A kind of automatic roughening device and method for shoe upper

Abstract

The present invention relates to the technical field of automated processing of shoe materials, and in particular to an automatic roughing device and method for shoe uppers. The device includes a conveying device, a shoe last, a scanning device, and a polishing robot. The conveying device is provided with a plurality of accompanying fixtures; the scanning device includes a U-shaped track, a rail car, and a 3D camera. The U-shaped track includes an open opening facing the conveying device. The accompanying fixture drives the shoe last through the open opening and places the shoe last in the inner side of the U-shaped track. The 3D camera is arranged on the rail car and faces the inner side of the U-shaped track. The rail car can slide along the U-shaped track so that the 3D camera performs an all-round scan of the shoe material on the shoe last. The polishing robot performs automated rough polishing of the shoe upper according to the data provided by the 3D camera. The scanning device is adapted to be installed on the conveying device, and the function of the manipulator is replaced by the U-shaped track and the rail car, thereby reducing the overall equipment footprint and improving work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of automated processing of shoe materials, and in particular to an automatic roughening device and method for shoe uppers. Background Art

[0002] Shoe materials have irregular shapes, so the traditional processing methods for processes such as grinding and gluing are highly dependent on manual labor and are relatively inefficient. To solve the above problems, a Chinese patent application with application publication number CN111513428A discloses a robot three-dimensional visual system for scanning soles and uppers, including a visual scanning system, a robot, a three-dimensional camera, related tooling fixtures, an industrial computer, a host computer controller, a shoe body model and a robot work stand, wherein the visual scanning system is fixedly connected to the robot, the visual scanning system obtains contour points by scanning the shoe body model, and transmits the contour points to the industrial computer, the industrial computer calculates the trajectory through the host computer software, the shoe body model is fixed on the robot work stand through related tooling fixtures, the visual scanning system includes a three-dimensional camera, and the visual scanning system operates on the shoe body model fixed on the robot work stand through the three-dimensional camera. In the existing equipment, the three-dimensional camera is controlled by a robot. Although the robot is highly flexible, the robot occupies a large area, making the final set of automatic processing equipment too bloated. Summary of the invention

[0003] In order to overcome the deficiencies in the prior art, the present invention provides an automatic roughening device for shoe uppers which has high efficiency and small footprint.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: an automatic roughening device for shoe uppers, characterized in that it includes a conveying device, a shoe last, a scanning device, and a polishing robot, the conveying device is provided with a plurality of accompanying fixtures, the conveying device drives the accompanying fixtures to circulate through a pick-up and placement station, a scanning station, and a polishing station in sequence; the shoe upper is sleeved on the shoe last, and the shoe last is installed or removed at the pick-up and placement station; the scanning device is arranged at the scanning station, the scanning device includes a U-shaped track, a rail car, and a 3D camera, the U-shaped track includes an open opening facing the conveying device, the accompanying fixture drives the shoe last to pass through the open opening, and makes the shoe last be located at the inner side of the U-shaped track, the 3D camera is arranged on the rail car and faces the inner side of the U-shaped track, the rail car can slide along the U-shaped track so that the 3D camera can perform a full-scale scan of the shoe materials on the shoe last; the polishing robot is arranged at the polishing station, and the polishing robot performs automatic rough polishing on the shoe upper according to the data provided by the 3D camera.

[0005] Furthermore, it also includes a dust removal device, which includes a negative pressure machine, a dust suction chassis, and a dust suction pipe mouth. The negative pressure machine is connected to the dust suction chassis and the dust suction pipe mouth through a hose. The dust suction chassis is arranged at the polishing station. The dust suction chassis includes two discs. The two discs are separated from each other to form a gap to accommodate the accompanying clamp to drive the shoe last through. The two discs are close to each other and can surround the bottom of the shoe last. The dust suction pipe mouth is arranged on the polishing robot and faces the polishing head.

[0006] Furthermore, the plate body is divided into a fixed plate and a movable plate. The fixed plate is fixedly arranged on one side of the conveying device, and the movable plate is movably arranged by a cylinder. The movable plate is provided with a clearance gap on the side close to the fixed plate. When the movable plate moves close to the fixed plate, the clearance gap forms a mouth shape and allows the lower part of the shoe last to be located therein.

[0007] Furthermore, the conveying device also includes an opening and closing cylinder, which is arranged at the pick-up and placement station. The accompanying clamp is provided with a spring block, and the shoe last is clamped on the accompanying clamp through the spring block. The spring block is provided with a pull plate extending laterally. The accompanying clamp is at the pick-up and placement station, and the pull plate corresponds to the opening and closing cylinder. The pull plate is pulled by the opening and closing cylinder to open the spring block.

[0008] Furthermore, the conveying device includes a circular track, a driving belt, and a positioning mechanism. The accompanying fixture includes a plurality of track wheels. The track wheels are arranged in two rows, and the circular track passes between the upper and lower rows of track wheels. The accompanying fixture is connected to the driving belt. The positioning mechanism includes a positioning rod and a positioning cylinder. The positioning rod is provided with a plurality of groups and is respectively arranged at a pick-up and place station, a scanning station, and a polishing station. The positioning cylinder drives the positioning rod to swing so that the positioning rod positions the accompanying fixture at the pick-up and place station, the scanning station, or the polishing station.

[0009] Furthermore, four sets of accompanying fixtures are provided on the conveying device, and a waiting station is also provided between the scanning station and the polishing station. The moving path distances between the pick-up and place stations, the scanning station, the waiting station, and the polishing station are equal.

[0010] Furthermore, the polishing robot has a processing device, which is connected to the 3D camera signal and is used to obtain data provided by the 3D camera and calculate the polishing path.

[0011] A method for automatically roughening a shoe upper, characterized in that: based on any one of the above-mentioned automatic roughening devices for shoe uppers, the method comprises the following steps:

[0012] Step 1: placing the shoe last with the upper to be processed on the accompanying fixture at the pick-and-place station;

[0013] Step 2: The conveying device moves to move the accompanying fixture to the scanning station and stops. The shoe last enters the inner side of the U-shaped track from the open mouth of the U-shaped track. The track car slides from one end of the U-shaped track to the other end. The 3D camera on the track car takes multi-angle photos of the upper on the shoe last to obtain a three-dimensional image of the upper, and sends the obtained three-dimensional image information of the upper to the polishing robot.

[0014] Step 3: the polishing robot generates a polishing path of the polishing robot according to the three-dimensional image information of the shoe upper, the conveying device moves, the accompanying fixture moves to the polishing station and stops, and the polishing robot performs rough polishing on the shoe upper on the shoe last at the polishing station according to the polishing path information;

[0015] Step 4: The conveying device moves to move the accompanying fixture to the pick-up and place station and stops, removes the shoe last with the upper roughly polished, returns to step 1, puts in the shoe last to be polished, and performs the next automatic polishing process.

[0016] From the above description of the present invention, it can be seen that compared with the prior art, the present invention provides an automatic roughening device and method for shoe uppers, wherein the scanning device is adapted to be installed on the conveying device, and the function of the manipulator is replaced by the U-shaped track and the rail car, thereby reducing the overall equipment footprint; the dust suction pipe opening corresponds to the grinding head, and can more directly absorb the dust generated during grinding; the dust suction chassis is arranged as two openable and closable discs, thereby ensuring the passability of the accompanying clamp, and the surrounding dust suction effect is better to avoid dust leakage. The scanning device is adapted to be installed on the conveying device, and the function of the manipulator is replaced by a U-shaped track and a rail car, thereby reducing the overall equipment footprint; the setting of the gap makes the surrounding effect of the dust suction chassis very good to avoid dust leakage; the spring clamp block realizes the detachable installation of the shoe last, and the opening and closing cylinder automatically opens the spring clamp block, so that the operator only needs to take out and put in the shoe last, reducing the manual workload; the supporting structure, power structure, and positioning structure in the conveying device are divided into three parts, which can ensure both stability and power while having positioning accuracy; four sets of accompanying fixtures are set up and four workstations are set on the conveying device, and the path distance of each workstation is equal, so the movement of each accompanying fixture is synchronous, and each workstation will send out and enter a accompanying fixture after each conveyance, that is, continuous production is realized; the setting of the waiting station also provides a waiting time for path data calculation after scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The present invention is a schematic diagram of the overall structure of an automatic roughening device for shoe uppers.

[0018] Figure 2 The present invention is a front view of an automatic roughening device for shoe uppers.

[0019] Figure 3It is a partial schematic diagram of the pick-and-place station of the present invention.

[0020] Figure 4 It is a partial schematic diagram of the grinding station of the present invention.

[0021] Figure 5 It is a partial schematic diagram of the scanning station of the present invention.

[0022] The symbols in the figure correspond to the following: 1. Conveying device, 11. Traveling fixture, 111. Track wheel, 112. Spring block, 113. Pull plate, 12. Annular track, 13. Driving belt, 14. Positioning mechanism, 141. Positioning rod, 142. Positioning cylinder, 15. Opening and closing cylinder, a. Pick-up and placement station, b. Scanning station, c. Waiting station, d. Polishing station, 2. Shoe last, 3. Scanning device, 31. U-shaped track, 311. Open mouth, 32. Track car, 33. 3D camera, 4. Polishing robot, 41. Processing device, 5. Dust removal device, 51. Negative pressure machine, 52. Dust suction chassis, 521. Fixed plate, 522. Movable plate, 5221. Make way gap, 523. Cylinder, 53. Dust suction pipe mouth. DETAILED DESCRIPTION

[0023] The present invention is further described below through specific implementation modes.

[0024] Reference Figures 1 to 5 As shown, an automatic roughening device for shoe uppers includes a conveying device 1, a shoe last 2, a scanning device 3, a polishing robot 4, and a dust removal device 5.

[0025] The conveying device 1 is provided with four groups of accompanying fixtures 11, and a pick-up and placement station a, a scanning station b, a waiting station c, and a polishing station d are formed on the conveying device 1; the conveying device 1 drives the accompanying fixture 11 to circulate through the pick-up and placement station a, the scanning station b, the waiting station c, and the polishing station d in sequence, and the moving path distances between the pick-up and placement station a, the scanning station b, the waiting station c, and the polishing station d are equal; the conveying device 1 includes a circular track 12, a driving belt 13, and a positioning mechanism 14, and the accompanying fixture 11 includes a plurality of track wheels 111, and the track wheels 112 are provided on the conveying device 1. The track wheels 111 are arranged in two rows, upper and lower, and the annular track 12 passes between the upper and lower rows of track wheels 111. The traveling fixture 11 is connected to the driving belt 13. The positioning mechanism 14 includes a positioning rod 141 and a positioning cylinder 142. The positioning rod 141 is provided with several groups and is respectively arranged at the pick-up and placement station a, the scanning station b, the waiting station c, and the polishing station d. The positioning cylinder 142 drives the positioning rod 141 to swing, so that the positioning rod 141 positions the traveling fixture 11 at the pick-up and placement station a, the scanning station b, the waiting station c, or the polishing station d.

[0026] The conveying device 1 also includes an opening and closing cylinder 15, which is arranged at the pick-up and placement station a. The accompanying fixture 11 is provided with a spring block 112, and the shoe last 2 is clamped on the accompanying fixture 11 through the spring block 112. The spring block 112 is provided with a pull plate 113 extending laterally. The accompanying fixture 11 is at the pick-up and placement station a, and the pull plate 113 corresponds to the opening and closing cylinder 15. The pull plate 113 is pulled by the opening and closing cylinder 15 to open the spring block 112. The upper is set on the shoe last 2, and the shoe last 2 is installed or removed at the pick-up and placement station.

[0027] The scanning device 3 is arranged at the scanning station b, and the scanning device 3 includes a U-shaped track 31, a track car 32, and a 3D camera 33. The U-shaped track 31 includes an open mouth 311 facing the conveying device. The accompanying clamp 11 drives the shoe last 2 to pass through the open mouth 311 and makes the shoe last 2 located on the inner side of the U-shaped track 31. The 3D camera 33 is arranged on the track car 32 and faces the inner side of the U-shaped track 31. The track car 32 can slide along the U-shaped track 31 so that the 3D camera 33 can perform a full-scale scan of the shoe material on the shoe last 2; the polishing robot 4 has a processing device 41, and the processing device 41 is connected to the 3D camera 33 by signal, and is used to obtain data provided by the 3D camera 33 and calculate the polishing path. The polishing robot 4 is arranged at the polishing station d, and the polishing robot 4 performs automatic rough polishing on the shoe upper according to the calculated polishing path.

[0028] The dust removal device 5 includes a negative pressure machine 51, a dust suction chassis 52, and a dust suction pipe mouth 53. The negative pressure machine 51 is connected to the dust suction chassis 52 and the dust suction pipe mouth 53 through a hose. The dust suction chassis 52 is arranged at the grinding station d. The dust suction chassis 52 includes two disk bodies, which are divided into a fixed disk 521 and a movable disk 522. The fixed disk 521 is fixedly arranged on one side of the conveying device 1, and the movable disk 522 is movably arranged by a cylinder 523. The movable disk 522 is provided with a clearance gap 5221 on the side close to the fixed disk 521. The movable disk 522 is separated from the fixed disk 521 to form a gap for accommodating the accompanying clamp 11 to drive the shoe last 2 to pass through. When the movable disk 522 moves close to the fixed disk 521, the clearance gap 5221 forms a mouth shape and allows the lower part of the shoe last 2 to be located therein, so that the suction layer chassis 52 surrounds the bottom of the shoe last 2; the dust suction pipe mouth 53 is arranged on the grinding robot 4 and faces the grinding head.

[0029] Automatic roughening method for shoe upper

[0030] Step 1: At the pick-and-place station a, the spring block 112 of the portable fixture 11 corresponds to the position of the opening and closing cylinder 15, and the opening and closing cylinder 15 opens the spring block 112 through the pull plate 113, and the operator places the shoe last 2 with the upper to be processed on the portable fixture 11 at the pick-and-place station;

[0031] Step 2: The conveying device 1 moves, so that the accompanying fixture 11 moves to the scanning station b and stops, and is positioned by the positioning mechanism 14. The shoe last 2 enters the inner position of the U-shaped track 31 from the open mouth 311 of the U-shaped track 31, and the track car 32 slides at a constant speed from one end of the U-shaped track 31 to the other end. The 3D camera 33 on the track car 32 shoots the upper of the shoe last 2 from multiple angles to obtain a three-dimensional image of the upper, and sends the obtained three-dimensional image information of the upper to the polishing robot 4;

[0032] Step 3: The conveying device 1 moves, so that the accompanying fixture 11 moves to the waiting station c and stops, and is positioned by the positioning mechanism 14. During this period of time, the processing device 41 of the polishing robot 4 generates a polishing path of the polishing robot 4 according to the three-dimensional image information of the shoe upper;

[0033] Step 4: The conveying device 1 moves to move the accompanying fixture 11 to the grinding station d and stops, and is positioned by the positioning mechanism 14. During the moving time of the accompanying fixture 11, the movable plate 522 of the dust suction chassis 52 moves in the direction away from the fixed plate 521 through the cylinder 523 to form a passing path, so that the accompanying fixture 11 enters the grinding station d, and then the movable plate 522 is moved toward the fixed plate 521 through the cylinder 523 until it is close to the fixed plate 521. The clearance notch 5221 of the movable plate 522 corresponds to the position of the shoe last 2. After the movable plate 522 and the fixed plate 521 are close, they will surround the position below the shoe last 2. The grinding robot 4 roughly grinds the upper of the shoe last 2 at the grinding station d according to the grinding path information; the dust generated at the grinding head during the grinding process is absorbed by the dust suction pipe mouth 53, and the dust falling from the upper is absorbed by the dust suction chassis 52;

[0034] Step five, after polishing is completed, the movable plate 522 is moved in the direction away from the fixed plate 521 through the cylinder 523 to form a passing path, and the conveying device 1 moves, so that the accompanying clamp 11 moves to the pick-up and placement station a and stops, and is positioned by the positioning mechanism 14, and the opening and closing cylinder 15 opens the spring clip 112 through the pull plate 113, and the operator removes the shoe last 2 with the rough polishing of the shoe upper, returns to step one, puts in the shoe last 2 with the shoe upper to be processed, and proceeds to the next automatic polishing process.

[0035] Since four accompanying fixtures 11 are set up, and the path distances between the pick-up and placement station a, the scanning station b, the waiting station c, and the polishing station d are equal, the movement of each accompanying fixture 11 is synchronous, and after each transportation, each station will send out and enter a accompanying fixture 11, thus realizing continuous production.

[0036] The above is only a specific implementation of the present invention, but the design concept of the present invention is not limited to this. Any non-substantial changes to the present invention using this concept shall be deemed as an infringement of the protection scope of the present invention.

Claims

1. An automatic roughening device for shoe uppers, characterized in that: It includes a conveying device, a shoe last, a scanning device, and a polishing robot. The conveying device is provided with a plurality of accompanying fixtures, and the conveying device drives the accompanying fixtures to circulate through the pick-up and placement station, the scanning station, and the polishing station in sequence; the upper is set on the shoe last, and the shoe last is installed or removed at the pick-up and placement station; the scanning device is arranged at the scanning station, and the scanning device includes a U-shaped track, a rail car, and a 3D camera. The U-shaped track includes an open opening facing the conveying device, and the accompanying fixture drives the shoe last to pass through the open opening and makes the shoe last be located at the inner side of the U-shaped track. The 3D camera is arranged on the rail car and faces the inner side of the U-shaped track. The rail car can slide along the U-shaped track so that the 3D camera can perform an all-round scan of the shoe materials on the shoe last; the polishing robot is arranged at the polishing station, and the polishing robot performs automatic rough polishing on the upper according to the data provided by the 3D camera; The conveying device also includes an opening and closing cylinder, which is arranged at the pick-up and placement station. The accompanying fixture is provided with a spring clamp, and the shoe last is clamped on the accompanying fixture through the spring clamp. The spring clamp is provided with a pull plate extending laterally. The accompanying fixture is at the pick-up and placement station, and the pull plate corresponds to the opening and closing cylinder. The pull plate is pulled by the opening and closing cylinder to open the spring clamp. The conveying device includes a circular track, a driving belt, and a positioning mechanism. The accompanying fixture includes a plurality of track wheels. The track wheels are arranged in two rows, and the circular track passes between the upper and lower rows of track wheels. The accompanying fixture is connected to the driving belt. The positioning mechanism includes a positioning rod and a positioning cylinder. The positioning rod is provided with a plurality of groups and is respectively arranged at a pick-up and place station, a scanning station, and a polishing station. The positioning cylinder drives the positioning rod to swing so that the positioning rod positions the accompanying fixture at the pick-up and place station, the scanning station, or the polishing station.

2. The automatic roughening device for shoe uppers according to claim 1, characterized in that: It also includes a dust removal device, which includes a negative pressure machine, a dust suction chassis, and a dust suction pipe mouth. The negative pressure machine is connected to the dust suction chassis and the dust suction pipe mouth through a hose. The dust suction chassis is arranged at the polishing station. The dust suction chassis includes two discs. The two discs are separated from each other to form a gap for accommodating the accompanying clamp to drive the shoe last through. The two discs are close to each other and can surround the bottom of the shoe last. The dust suction pipe mouth is arranged on the polishing robot and faces the polishing head.

3. The automatic roughening device for shoe uppers according to claim 2, characterized in that: The plate body is divided into a fixed plate and a movable plate. The fixed plate is fixedly arranged on one side of the conveying device, and the movable plate is movably arranged by a cylinder. The movable plate is provided with a clearance gap on the side close to the fixed plate. When the movable plate moves close to the fixed plate, the clearance gap forms a mouth shape and allows the lower part of the shoe last to be located therein.

4. The automatic roughening device for shoe uppers according to claim 1, characterized in that: The conveying device is provided with four groups of accompanying fixtures, and a waiting station is also provided between the scanning station and the polishing station. The moving path distances between the pick-up and place stations, the scanning station, the waiting station, and the polishing station are equal.

5. The automatic roughening device for shoe uppers according to claim 1, characterized in that: The polishing robot has a processing device, which is connected to the 3D camera signal and is used to obtain data provided by the 3D camera and calculate the polishing path.

6. A method for automatically roughening a shoe upper, characterized in that: An automatic roughening device for shoe uppers according to any one of claims 1 to 5 comprises the following steps: Step 1: placing the shoe last with the upper to be processed on the accompanying fixture at the pick-and-place station; Step 2: The conveying device moves to move the accompanying fixture to the scanning station and stops. The shoe last enters the inner side of the U-shaped track from the open mouth of the U-shaped track. The track car slides from one end of the U-shaped track to the other end. The 3D camera on the track car takes multi-angle photos of the upper on the shoe last to obtain a three-dimensional image of the upper, and sends the obtained three-dimensional image information of the upper to the polishing robot. Step 3: the polishing robot generates a polishing path of the polishing robot according to the three-dimensional image information of the shoe upper, the conveying device moves, the accompanying fixture moves to the polishing station and stops, and the polishing robot performs rough polishing on the shoe upper on the shoe last at the polishing station according to the polishing path information; Step 4: The conveying device moves to move the accompanying fixture to the pick-up and place station and stops, removes the shoe last with the upper roughly polished, returns to step 1, puts in the shoe last to be polished, and performs the next automatic polishing process.

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