Sole processing device and processing method

Abstract

An embodiment of the present invention discloses a sole processing method and a processing device, which includes a frame, a fixed module, a processing head, an image acquisition module and a driving module. The fixed module is installed on the frame and is used to fix the shoe. The image acquisition module is installed on the frame and is used to collect image information of the shoe. The driving module includes a rotating mechanism and a moving mechanism. The rotating mechanism is detachably connected to the processing head so as to be able to drive the processing head to rotate around an axis according to image information. The moving mechanism is installed on the frame and connected to the rotating mechanism so as to be able to drive the rotating mechanism and the processing head to move linearly according to image information so that the processing head performs buckling or grinding actions. The movement freedom of the processing head is increased by setting the rotating mechanism, so that the processing head can rotate during the grinding or buckling process, thereby realizing the free change of working posture and improving the processing quality and effect of the sole.

Description

Technical Field

[0001] The present invention relates to the technical field of shoe material production and manufacturing, and in particular to a shoe sole processing device and a processing method. Background Art

[0002] The production process of shoe materials often involves a process of edge cutting (using a specific tool to cut the irregular side edge of the sole into a regular groove pattern) and an edge grinding (using a specific grinding wheel to grind the irregular side edge of the sole into a flat, regular product with a specific angle).

[0003] Since the buckle edge process has specific requirements for the direction and angle of the groove pattern, and the existing equipment cannot measure these data, it is impossible to use equipment to buckle the shoe materials. Experienced workers can only use the buckle edge tools to adjust the position of the shoe materials according to the changes in the sole angle based on years of experience to complete the buckle edge operation. This wastes time and affects work efficiency. In addition, it is difficult to ensure the consistency of the shoe material buckle edge processing through manual operation.

[0004] The existing technology for edging process is: the data of shoes is collected through a camera scanning module, and the robot drives the grinding wheel to move on the X-axis, Y-axis and Z-axis according to the image information, so that the grinding wheel performs the grinding action. Because the robot drives the grinding wheel with limited freedom of movement, the grinding wheel has a single grinding posture during the working process, which affects the grinding quality and effect. Summary of the Invention

[0005] The purpose of the present invention is to propose a sole processing device and a processing method, aiming to solve the problem that the existing manipulator drives the grinding wheel or the buckle knife to move with few degrees of freedom, which in turn leads to few working postures of the grinding wheel or the buckle knife, affecting the quality and effect of grinding or buckling.

[0006] In the first aspect, the present invention provides a sole processing device, comprising: a frame, a fixed module, a processing head, an image acquisition module and a driving module, wherein the fixed module is installed on the frame and is used to fix the shoes, the image acquisition module is installed on the frame and is used to collect image information of the shoes, the driving module comprises a rotating mechanism and a moving mechanism, the rotating mechanism is detachably connected to the processing head so as to be able to drive the processing head to rotate around an axis according to the image information, the moving mechanism is installed on the frame and connected to the rotating mechanism so as to be able to drive the rotating mechanism and the processing head to move linearly according to the image information, so that the processing head performs buckling or polishing actions.

[0007] Preferably, the rotating mechanism includes a first rotating component, a second rotating component and a third rotating component. The first rotating component is detachably connected to the processing head and is used to drive the processing head to rotate around a first axis. The second rotating component is connected to the first rotating component and is used to drive the first rotating component to rotate around a second axis. The third rotating component is installed on the moving mechanism and is connected to the second rotating component to be able to drive the second rotating component to rotate around a third axis. The first axis, the second axis and the third axis are arranged at an angle to each other.

[0008] Preferably, the first rotating assembly includes a first motor and a spindle clamp, the spindle clamp is connected to the first motor and the machining head, and the machining head is detachably connected to the spindle clamp.

[0009] Preferably, the second rotating assembly includes a rotating frame and a second motor, the spindle clamp is arranged in the rotating frame and is rotatably connected to the side wall of the rotating frame, the first motor is installed on the rotating frame, the output end of the first motor is rotatably connected to the side wall of the rotating frame, the first motor drives the spindle clamp to rotate around the first axis in the rotating frame, the output end of the second motor is connected to the rotating frame, and the second motor drives the rotating frame to drive the spindle clamp to rotate around the second axis.

[0010] Preferably, the third rotating assembly includes a third motor, a rotating arm and a hollow rotating platform, the second motor is installed on the rotating arm, the rotating frame is arranged in the rotating arm, and is rotatably connected to the side wall of the rotating arm, the second motor drives the rotating frame to rotate around the second axis in the rotating arm, the third motor is connected to the hollow rotating platform, the rotating arm is connected to the hollow rotating platform, and the third motor drives the rotating arm to rotate around the third axis through the hollow rotating platform.

[0011] Preferably, the sole processing device also includes a dust suction and cooling module, which is installed on one end of the spindle clamp close to the processing head. The dust suction and cooling module is provided with a cooling channel and a dust suction channel. An air knife is provided in the cooling channel, and the air knife is used to blow cold air to the processing head. One end of the dust suction channel is used to be connected to an external negative pressure dust suction device, and the other end is used to absorb dust during the processing of the processing head.

[0012] Preferably, the sole processing device also includes a conveying module, and the frame is provided with a loading station, an image acquisition station and a processing station. The conveying module is installed on the frame and connected to the fixed module so as to be able to convey the fixed module and the shoes to the loading station, the image acquisition station and the processing station in sequence along the first direction.

[0013] Preferably, the image acquisition module includes a plurality of cameras, and each of the cameras is arranged around the image acquisition station so as to be able to capture images of the shoes from various perspectives.

[0014] Preferably, the sole processing device further comprises a cleaning module, which is arranged at the image acquisition station and is used to blow air toward the lens of each camera.

[0015] In a second aspect, the present invention further provides a sole processing method, which is applied to a sole processing device, wherein the sole processing device includes a processing head, an image acquisition module, and a drive module, wherein the drive module includes a rotating mechanism and a moving mechanism. The sole processing method includes the following steps:

[0016] S500: Acquire target 3D images of template soles corresponding to multiple perspectives, and establish a 3D model of the template sole using the target 3D images of the template soles and a preset image stitching algorithm;

[0017] S600: Determine the processing trajectory and processing posture of the template sole according to the 3D model of the template sole, the trajectory algorithm and the normal vector algorithm;

[0018] S700: Acquire target 3D images of the sole to be processed corresponding to multiple perspectives, use the target 3D images of the sole to be processed and a preset image stitching algorithm to establish a 3D model of the target sole, and collect image information of the shoe through the image acquisition module;

[0019] The rotating mechanism drives the processing head to rotate according to the image information, and the moving mechanism drives the rotating mechanism and the processing head to move according to the image information, so that the processing head performs a buckling or grinding action.

[0020] Preferably, the method further includes S800: determining a processing trajectory and a processing posture of the sole to be processed according to the 3D model of the sole to be processed, a trajectory algorithm, and a normal vector algorithm;

[0021] S900: Modify the processing trajectory and processing posture of the sole to be processed according to the grinding trajectory and grinding posture of the template sole.

[0022] Preferably, the step S500 acquires target 3D images of the template sole corresponding to multiple viewing angles, and establishes a 3D model of the template sole using the target 3D images of the template sole and a preset image stitching algorithm, including:

[0023] S510: Acquire target 3D images of the template sole corresponding to multiple perspectives;

[0024] S520: Processing the acquired 3D data of the template shoe through a preset algorithm to obtain the precise trajectory and normal vector of the template shoe.

[0025] The embodiments of the present invention have the following beneficial effects:

[0026] The sole processing device of the present invention has a driving module including a rotating mechanism and a moving mechanism. The rotating mechanism is detachably connected to the processing head and can drive the processing head to rotate around an axis according to image information. The moving mechanism is connected to the rotating mechanism so as to drive the rotating mechanism to move linearly. By setting the rotating mechanism, the movement freedom of the processing head is increased, so that the processing head can rotate during the grinding or hemming process, thereby realizing the change of working posture and improving the processing quality and effect of the sole.

[0027] The sole processing method of the present invention obtains target 3D images of the template sole corresponding to multiple viewpoints, uses the target 3D images of the template sole and a preset image stitching algorithm to establish a 3D model of the template sole, determines the processing trajectory and processing posture of the template sole based on the 3D model of the template sole, a trajectory algorithm, and a normal vector algorithm, obtains target 3D images of the sole to be processed corresponding to multiple viewpoints, uses the target 3D images of the sole to be processed and a preset image stitching algorithm to establish a 3D model of the target sole, obtains standard 3D model data of the sole, and provides accurate data support for subsequent processing of the sole to be processed. The image acquisition module collects image information of the shoe, a rotating mechanism drives the processing head to rotate according to the image information, and a moving mechanism drives the rotating mechanism and the processing head to move according to the image information so that the processing head performs buckling or grinding operations. The provision of the rotating mechanism increases the freedom of movement of the processing head so that the processing head can rotate during the grinding or buckling process, realizes the change of working posture, and improves the processing quality and effect of the sole. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] in:

[0030] Figure 1 Schematic diagram of a sole processing device in one embodiment.

[0031] Figure 2 for Figure 1 Schematic diagram of the internal structure of the sole processing device shown.

[0032] Figure 3 for Figure 2 Schematic diagram of the image acquisition module and cleaning module in the sole processing device shown.

[0033] Figure 4 for Figure 2 Schematic diagram of the rotating mechanism, processing head and dust suction and cooling module in the sole processing device shown.

[0034] Figure 5 for Figure 4 Exploded view of the rotating mechanism shown.

[0035] Figure 6 for Figure 4 A schematic diagram of the dust collection and cooling module from the first perspective is shown.

[0036] Figure 7 for Figure 4 A schematic diagram of the dust collection and cooling module from a second perspective is shown.

[0037] Figure 8 for Figure 2 Schematic diagram of the fixed module and the conveying module in the sole processing device shown.

[0038] Figure 9 for Figure 2 Schematic diagram of the first moving component in the sole processing device shown.

[0039] Figure 10 for Figure 2 Schematic diagram of the second moving component in the sole processing device shown.

[0040] Figure 11 for Figure 2 Schematic diagram of the filter tank in the sole processing device shown.

[0041] Figure 12 for Figure 11 Top view of the canister shown.

[0042] Figure 13 for Figure 12 Middle AA section view.

[0043] Figure 14 The present invention is a processing method of a sole processing device in one embodiment.

[0044] Figure numbers: 10, frame; 11, housing; 13, brush; 14, electrical box control cabinet; 15, side door; 30, fixed module; 40, processing head; 50, dust collection and cooling module; 51, air knife; 52, cooling channel; 53, dust collection channel; 54, fixed end; 100, image acquisition module; 110, camera; 120, base; 130, base; 200, drive module; 210, rotating mechanism; 211, first rotating component; 2111, first motor; 2112, spindle clamp; 212, second rotating component; 2121, rotating frame; 2122, second motor; 213, third rotating component; 2131, third motor; 2132, rotating arm; 2133, hollow rotating platform; 214, connecting plate; 220, moving mechanism ;221, first moving component;2211, fourth motor;2212, second slide rail;2213, second lead screw;2214, second slide;2215, buffer;222, second moving component;2221, fifth motor;2222, third lead screw;2223, third slide rail;2224, nut;2225, slider;300, conveying module;310, conveying motor;320, first lead screw;330, first slide rail;340, first slide;400, cleaning module;410, filter tank;411, pressure cover;412, accommodating chamber;413, first adapter;414, second adapter;415, third adapter;416, safety valve;417, exhaust valve;418, filter element;420, air pipe;430, air nozzle. Specific embodiments

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0046] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0047] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the said features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0048] An embodiment of the present invention provides a sole processing device, which is mainly used for performing edge buckling or polishing processing on the sole.

[0049] See also Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 、 Figure 9 and Figure 10 The sole processing device of one embodiment includes a frame 10, a fixed module 30, a processing head 40, an image acquisition module 100 and a driving module 200. The frame 10 is installed on the ground by connecting the foot cup. The fixed module 30 is installed on the frame 10. The fixed module 30 includes a suction cup, which is used to fix the shoes. The image acquisition module 100 is installed on the frame 10 and is used to collect image information of the shoes. The driving module 200 is installed on the frame 10. The driving module 200 includes a rotating mechanism 210 and a moving mechanism 220. The moving mechanism 210 is detachably connected to the processing head 40 and is used to drive the processing head 40 to rotate around the axis according to the image information. The moving mechanism 220 is installed on the frame 10 and is connected to the rotating mechanism 210, so as to be able to drive the rotating mechanism 210 and the processing head 40 to move linearly according to the image information, so that the processing head 40 performs buckling or grinding actions. Through the mutual cooperation of the rotating mechanism 210, the moving mechanism 220 and the conveying module 300, it is ensured that the processing head 40 can perform multi-angle and all-round grinding or buckling of the sole.

[0050] It can be understood that the driving module 200 includes a rotating mechanism 210 and a moving mechanism 220. The rotating mechanism 210 is detachably connected to the processing head 40 and can drive the processing head 40 to rotate around the axis according to the image information. The moving mechanism 220 is connected to the rotating mechanism 210 to be able to drive the rotating mechanism 210 to move in a straight line. By setting the rotating mechanism 210, the movement freedom of the processing head 40 is increased, so that the processing head 40 can rotate during the grinding or hemming process, thereby realizing the change of working posture and improving the processing quality and effect of the sole.

[0051] Furthermore, the rotating mechanism 210 includes a first rotating component 211, a second rotating component 212 and a third rotating component 213. The first rotating component 211 is detachably connected to the processing head 40 and is used to drive the processing head 40 to rotate around the first axis. The second rotating component 212 is connected to the first rotating component 211 and is used to drive the first rotating component 211 to rotate around the second axis. The third rotating component 213 is installed on the moving mechanism 220 and is connected to the second rotating component 212 so as to be able to drive the second rotating component 212 to rotate around the third axis. The first axis, the second axis and the third axis are set at an angle to each other. In this embodiment, the first axis, the second axis and the third axis are set perpendicular to each other.

[0052] It should be emphasized that the mutual cooperation of the first rotating component 211, the second rotating component 212 and the third rotating component 213 can make the processing head 40 rotate in three directions, so that different processing heads 40 can be used to edge or polish different parts and angles of the sole.

[0053] The user can choose one, two or three of the rotating component actions according to the actual grinding or edge buckling requirements of the sole. For example, only the first rotating component 211, the second rotating component 212 or the third rotating component 213 can control the rotation of the processing head 40, or the first rotating component 211 and the second rotating component 212 can cooperate with each other to control the rotation of the processing head 40, or the first rotating component 211, the second rotating component 212 and the third rotating component 213 can work together to control the rotation of the processing head 40.

[0054] Furthermore, the first rotating assembly 211 includes a first motor 2111 and a spindle clamp 2112. The spindle clamp 2112 is connected to the first motor 2111 through a harmonic reducer. The machining head 40 is detachably connected to the spindle clamp 2112. The first motor 2111 drives the spindle clamp 2112 to drive the machining head 40 to rotate around the first axis.

[0055] The processing head 40 includes a processing motor and a tool body. The processing motor is installed in the spindle clamp 2112. The tool body is detachably connected to the output end of the processing motor. The tool body refers to a grinding wheel or a buckling tool.

[0056] The second rotating assembly 212 includes a rotating frame 2121 and a second motor 2122. The spindle clamp 2112 is arranged in the rotating frame 2121 and is rotatably connected to the side wall of the rotating frame 2121. The first motor 2111 is installed on the rotating frame 2121. The output end of the first motor 2111 is rotatably connected to the side wall of the rotating frame 2121. The first motor 2111 drives the spindle clamp 2112 to rotate around the first axis in the rotating frame 2121. The output end of the second motor 2122 is connected to the rotating frame 2121 through a harmonic reducer. The second motor 2122 drives the rotating frame 2121 to drive the spindle clamp 2112 to rotate around the second axis.

[0057] The third rotating assembly 213 includes a third motor 2131, a rotating arm 2132 and a hollow rotating platform 2133. The second motor 2122 is installed on the rotating arm 2132. The rotating frame 2121 is arranged in the rotating arm 2132 and is rotatably connected to the side wall of the rotating arm 2132. The second motor 2122 drives the rotating frame 2121 to rotate around the second axis in the rotating arm 2132. The third motor 2131 is connected to the hollow rotating platform 2133 through a reducer. The rotating arm 2132 is connected to the bearing in the hollow rotating platform 2133 to form a shaft cylinder with a tight fit. The third motor 2131 drives the rotating arm 2132 to rotate around the third axis through the hollow rotating platform 2133.

[0058] In this embodiment, the sole processing device also includes a shell 11, which is covered on the frame 10 and is used to ensure that the components on the frame 10 are in a relatively closed space during operation, preventing dust and debris from overflowing during the processing process, and preventing the user from touching the processing head 40 during the processing to cause safety accidents.

[0059] In one embodiment, see Figure 2 、 Figure 4 、 Figure 6 and Figure 7 The sole processing device also includes a dust suction and cooling module 50, which includes a fixed end 54, a shell and a wind knife 51. The fixed end 54 is installed on the end of the spindle clamp 2112 close to the processing head 40. The shell is provided with a cooling channel 52 and a dust suction channel 53. The wind knife 51 is arranged in the cooling channel 52. One end of the wind knife 51 is connected to the external wind source through an air duct. The air duct is provided with an electromagnetic valve, which is used to control the air feed. The other end of the wind knife 51 is used to blow cold air to the processing head 40, so as to effectively avoid the generation of sol phenomenon when the sole is polished or buckled.

[0060] One end of the dust suction channel 53 is connected to the external negative pressure dust suction device through a dust suction pipe, and the other end is used to absorb dust, waste residue, etc. during the processing of the processing head 40. A regulating valve is provided on the dust suction pipe. By setting the dust suction structure, dust and debris in the processing process can be cleaned in time to improve the processing quality.

[0061] In one embodiment, see Figure 2 and Figure 8 The sole processing device also includes a conveying module 300. A loading station, an image acquisition station and a processing station are provided on the frame 10. The conveying module 300 is installed on the frame 10 and is connected to the fixed module 30 so as to be able to convey the fixed module 30 and the shoes to the loading station, the image acquisition station and the processing station in sequence along the first direction. After the driving module 200 drives the processing head 40 to perform polishing or buckling on the shoes, the conveying module 300 can also drive the fixed module 30 to drive the shoes to move in the opposite direction of the first direction until they return to the loading station.

[0062] Furthermore, the conveying module 300 includes a conveying motor 310, a first lead screw 320, a first slide rail 330 and a first slide 340. The output end of the conveying motor 310 is fixed to the first lead screw 320. The first slide 340 is sleeved on the first lead screw 320 and is threadedly connected to the first lead screw 320. The end of the first slide 340 is slid on the first slide rail 330. The fixed module 30 is installed on the first slide 340. The conveying motor 310 drives the first lead screw 320 to rotate so as to drive the first slide 340 to slide on the first slide rail 330. By setting the first slide rail 330, the fixed module 30 can be limited to move only along the straight line of the first direction, thereby preventing deviation during movement, affecting the processing of the sole by the processing head 40, and ensuring the processing quality of the sole.

[0063] In one embodiment, see Figure 2 and Figure 3 The image acquisition module 100 includes a plurality of cameras 110. Specifically, the cameras 110 are 3D point laser sensor lenses. The cameras 110 are arranged in a circle at the image acquisition station to be able to capture images of the shoes from various perspectives. In this embodiment, there are 8 cameras 110. Of course, in other embodiments, there may be 10, 12 or more cameras 110. Preferably, the number of cameras 110 is an even number to ensure that both the left and right sides of the sole can be captured more evenly, thereby ensuring the accuracy of the images of the shoes from various perspectives.

[0064] Because the image acquisition module 100 is in a relatively closed space, in order to ensure that the camera 110 has sufficient light when shooting, a fill light can be installed on the image acquisition module 100 to provide more sufficient light, or a camera 110 with a built-in flash can be used to ensure light during shooting.

[0065] Furthermore, the image acquisition module 100 also includes multiple bases 120, and each camera 110 is installed on each base 120 in a one-to-one correspondence. The installation surface of each base 120 is an inclined surface to ensure that the light of each camera 110 can be converged at the image acquisition station.

[0066] In order to ensure that each camera 110 is suitable for photographing various soles, a base 120 with an adjustable tilt angle can be selected, and the tilt height can be adjusted accordingly according to different shoes.

[0067] Furthermore, the image acquisition module 100 also includes a base 130, of which there are two and are relatively arranged at the two ends of the conveying module 300. Each base 130 is provided with a first support platform and a second support platform, and each camera 110 is evenly arranged on the first support platform and the second support platform. The light of the camera 110 on the first support platform is obliquely upward, and the light of the camera 110 on the second support platform is obliquely downward, so as to ensure that the light of the camera 110 can be converged on the image acquisition station. In this embodiment, the 3D point laser sensor lens includes a red light lens and a blue light lens. The blue light lens is installed on the second support platform through the base 120, and the red light lens is installed on the second support platform through the base 130. The 8 3D laser sensor lenses are connected through the above structure to form different spectra. The arrangement structure with specific angles corresponding to each other can realize blind-angle scanning of the target sole and completely obtain 3D model data.

[0068] In one embodiment, see Figure 2 、 Figure 3 、 Figures 11 to 13 The sole processing device also includes a cleaning module 400, which is arranged at the image acquisition station and is used to blow air to the lens of each camera 110 to ensure the cleanliness of the camera 110 lens, thereby ensuring that the captured image is clear.

[0069] Furthermore, the cleaning module 400 includes a filter tank 410, an air pipe 420 and an air nozzle 430 with adjustable air outlet direction. The air pipe 420 is arranged on the base 130, and the air nozzle 430 is arranged on the air pipe 420. The air pipe 420 is connected to the filter tank 410. The filter tank 410 is used to filter impurities in the air to ensure that relatively pure air is provided to the air pipe 420, thereby ensuring that the gas blown out by the air nozzle 430 can clean the camera 110 lens well.

[0070] Specifically, the filter tank 410 includes a gland 411, a tank body, a first adapter 413, a second adapter 414, a third adapter 415, a safety valve 416, an exhaust valve 417 and a filter element 418. The filter tank 410 is mainly used to filter and temporarily store clean air. The tank body is provided with a accommodating chamber 412 and an opening. The gland 411 is covered on the opening. A sealing ring is provided in the groove between the gland 411 and the tank body. The gland 411 is provided on the sealing ring to ensure that the filter tank 410 has good sealing performance. The first adapter 413, the second adapter 414 and the safety valve 416 are installed on the gland 411, and the exhaust valve 417 is installed on one side of the filter tank 410. The filter element 418 is installed in the accommodating chamber 412, the third adapter 415 is installed on the filter element 418, the first adapter 413 is connected to the device for providing compressed air outside through an air pipeline, one end of the second adapter 414 is connected to the third adapter 415 through the air pipeline, and the other end is connected to the air nozzle 430 through the air pipe 420. The air pipe 420 is provided with a solenoid valve. The external compressed air entering the accommodating chamber 412 through the first adapter 413 must be filtered by the filter element 418 before it can be used by the air nozzle 430. The purpose is to ensure that the air nozzle 430 can blow out relatively clean air, thereby ensuring the dust blowing quality of the camera 110 lens.

[0071] In one embodiment, see Figure 4 、 Figure 9 and Figure 10 The moving mechanism 220 includes a first moving component 221 and a second moving component 222. The first moving component 221 is connected to the rotating mechanism 210 and is used to drive the rotating mechanism 210 and the processing head 40 to move along the second direction. The second moving component 222 is installed on the frame 10 and is connected to the first moving component 221 to be able to drive the first moving component 221 to move along the third direction. The first direction, the second direction and the third direction are arranged at an angle to each other. In this embodiment, the first direction, the second direction and the third direction are arranged perpendicular to each other. The first moving component 221, the second moving component 222 and the conveying module 300 cooperate with each other to control the processing head 40 and the fixed module 30 to realize six-axis linkage, thereby improving the freedom of movement of the processing head 40 and the shoes.

[0072] Furthermore, the rotating mechanism 210 also includes a connecting plate 214, and the third rotating component 213 is connected to the first moving component 221 through the connecting plate 214. The first moving component 221 includes a fourth motor 2211, a second slide rail 2212, a second lead screw 2213 and a second slide 2214. The output end of the fourth motor 2211 is connected to the second lead screw 2213, and the second slide 2214 is sleeved on the second lead screw 2213 and threadedly connected to the second lead screw 2213. The second slide 2214 is slid on the second slide rail 2212. The fourth motor 2211 drives the second lead screw 2213 to rotate so as to drive the second slide 2214 to slide on the second slide rail 2212 along the straight line of the second direction.

[0073] The second moving component 222 includes a fifth motor 2221, a third lead screw 2222, a third slide rail 2223, a nut 2224 and a slider 2225. The output end of the fifth motor 2221 is connected to the third lead screw 2222. The nut 2224 is sleeved on the third lead screw 2222 and is threadedly connected to the third lead screw 2222. The slider 2225 is slid on the third slide rail 2223. The first moving component 221 is connected to the nut 2224 and the slider 2225. The fifth motor 2221 drives the third lead screw 2222 to rotate, so as to drive the first moving component 221 to slide on the third slide rail 2223 along the straight line of the third direction through the slider 2225.

[0074] The first moving assembly 221, the second moving assembly 222 and the conveying module 300 also include two buffer parts 2215, which are relatively arranged at the two ends of each screw and are used to reduce the movement speed of the nut 2224 on the screw or the slide at the end of the screw.

[0075] In this example, see Figure 1 The sole processing device also includes an electrical box control cabinet 14, a brush 13 and a side door 15. The electrical box control cabinet 14 is installed on the frame 10 and is connected to the second movable assembly 222. A door opening is provided on the outer shell 11. The side door 15 is rotatably connected to the side wall of the door opening. By opening the side door 15, the components in the outer shell 11 can be observed or repaired.

[0076] The outer shell 11 is also provided with a shoe opening, and the brush 13 is installed on the side wall of the shoe opening by magnetic adsorption. The shoe opening is used for the conveying module 300 to drive the fixed module 30 into the outer shell 11. By setting the brush 13, the external dust can be effectively reduced from invading the camera 110 lens and affecting the data collection of the camera 110.

[0077] See also Figures 1 to 14In one embodiment, a sole processing method is applied to a sole processing device. The sole processing device includes a processing head 40, an image acquisition module 100, and a driving module 200. The driving module 200 includes a rotating mechanism 210 and a moving mechanism 220. The sole processing method includes the following steps:

[0078] S500: Obtain target 3D point cloud data of the template sole corresponding to multiple perspectives, and use the target 3D image of the template sole and a preset image stitching algorithm to establish a 3D point cloud model of the template sole.

[0079] S600: Determine the processing trajectory and processing posture of the template sole based on the 3D point cloud model of the template sole, the trajectory algorithm, and the normal vector algorithm. S700: Obtain target 3D images of the sole to be processed corresponding to multiple perspectives, and use the target 3D images of the sole to be processed and a preset image stitching algorithm to create a 3D model of the target sole.

[0080] S600 includes step 110: acquiring point cloud data of the entire shoe.

[0081] In some embodiments, a 3D sensor may be used to scan the entire shoe to obtain point cloud data of the entire shoe.

[0082] Furthermore, in other embodiments, other methods besides 3D sensors can be used to obtain point cloud data of the entire shoe. It is understandable that there are currently many methods that can be used to obtain point cloud data. Therefore, the operator can also replace the 3D sensor method with other methods of obtaining point cloud data.

[0083] Step 120: Set a height value, take the point cloud within the height value range from the sole upwards, build a local coordinate system based on the sole point cloud data, transform the entire shoe point cloud data into the local coordinate system, and obtain the initial point cloud data.

[0084] The points in the initial point cloud data are all points with X-axis, Y-axis and Z-axis coordinates, that is, the coordinates of the points in the initial point cloud data are the X-axis, Y-axis and Z-axis coordinates in the local coordinate system.

[0085] It should be noted that since the whole shoe point cloud data obtained by scanning with a 3D sensor is composed of multiple points, and there is a relative relationship between the points, in some embodiments, a local coordinate system can be constructed based on the whole shoe point cloud data, and the whole shoe point cloud data can be transformed into the local coordinate system.

[0086] In some embodiments, PCA can be used to analyze the entire shoe point cloud data to construct a local coordinate system, and the entire shoe point cloud data is transformed into the local coordinate system to obtain the initial point cloud data in the local coordinate system; wherein PCA is principal component analysis (PCA).

[0087] Step 130: Process the initial point cloud data to obtain the side point cloud of the sole and extract the side edge trajectory.

[0088] In some embodiments, the initial point cloud data in the local coordinate system can be processed, such as by radius culling, normal vector filtering, and other point cloud processing methods, to obtain a point cloud of the side edge of the sole. Using the side edge point cloud, the trajectory of the side edge of the sole can be obtained. It is understood that the purpose of this processing is to determine the general outline of the side edge of the sole and use this as a reference to extract point cloud data for the welt portion.

[0089] It should be noted that the method of using the side point cloud to obtain the side edge trajectory is to slice the point cloud according to the angle of the line connecting the point cloud and the center of mass, find the feature points that meet the specified requirements in each piece of point cloud data, and take the maximum value of the Z coordinate size among the feature points to obtain the trajectory point of the point cloud. After the trajectory points are extracted from each piece, the trajectory points are sorted to finally obtain the side edge trajectory.

[0090] Step 140: Filter the initial point cloud data according to the side edge trajectory of the sole to obtain the point cloud data of the welt portion, and extract the welt trajectory.

[0091] It should be noted that the welt track is extracted based on the side edge track of the sole. The welt track points are traversed one by one, and the welt point cloud data is sliced ​​based on the traversal point and its tangent line at the side edge track of the sole. The sliced ​​welt corresponding to the traversal point is obtained, and the centroid of the sliced ​​welt is then determined. After the side edge track of the sole is traversed, a welt track extracted from the welt point cloud is obtained.

[0092] Step 150: Process the track along the strip and expand the track according to the set parameters.

[0093] It should be noted that since the preliminary welt track is only used as a reference and is not the final running track, a series of processes such as track smoothing and expansion are required. Since the welt has uneven fit on the upper, the preliminary welt track will also have uneven spots, and the final buckle edge trace must be smooth enough, so the welt track is first smoothed, the track is traversed, and the coordinates of the traversal points are smoothed according to the neighboring points of the current traversal point. After the traversal is completed, a smooth welt track can be obtained. The width consistency of the buckle edge is based on the welt, so the welt track is expanded to obtain the buckle edge track. It should be noted that the expansion distance is determined by the operator.

[0094] It should be further explained that the direction of the outward expansion along the track should be based on the normal direction at a certain point along the track. Traversing the track, a straight line is fitted to the current traversal point and its adjacent points. The perpendicular outward vector of this line at the current traversal point is the normal direction of that point. The coordinates of the outward expansion point are then moved along the normal direction by the specified outward expansion distance. After the traversal is complete, the outward expansion buckle track is obtained.

[0095] Step 160: Extract the welt plane point cloud based on the sole side edge trajectory, and fit the trajectory to the welt plane.

[0096] It should be noted that in order to ensure that the processed groove pattern is consistent with the side of the shoe, that is, to ensure that the groove pattern has a complete circle on the side, it is necessary to fit the outward-expanded processing trajectory with the plane of the welt, so that the processing trajectory is consistent with the trend of the welt in the Z-axis direction.

[0097] It should be further explained that the method of fitting the trajectory to the strip plane is to traverse each track point, find the adjacent strip plane point cloud of the current traversal point, use this point cloud to fit the 3D plane, and then project the current traversal point onto the fitted 3D plane. Once the traversal is completed, the machining trajectory is fitted.

[0098] Step 170: Segment-wise smoothing of the processing trajectory.

[0099] It should be noted that there will be many uneven spots where the welt fits the shoe upper, and the degree of unevenness can sometimes be quite severe, so different positions of the track need to be smoothed to varying degrees to ensure that the side edges of the final shoe are smooth and beautiful.

[0100] It should be further explained that the segmented smoothing is achieved by smoothing the track less at the toe and heel, and smoothing the track more at the inner and outer waists of the shoe. The segmentation is based on the difference in coordinates between the toe and heel of the track, dividing the track into three sections: front, middle, and back. The smoothing method is to traverse the track, find the adjacent track points at the current traversal point, and use the coordinates of these track points to calculate the mean coordinates. The mean coordinates are used to replace the coordinates of the current traversal point. After the traversal is completed, the track is smoothed. In some embodiments, different smoothing methods can be adopted.

[0101] Step 180: Calculate the normal vector of the machining trajectory.

[0102] It should be noted that the processing trajectory only determines the contact point position of the grinding head during the production process. The normal vector of the buckle edge trajectory will determine the swing posture of the grinding head and whether the side edge of the sole of the finished shoe can be perpendicular to the sole surface.

[0103] It's important to further clarify that the normal vector is calculated by extracting point cloud data from the shoe's sole and calculating the normal vector directions at the heel and toe. The shoe is divided into two regions: the back half contains the heel, and the front half contains the toe. The normal vector direction of the trajectory in the back half will remain consistent with the normal vector calculated from the bottom of the heel. The normal vector of the trajectory in the front half will gradually transition from the normal vector of the bottom of the heel to the normal vector of the bottom of the toe, ultimately reaching the point at the front of the toe where the normal vector at that point is equal to the normal vector of the bottom of the toe.

[0104] In other feasible implementations, before step 620, the sole point cloud data, the whole shoe point cloud data and the upper point cloud data obtained in step 610 need to be preprocessed respectively, and then step 120 and subsequent steps are executed. It can be understood that the purpose of preprocessing the whole shoe point cloud data is to effectively remove some invalid points or isolated points in the whole shoe point cloud data, reduce the number of points in the point cloud data, so as to obtain more streamlined point cloud data, and to remove edge burrs in the whole shoe point cloud data and eliminate background noise in the whole shoe point cloud data, so that features in the point cloud data can be better identified; wherein, preprocessing includes but is not limited to voxel filtering, radius culling, Euclidean distance segmentation, denoising, etc.

[0105] In an embodiment of the present application, a side edge trajectory of the sole is obtained based on the side edge point cloud data, an along-strip point cloud and along-strip trajectory are obtained based on the side edge trajectory of the sole, a buckle edge trajectory is obtained based on the along-strip trajectory, and a trajectory normal vector is obtained based on the sole surface point cloud. During use, for shoes of different styles and sizes, the generated processing trajectory only needs to be sent to the device using the above method, and the shoes can be processed by the device, thus achieving automatic generation of the processing trajectory of the shoe, that is, truly achieving automation of the processing process. Moreover, this method does not require human intervention and has the advantages of high efficiency, no errors, and good buckle edge effect. In addition, since the above method can also be used to obtain the processing trajectory of the corresponding shoe for each style and size of shoe (or each shoe of each style and size), the above method is applicable to the generation of processing trajectories for shoes of any size.

[0106] In one feasible implementation, step 130 in the above embodiment processes the initial point cloud data to obtain a shoe sole side edge trajectory, including: constructing a straight line through the origin of the local coordinate system with theta angle as the direction, using all points in the initial point cloud data whose distance from the straight line is less than a distance threshold as slice point clouds at theta angle, wherein the theta angle is incremented from 0 degrees to 360 degrees in a preset angle step, thereby obtaining slice point clouds at different theta angles; using the point with the maximum Z-axis value in the local coordinate system in each theta angle slice point cloud as a critical point, obtaining multiple critical points, wherein the Z-axis direction is the shortest side direction of the shoe; and obtaining the shoe sole side edge trajectory based on the multiple critical points. This embodiment is applicable to generating shoe sole edge trajectories for shoes of any style and size.

[0107] Among them, the preset angle step size and distance threshold are obtained by the operator based on a large number of experiments and statistics. Of course, the operator can also set the preset angle step size and distance threshold according to actual needs, and there is no restriction here.

[0108] It should be noted that, in the embodiment of the present application, the Z-axis direction of the local coordinate system is the height direction of the normal placement of the shoe.

[0109] In one feasible implementation, step 640 in the above embodiment, which filters the initial point cloud data based on the side edge trajectory to obtain the welt area point cloud, includes: using point-to-line distance and point-to-point distance to determine, traversing the side edge trajectory, finding trajectory points adjacent to the currently traversed point, fitting a line using these points to obtain the normal of the line, and then calculating the point-to-normal distance, the point-to-current traversal point distance, and the Z-axis coordinate difference between the point and the current traversal point on the initial point cloud to obtain a point cloud within a certain distance threshold. Once the traversal is completed, the corresponding welt point cloud is extracted.

[0110] The distance thresholds are obtained by the operator based on a large number of experiments and statistics. Of course, the operator can also set the distance thresholds according to actual needs, and there is no restriction here.

[0111] It should be noted that the line fitting adopts the least squares fitting method for 3D line fitting, and the coordinates of the current traversal point are used as the midpoint coordinate parameters of the line equation parameters.

[0112] It should be further explained that since a part of the point cloud is intercepted from the bottom of the initial point cloud in the positive direction of the Z axis and this part of the point cloud is used for PCA analysis to obtain the local coordinate system, the final buckle edge trajectory point coordinates and normal vector coordinates need to be converted to the original coordinate system.

[0113] It should be further explained that in the embodiments of this application, all neighboring point searches are performed using a KD tree search. This involves creating a multidimensional tree structure for the point cloud and searching within the tree for points within a certain radius, or the K closest points, for each point in the trajectory to obtain a neighboring point cloud. It should be understood that the radius range or K value used in the neighboring point cloud search process is determined through extensive experimentation and statistical analysis.

[0114] In a feasible implementation, the method in the above embodiment further includes: fitting the buckle edge trajectory by using a local straight line fitting method to obtain a standard buckle edge trajectory.

[0115] In an embodiment of the present application, the processing trajectory is fitted by adopting a local straight line fitting method to obtain a more accurate standard buckle edge trajectory, and the buckle edge trajectory is fitted to make the obtained buckle edge trajectory more standard to meet the processing requirements of the shoe factory.

[0116] In a feasible implementation, the method in the above embodiment further includes: performing correction processing on the processing trajectory to obtain a target processing trajectory.

[0117] It should be noted that the correction process includes but is not limited to smoothing, interpolation, etc. In some embodiments, smoothing adopts mean filter smoothing, and interpolation adopts B-spline interpolation.

[0118] In the embodiment of the present application, by correcting the buckle edge trajectory, that is, by adjusting the processing trajectory or details such as denoising, brightness, deformation, etc., a more accurate target buckle edge trajectory can be obtained.

[0119] The image acquisition module 100 collects image information of the shoes, and the rotating mechanism 210 drives the processing head 40 to rotate according to the image information. The moving mechanism 220 drives the rotating mechanism 210 and the processing head 40 to move according to the image information, so that the processing head 40 performs buckling or polishing actions.

[0120] It can be understood that the image information of the shoes is collected by the image acquisition module 100, the rotating mechanism 210 drives the processing head 40 to rotate according to the image information, and the moving mechanism 220 drives the rotating mechanism 210 and the processing head 40 to move according to the image information, so that the processing head 40 performs the buckling or grinding action. By setting the rotating mechanism 210, the movement freedom of the processing head 40 is increased, so that the processing head 40 can rotate during the grinding or buckling process, thereby realizing the change of working posture and improving the processing quality and effect of the sole.

[0121] In one embodiment, S510 includes five steps, specifically:

[0122] S511: Obtain target 3D images of the template sole corresponding to multiple perspectives, and use the target 3D images of the template sole and a preset image stitching algorithm to establish a 3D model of the template sole.

[0123] S512: Determine the processing trajectory and processing posture of the template sole based on the 3D model of the template sole, the trajectory algorithm and the normal vector algorithm.

[0124] S513: Obtain target 3D images of the sole to be processed corresponding to multiple perspectives, and use the target 3D images of the sole to be processed and a preset image stitching algorithm to establish a 3D model of the target sole.

[0125] It is understandable that the operator at the loading position places the template shoe on the sole suction cup and fixes it to move toward the 3D camera 110 by triggering the operation. During the operation, the fixed position automatically triggers the 3D camera 110 to scan and obtain the target 3D image of the template sole corresponding to multiple perspectives. The 3D image is obtained by scanning the 3D camera 110 at different perspectives. In fact, the process of the sole moving toward the 3D camera 110 and triggering the camera 110 to scan is to control the 3D camera 110 to scan the template sole from the front of the sole (toe position) to the back of the sole (heel position), thereby obtaining the target 3D image of the template sole generated by the scan, and obtaining the rough position of the trajectory and the normal vector through two-dimensional image processing. The rough position of the trajectory and the normal vector is inverted to a three-dimensional point cloud, and the point cloud is further processed to obtain an accurate trajectory and normal vector. The positioning and registration point cloud of the shoe is extracted according to the normal vector, and the registration point cloud is used to calculate the point cloud posture when the trajectory is extracted online. After the template of the saved trajectory, normal vector and registration point cloud is completed, the template shoe automatically returns to the loading position.

[0126] It should be noted that the automatic planning and execution of processing trajectories are achieved through preset algorithms, which solves the problem of manual programming and path planning of traditional CNC equipment, realizes seamless switching when producing different shoe types, and realizes high-speed automated production.

[0127] The preset algorithm can automatically align coordinates (point cloud) to solve the sole processing position deviation caused by sole deformation or fixed processing position of traditional equipment.

[0128] In one embodiment, the method further includes S800: determining a processing trajectory and a processing posture of the sole to be processed according to the 3D model of the sole to be processed, the trajectory algorithm, and the normal vector algorithm;

[0129] S900: Modify the processing trajectory and processing posture of the sole to be processed according to the grinding trajectory and grinding posture of the template sole.

[0130] In one embodiment, S500 obtains target 3D images of the template sole corresponding to multiple perspectives, and uses the target 3D images of the template sole and a preset image stitching algorithm to establish a 3D model of the template sole, including:

[0131] S510: Acquire target 3D images of template soles corresponding to multiple perspectives;

[0132] S520: The acquired template shoe 3D data is processed by a preset algorithm to obtain the template shoe's precise trajectory and normal vector. It is understood that the saved template sole 3D model data is imported, the target sole's posture is calculated based on the registration point cloud, and the template's trajectory and normal vector are transformed to the target sole 3D model to be processed based on the calculated posture. The trajectory and normal vector are further corrected and output as target sole trajectory information to be processed. The target sole trajectory information 3D information to be processed is processed and the target sole geometry information to be processed is reconstructed. The target sole trajectory and normal vector information to be processed are loaded. The calibrated mechanical body information and hand-eye calibration information are loaded. The normal vector is used as the target polishing posture for polishing the target sole to be processed. The information is sent to the motion control card. The target sole is automatically moved to the processing station by the conveying module 300 and the processing head 40 structure is monitored to polish according to the target sole polishing trajectory and target sole polishing posture to be processed.

[0133] The above disclosure is merely a preferred embodiment of the present invention and certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A sole processing method, characterized in that: The sole processing method is applied to a sole processing device, which includes a frame, a fixed module, a processing head, an image acquisition module and a driving module, wherein the driving module includes a rotating mechanism and a moving mechanism. The sole processing method includes the following steps: S500: Acquire target 3D images of template soles corresponding to multiple perspectives, and establish a 3D model of the template sole using the target 3D images of the template soles and a preset image stitching algorithm; S600: Determine the processing trajectory and processing posture of the template sole according to the 3D model of the template sole, the trajectory algorithm and the normal vector algorithm; S700: Acquire target 3D images of the sole to be processed corresponding to multiple perspectives, establish a 3D model of the target sole using the target 3D images of the sole to be processed and a preset image stitching algorithm, and collect image information of the shoe through the image acquisition module; The rotating mechanism drives the processing head to rotate according to the image information, and the moving mechanism drives the rotating mechanism and the processing head to move according to the image information, so that the processing head performs a buckling or grinding action; Wherein, S600 includes step 110: obtaining point cloud data of the entire shoe; Step 120: Set a height value, obtain point clouds within the height value range from the sole upwards, construct a local coordinate system based on the sole point cloud data, transform the entire shoe point cloud data into the local coordinate system, and obtain initial point cloud data; Step 130: Process the initial point cloud data to obtain a side point cloud of the sole and extract the side edge trajectory; Step 140: Filter the initial point cloud data according to the side edge trajectory of the sole to obtain the point cloud data of the welt portion, and extract the welt trajectory; Step 150: Process the track along the strip and expand the track according to the set parameters; First, the welt track is smoothed, and the track is traversed. The coordinates of the traversed points are smoothed according to the neighboring points of the current traversed point. After the traversal is completed, a smooth welt track is obtained. The width consistency of the buckle edge is based on the welt, so the welt track is expanded to obtain the buckle edge track. Step 160: Extract the welt plane point cloud based on the sole side edge trajectory, and fit the trajectory to the welt plane; In order to ensure that the processed groove pattern is consistent with the side of the shoe, that is, to ensure that the groove pattern has a complete circle on the side, it is necessary to fit the outward processing track with the welt plane, so that the processing track is consistent with the welt trend in the Z-axis direction; Step 170: Segment-wise smoothing of the machining trajectory; The segmented smoothing is achieved by having smaller trajectory smoothing at the toe and heel, and larger trajectory smoothing at the inner and outer waist of the shoe; Step 180: Calculate the normal vector of the machining trajectory; The method for calculating the normal vector is to extract the point cloud data of the sole surface and calculate the normal vector direction at the heel and toe; the shoe is divided into two areas, the back half contains the heel, and the front half contains the toe; the trajectory normal vector direction of the back half will be consistent with the normal vector direction calculated from the bottom of the heel; the trajectory normal vector of the front half will gradually transition from the normal vector of the bottom of the heel to the normal vector of the bottom of the toe, and finally at the trajectory point at the front of the toe, the normal vector of this point is equal to the normal vector of the bottom of the toe.

2. The sole processing method according to claim 1, characterized in that: Also includes S800: according to the 3D model of the sole to be processed, the trajectory algorithm and the normal vector algorithm to determine the processing trajectory and processing posture of the sole to be processed; S900: Modifying the processing trajectory and processing posture of the sole to be processed according to the grinding trajectory and grinding posture of the template sole.

3. The sole processing method according to claim 1, characterized in that: The step S500 acquires target 3D images of the template sole corresponding to multiple viewing angles, and establishes a 3D model of the template sole using the target 3D images of the template sole and a preset image stitching algorithm, including: S510: Acquire target 3D images of the template sole corresponding to multiple perspectives; S520: Processing the acquired template sole 3D data through a preset algorithm to obtain the precise trajectory and normal vector of the template sole.

4. A sole processing method according to claim 1, characterized in that: The fixed module is installed on the frame and is used to fix the shoes. The image acquisition module is installed on the frame and is used to acquire image information of the shoes. The rotating mechanism is detachably connected to the processing head so as to be able to drive the processing head to rotate around the axis according to the image information. The movable mechanism is installed on the frame and connected to the rotating mechanism so as to be able to drive the rotating mechanism and the processing head to move linearly according to the image information, so that the processing head performs buckling or polishing actions.

5. The sole processing method according to claim 4, characterized in that: The rotating mechanism includes a first rotating assembly, a second rotating assembly and a third rotating assembly. The first rotating assembly is detachably connected to the processing head and is used to drive the processing head to rotate around a first axis. The second rotating assembly is connected to the first rotating assembly and is used to drive the first rotating assembly to rotate around a second axis. The third rotating assembly is installed on the moving mechanism and is connected to the second rotating assembly to be able to drive the second rotating assembly to rotate around a third axis. The first axis, the second axis and the third axis are arranged at an angle to each other.

6. The sole processing method according to claim 5, characterized in that: The first rotating assembly includes a first motor and a spindle clamp, the spindle clamp is connected to the first motor and the machining head, and the machining head is detachably connected to the spindle clamp.

7. The sole processing method according to claim 6, characterized in that: The second rotating assembly includes a rotating frame and a second motor. The spindle clamp is arranged in the rotating frame and is rotatably connected to the side wall of the rotating frame. The first motor is installed on the rotating frame. The output end of the first motor is rotatably connected to the side wall of the rotating frame. The first motor drives the spindle clamp to rotate around the first axis in the rotating frame. The output end of the second motor is connected to the rotating frame. The second motor drives the rotating frame to drive the spindle clamp to rotate around the second axis.

8. The sole processing method according to claim 7, characterized in that: The third rotating assembly includes a third motor, a rotating arm and a hollow rotating platform. The second motor is installed on the rotating arm. The rotating frame is arranged in the rotating arm and is rotatably connected to the side wall of the rotating arm. The second motor drives the rotating frame to rotate around the second axis in the rotating arm. The third motor is connected to the hollow rotating platform. The rotating arm is connected to the hollow rotating platform. The third motor drives the rotating arm to rotate around the third axis through the hollow rotating platform.

9. The sole processing method according to claim 6, characterized in that: The sole processing device also includes a dust suction and cooling module, which is installed on one end of the spindle clamp close to the processing head. The dust suction and cooling module is provided with a cooling channel and a dust suction channel. An air knife is provided in the cooling channel. The air knife is used to blow cold air to the processing head. One end of the dust suction channel is used to be connected to an external negative pressure dust suction device, and the other end is used to absorb dust during the processing of the processing head.

10. The sole processing method according to claim 4, characterized in that: The sole processing device also includes a conveying module. The frame is provided with a loading station, an image acquisition station and a processing station. The conveying module is installed on the frame and connected to the fixed module so as to be able to convey the fixed module and the shoes to the loading station, the image acquisition station and the processing station in sequence along the first direction.

Images