该电脑接收读取该扫描资料；
d、在每次该三维扫描器扫描时， 以该输送台的位置感测器感测该鞋底 于该输送台的位置并输出一与该三维扫描器扫描资料对应的位置资料； e、 该电脑接收读取该位置资料， 并根据该位置资料判断鞋底是否输送 至该输送台的喷胶段， 若鞋底未到达该喷胶段， 则回到上一歩骤 d继续感 测该鞋底的位置；
f、 当该电脑判断该鞋底输送至该输送台的喷胶段， 即根据该位置资料 及该扫描资料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轮廓边线喷洒该粘着剂， 且令 该涂敷工具涂敷部与该鞋底涂敷区域接触并与该轮廓边线相切接触， 以吸 收超出该轮廓边线的粘着剂， 且该涂敷区域经由与涂敷部接触而涂敷被吸 收的粘着剂。 附图说明
图 1是普通鞋底顶面周缘轮廓线及上区域示意图。
图 2是本发明鞋底粘着剂自动化喷洒系统的整体架构示意图。
图 3是本发明喷洒装置与鞋底的使用状态立体示意图。
图 4是本发明喷洒装置与鞋底的使用状态局部放大示意图。
图 5是本发明横剖视鞋底的喷洒装置与鞋底使用状态示意图。
图 6是本发明纵剖视鞋底的喷洒装置与鞋底使用状态示意图。
图 7是本发明横剖视鞋底的喷洒装置以海棉与鞋底配合使用示意图。 图 8是本发明鞋底粘着剂喷洒方法的流程示意图。 具体实施方式
首先， 请配合参阅图 2至图 7所示， 说明本发明鞋底粘着剂自动化喷 20， 该鞋底 20如图 2、 图 3所示， 成形有一底面 201及一顶面 202， 该顶 面 202周缘成形有一具三维形态且高于凹陷状顶面 202的轮廓边线 21， 其 中， 定义该鞋底 20顶面 202沿该轮廓边线 21内缘下陷距离 D约 2至 3毫 米的环形区域为一涂敷区域 22，且位于该涂敷区域 22内缘的环形区域为一 喷洒区域 23，于本实施例中，该喷洒区域 23可视实际制作需求调整环形区 域的宽度； 该系统主要包括一输送台 30、一三维扫描器 40、一喷洒装置 50 及一电脑 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设有一位置感测器 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资料输出； 于本实施例中， 该位置感测 器 31可为一读角感测器或为一读数编码器；
该三维扫描器 40，是设于该输送台 30起始端 301上侧，令该三维扫描 器 40扫描该鞋底 20顶面 202的轮廓边线 21并转换为一扫描资料输出；于 本实施例中， 该三维扫描器 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 l ine projection)、 由 LMI 公司生产的 3D雷射感测扫描器（Gocator scanner)； 该喷洒装置 50， 如图 2、 图 3、 图 5、 图 6所示， 包括一机械臂 51、 一 连接件 52、 一喷枪 53及一涂敷工具 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，该连接件 52 是设于该机械臂 51末端 511，该连接件 52具有相对两端，一端成形有一第 一组设部 521， 另端成形有一第二组设部 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是设于该第一组设部 521， 且具有一喷嘴 531对准该涂敷工 具 54中央喷洒， 以令该喷枪 53喷流落下的喷洒范围与该鞋底 20顶面 202 的涂敷区域 22及喷洒区域 23重迭且略为超出至该轮廓线 21外缘，该涂敷 工具 54是设于该第二组设部 522，并具有一涂敷部 541与该喷枪 53相对设 置，该涂敷工具 54用以挡止吸收超出鞋底 20轮廓边线 21的多余粘着剂 A, 并将吸收的粘着剂 A集中转而涂敷于鞋底 20涂敷区域 22 ; 于本实施例中， 该涂敷工具 54可为具有直杆的刷具， 通过以图 2至图 6的刷毛形态或图 7 的海棉在直杆末端构成该涂敷部 541，达到挡止并吸收喷雾状粘着剂 A的目 的， 且该喷枪 53喷嘴 531较佳朝向该涂敷部 541中央对准设置； 该涂敷工 具 54涂敷部 541端部与该鞋底 20顶面 202的涂敷区域 22接触并与该轮廓 边线 21相切接触。
于本实施例中，该喷洒装置 50连接件 52的第一组设部 521是成形为 C 形夹口结构供夹持该喷枪 53， 并为一调整栓 523穿置调整其夹持紧度， 该 第二组设部 522成形为直杆结构供末端与该涂敷工具 54枢接，令该第二组 设部 522与该涂敷工具 54组接处通过一调整栓 524枢结，用以调整其该喷 枪 53与该涂敷工具 54涂敷部 541的相对位置， 藉以确保喷枪 53喷嘴 531 对准涂敷部 541喷洒。 另， 该涂敷工具 54的涂敷部 541可直接组设于该直 杆状第二组设部 522末端， 或者， 另通过其他连结件与该第二组设部 522 组接而设置于其末端。
该电脑 60， 是与该输送台 30的位置感测器 31、 该三维扫描器 40及该 喷洒装置 50的机械臂 51电性连接，令该电脑 60接收并根据该位置资料及 该扫描资料驱动该机械臂 51带动该喷枪 53沿该鞋底 20顶面 202的轮廓边 线 21内缘喷洒该粘着剂 A至涂敷区域 22、 喷洒区域 23， 同时带动该涂敷 工具 54涂敷部 541沿该涂敷区域 22移动并吸收超出该轮廓边线 21的粘着 剂八。
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， 说明本发明鞋底粘着剂自动化喷洒系统 的喷洒方法， 该方法歩骤如下所述：
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、 以三维扫描器 40扫描鞋底 20顶面 202， 并输出该鞋底 20顶面 202 轮廓边线 21的一扫描资料； 于本实施例中， 该三维扫描器 40是以固定的 三维三角测量方法扫描该移动的鞋底 20 ;
c、 由该电脑 60读取该扫描资料；
d、 在每次该三维扫描器 40扫描时， 以该输送台 30的位置感测器 31 感测该鞋底 20于该输送台 20的位置，并转换输出一与该三维扫描器 40扫 描资料对应的位置资料；
e、 由该电脑 60读取该位置资料， 并依该位置资料判断该鞋底 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 一歩骤 d继续感测该鞋底 20的位置；
f、 当该电脑 60判断该鞋底 20输送至该输送台 30的喷胶段 303时， 该电脑 60利用来自输送台 30位置感测器 31的位置资料和来自三维扫描器 40的扫描资料产生该鞋底 20轮廓边线 21的三维轮廓资料， 并依该三维轮 廓资料以及该机械臂 51末端 511至该涂敷工具 54涂敷部 541端部在三维 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的轮廓边线 21喷洒该粘着剂 A,且令该涂敷工具 54涂敷部 541端部与 该鞋底 20顶面 202的涂敷区域 22接触并与该轮廓边线 21相切接触，则该 涂敷工具 54为该机械臂 51同时带动而涂敷部 541端部沿该轮廓边线 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被该涂敷工具 54涂敷部 541挡止吸收，且该涂敷区域 22经由与涂敷部 541接触而涂敷被 吸收的粘着剂 A。
综上所述，本发明透过上述鞋底粘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 将粘着剂 A喷洒于该鞋底 20顶面 202的喷洒区域 23内， 并得以自动化地 将该涂敷工具 54涂敷部 541抵于鞋底 20轮廓边线 21内缘挡止吸收多余的 粘着剂 A, 具有避免粘着剂 A喷洒超出轮廓边线 21以及避免涂布量过多导 致溢胶而污损鞋底 20外观的功效，且通过涂敷工具 54与该鞋底 20顶面 202 接触， 具有使粘着剂 A更均匀地涂抹在顶面 202轮廓边线 21周缘， 增加鞋 底与鞋面的粘结强度等功效。 附图标记列表
鞋底 10 顶面 101
底面 102 周缘轮廓线 11
上胶区域 12
粘着剂 A
鞋底 20 底面 201
顶面 202 轮廓边线 21
涂敷区域 22 下陷距离 D
喷洒区域 23
输送台 30 起始端 301
终端 302 喷胶段 303
位置感测器 31 三维扫描器 40
喷洒装置 50 机械臂 51 末端 511 连接件 52 第一组设部 521 第二组设部 522 调整栓 523 调整栓 524 喷枪 53 喷嘴 531 涂敷工具 54 涂敷部 541 电脑 60

Claims

权利要求
1.一种鞋底粘着剂自动化喷洒系统， 供将一粘着剂喷洒于一鞋底， 该 鞋底成形有一底面及一顶面， 该顶面周缘成形有一具三维形态且高于凹陷 状顶面的轮廓边线， 定义该鞋底顶面沿该轮廓边线内缘下陷环形区域为一 涂敷区域， 且位于该涂敷区域内缘的环形区域为一喷洒区域； 其特征在于: 所述系统包括：
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感测器， 用以感测该鞋底于该输送台的位置并输出一位置资料；
一三维扫描器， 是设于该输送台起始端上侧， 令该三维扫描器扫描该 鞋底顶面的轮廓边线并输出一扫描资料；
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， 一连接件是设于该机械臂末端， 该连接件具有相对两端， 一端成形有一第一组设部， 另端成形有一第二组设部， 该第一组设部设有 一喷枪， 该第二组设部设有一涂敷工具， 令该喷枪的一喷嘴对准该涂敷工 具中央喷洒， 使该喷枪喷流落下的喷洒范围与该鞋底顶面的涂敷区域及喷 洒区域重迭且略为超出至该轮廓线外缘， 且该涂敷工具涂敷部端部与该鞋 底顶面的涂敷区域接触并与该轮廓边线相切接触；
一电脑， 是与该输送台的位置感测器、 该三维扫描器及该喷洒装置的 机械臂电性连接， 令该电脑接收并根据该位置资料及该扫描资料形成一喷 洒路径指令驱动该机械臂带动该喷枪沿该鞋底顶面轮廓边线内缘喷洒该粘 着剂至该涂敷区域及该喷洒区域， 同时带动该涂敷工具涂敷部沿该涂敷区 域移动并吸收超出该轮廓边线的粘着剂。
2.如权利要求 1所述的鞋底粘着剂自动化喷洒系统， 其特征在于： 所 述鞋底的涂敷区域是自该轮廓边线内缘内缩约 2至 3毫米的环形区域。
3.如权利要求 1所述的鞋底粘着剂自动化喷洒系统， 其特征在于： 所 述涂敷工具为刷具结构， 且该涂敷部为刷毛或海棉构成。
4.如权利要求 1所述的鞋底粘着剂自动化喷洒系统， 其特征在于： 所 述喷洒装置连接件的第一组设部是成形为 C形夹口结构供夹持该喷枪， 并 为一调整栓穿置调整其夹持紧度， 该第二组设部成形为直杆结构供末端与 该涂敷工具组接， 令该第二组设部与该连接件组接处通过一调整栓枢结， 用以调整其该喷枪与该涂敷工具涂敷部的相对位置。
5.一种如权利要求 1所述的鞋底粘着剂自动化喷洒系统的喷洒方法， 其特征在于： 所述方法歩骤包括：
a、 将该鞋底置于该输送台起始端并往该终端输送；
b、 以该三维扫描器扫描该鞋底顶面轮廓边线， 并输出该轮廓边线的一 扫描资料；
c、 该电脑接收读取该扫描资料；
d、在每次该三维扫描器扫描时， 以该输送台的位置感测器感测该鞋底 于该输送台的位置并输出一与该三维扫描器扫描资料对应的位置资料； e、 该电脑接收读取该位置资料， 并根据该位置资料判断鞋底是否输送 至该输送台的喷胶段， 若鞋底未到达该喷胶段， 则回到上一歩骤 d继续感 测该鞋底的位置；
f、 当该电脑判断该鞋底输送至该输送台的喷胶段， 即根据该位置资料 及该扫描资料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轮廓边线喷洒该粘着剂， 且令 该涂敷工具涂敷部与该鞋底涂敷区域接触并与该轮廓边线相切接触， 以吸 收超出该轮廓边线的粘着剂， 且该涂敷区域经由与涂敷部接触而涂敷被吸 收的粘着剂。
6.如权利要求 5所述的鞋底粘着剂自动化喷洒系统的喷洒方法， 其特 征在于：所述三维扫描器是以固定的三维三角测量方法扫描该移动的鞋底。
7.如权利要求 5所述的鞋底粘着剂自动化喷洒系统的喷洒方法， 其特 征在于： 所述电脑利用来自输送台位置感测器的位置资料和来自三维扫描 器的扫描资料产生该鞋底轮廓边线的三维轮廓资料， 并依该三维轮廓资料 以及该机械臂末端至该涂敷工具涂敷部端部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。
8.如权利要求 5所述的鞋底粘着剂自动化喷洒系统的喷洒方法， 其特 征在于： 所述喷枪喷嘴是对准该涂敷工具涂敷部中央喷洒粘着剂， 以令粘 着剂喷流落下的喷洒范围与该鞋底顶面的涂敷区域及喷洒区域重迭且略为 超出至该轮廓线外缘。
PCT/CN2014/078413 2014-05-26 2014-05-26 鞋底粘着剂自动化喷洒系统及其喷洒方法 WO2015180016A1 (zh)

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