Sheet sole type shoe sole glue spraying method and system and storage medium
A technology of spraying glue and shoe soles, which is applied in footwear, shoe-bonding parts, shoe-making machinery, etc., can solve the problems of low degree of automation and high price, and achieves low equipment cost, precise glue spraying, and strong robustness. Effect
Active Publication Date: 2022-05-17
知守科技(杭州)有限公司
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Problems solved by technology
[0004]
The existing fully automatic shoe sole glue spraying machine can obtain the point cloud image of the shoe sole by using binocular structured light and line laser. It is widely used in the disorderly grasping and palletizing of materials. The information of items from three-dimensional plane to three-dimensional space will also become transparent, but it is expensive and difficult for shoe manufacturers to accept
[0005]
In addition, in the shoemaking process, the soles of sheet soles are very thin, and there are no sidewalls on the edges, so the precision of glue spraying is very high, and the width of the glue is seriously affected by the travel speed, glue spray valve, glue pressure, etc. The automatic shoe sole glue spraying machine is only suitable for making high-top soles, but it is helpless for sheet-soled soles. Shoe factories can only use manual glue spraying, and the degree of automation is low.
Method used
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[0033] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other implementations obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.
[0034] Please refer to figure 1 , the glue-spraying method for sheet-bottom class shoe soles of the embodiment of the present invention comprises:
[0035] Step S100, acquiring the image of the shoe sole to be glued.
[0036]Step S200, extracting the first edge contour of the sheet-sole sole according to the image of the sole, and indenting the first edge to obtain a second contour curve after the indentation;
[0037] Step S300, obtain the circumscribed circ...
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The invention discloses a sheet sole type shoe sole glue spraying method and system and a storage medium, the sheet sole type shoe sole glue spraying method only needs to use a traditional monocular camera as an image acquisition device to obtain a sheet sole type shoe sole image to be subjected to glue spraying, and then a glue spraying path plan can be generated; compared with an existing method for obtaining a point cloud picture of a product through binocular structured light and line laser, the method effectively reduces equipment cost, meanwhile, the first edge contour of the sheet sole is subjected to overall internal indentation to obtain a second contour curve after overall internal indentation, the second contour curve is used for generating multiple feature points, and the point cloud picture of the product is obtained. And multiple sections of glue spraying paths are generated through the feature points, the advancing speed of the glue spraying robot is determined according to the actual curve arc of each section in an arc interpolation mode, the final glue spraying stability is good, robustness is high, and therefore precise glue spraying of the glue spraying robot is achieved.
Description
technical field [0001] The invention relates to the technical field of shoemaking, in particular to a glue spraying method, system and storage medium for soles of shoe soles. Background technique [0002] China is the largest producer and exporter of the shoe industry in the world. With the increase of investment in design, development of new materials, application of new technology, promotion of independent brands and the growth of talents, China's shoe industry has made great efforts in materials, technology and design. In the future, China's footwear industry will become the center of the world's footwear industry and lead the fashion trend. The birth of a pair of shoes generally needs to go through about a dozen major steps such as cutting, sewing, sole molding, and upper molding. Among them, spraying glue on the sole is an indispensable process for all shoe types. The sole needs to be sprayed. Glue spraying and other production processes, the quality of glue spraying i...
Claims
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IPC IPC(8): A43D25/18A43D119/00G06T7/13G06T7/73
CPCA43D25/18A43D119/00G06T7/13G06T7/73A43D2200/10G06T2207/10028G06T2207/20164Y02P70/10
Inventor 汝杰邱进忠
Owner 知守科技(杭州)有限公司