A green intelligent precise disassembling method and device for waste and old shoe materials

Abstract

The application discloses a kind of green intelligent precise disassembly method and equipment of waste shoe material, it solves the problem of resource waste, high recovery cost, low disassembly efficiency etc. caused by the difficulty of disassembly, low recovery efficiency etc. of waste shoe material, the method has higher precision and higher processing efficiency for the disassembly of waste shoe material. Its method includes: conveying waste shoe material;Machine intelligent visual identification is carried out on waste shoe material on numerical control intelligent workstation;Laser cutting separates sole and upper;Machine intelligent visual identification is carried out on sole;Laser precision cutting separates multilayer sole, realizes the fine recovery of different material soles. The above technical scheme can recycle whole shoes for various shoes, realize the precise disassembly of sole, upper and multilayer, different material soles of waste shoe material, promote the precise disassembly, separation, fine recovery and reuse of waste shoe material, and the disassembly process does not need to use degreasing agent and heating equipment, improves the disassembly efficiency, reduces the pollution to environment and resource waste.

Description

TECHNICAL FIELD

[0001] The application belongs to a kind of waste shoe material intelligent disassembly method and equipment thereof. BACKGROUND

[0002] In China, there are few examples of recycling. Fujian Quanzhou Sanda Plastic Co., Ltd. engages in waste recycling. The company uses professional technology and process equipment for waste recycling. Through professional technology, it can be decomposed and foamed for recycling and reuse to produce better quality foam products.

[0003] Chinese patent CN113646151A discloses a method for recycling shoes, the shoes comprising various components made of the same material category with different densities, the method comprising:

[0004] a. grinding the shoes to obtain a plurality of particles having different material densities; b. mixing the particles; c. applying heat to the mixed particles to obtain a melt of molten particles; and d. extruding the melt. This patent has the following disadvantages:

[0005] 1. The method of selecting shoes to be recycled from waste shoe materials is not disclosed;

[0006] 2. Waste shoe materials have multiple components, such as soles and uppers, which are made of different materials and are not suitable for grinding at the same time.

[0007] Chinese patent CN116619624A discloses a waste shoe material recycling method, the method comprising: a. selecting target shoe materials from waste shoe materials; b. delaminating the soles and uppers of the target shoe materials; c. crushing the soles to obtain sole crushed materials; d. selecting crushed material products of different materials from the sole crushed materials. This patent has the following disadvantages:

[0008] 1. The target shoe materials need to be selected from waste shoe materials, increasing the difficulty of processing;

[0009] 2. The specific object of the target shoe material is only sports shoes, especially mesh sports shoes, with limited application;

[0010] 3. The disassembly process requires the use of a heat dissipation device and a delaminating agent;

[0011] 4. The disassembly of the soles and uppers relies on mechanical gears, with low intelligence level;

[0012] 5. The sole material is homogeneous, and needs to be sorted again after crushing. SUMMARY

[0013] To this end, the purpose of the present application is to provide a waste shoe material intelligent precise disassembly method and equipment, to solve the problem that the prior art does not disclose a universal, intelligent and precise disassembly equipment and recycling method for shoe uppers and soles.

[0014] To achieve the above-mentioned purpose, the waste shoe material green intelligent precise disassembly method of the present application is characterized by comprising the following steps:

[0015] 1) conveying waste shoe material;

[0016] 2) machine intelligent visual identification of waste shoe material;

[0017] 3) laser cutting to separate the upper and the sole of the target shoe material;

[0018] 4) machine intelligent visual identification of the sole;

[0019] 5) if it is a multi-layer sole, laser precise cutting is used to separate the multi-layer sole.

[0020] Further, after step 1) conveying waste shoe material, the following steps are further included:

[0021] The target shoe material is fixed on the workbench by the mechanical gripper.

[0022] Further, after step 2) machine intelligent visual identification of waste shoe material, the following steps are further included:

[0023] The machine intelligent visual identification of the target shoe material is achieved by the mechanical gripper fixing the target shoe material and rotating 360 degrees to realize machine intelligent visual 360-degree identification.

[0024] Further, after the step of the mechanical gripper fixing the target shoe material and rotating 360 degrees to realize machine intelligent visual 360-degree identification, the following steps are further included:

[0025] After machine intelligent visual 360-degree identification, a digital scanning image is generated and transmitted to a microcomputer.

[0026] Further, after the step of "generating a digital scanning image and transmitting it to a microcomputer", the following steps are further included:

[0027] The microcomputer imports data to a laser cutter, the mechanical gripper realizes the lateral lying fixation of the target shoe material, and 360-degree free rotation is realized to realize the laser cutting of the laser cutter to the upper and the sole.

[0028] Further, after step 4) machine intelligent visual identification of the sole, the following steps are further included:

[0029] A digital scanning image is generated and transmitted to a microcomputer.

[0030] Further, after the step of "generating digital scanning image transmission to microcomputer", if the sole is one layer, subsequent multiple cutting is not needed; if the sole is two or more layers, the machine needs to intelligently recognize and judge once for each cutting.

[0031] Further, after the step of "generating digital scanning image transmission to microcomputer", the following steps are further included:

[0032] The microcomputer imports data to the laser cutter, and the mechanical gripper realizes the fixation of the multi-layer sole and can rotate freely by 360 degrees, realizing the accurate ring cutting of the laser on the multi-layer sole.

[0033] Further, after the step of "adopting laser accurate cutting to separate the multi-layer sole", the following steps are further included:

[0034] The mechanical gripper puts the separated sole on the workbench, and directly slides to the conveyor belt below the workbench through the workbench with a certain inclination angle.

[0035] Further, the sole of the target shoe material can be one layer or multi-layer composite;

[0036] The machine recognition includes industrial camera or high-speed camera recognition;

[0037] The mechanical gripper can rotate freely by 360 degrees.

[0038] The equipment for implementing the above-mentioned method is: including a conveyor belt, a machine intelligent visual recognition device, a laser cutter and a mechanical gripper, the machine intelligent visual recognition device includes an industrial camera and a microcomputer, the conveyor belt can convey the waste shoe material to the front of the workbench, the mechanical gripper grabs the target shoe material to the workbench, there is a laser cutter and an industrial camera above the workbench, and the relative fixed positions of the laser cutter and the industrial camera in reality are: first, fix the laser cutter above the sensor, and then fix the camera on the side position opposite to the laser cutter in the conveying direction of the conveyor belt (for example, the conveyor belt conveys the shoe material from left to right, and the camera is fixed on the right side of the laser cutter). After the target shoe material is grabbed to the workbench by the mechanical gripper, the target shoe material is fixed by the mechanical gripper and placed below the industrial camera for 360-degree rotation to realize recognition (since the mechanical gripper is prior art and can realize 360-degree rotation), the industrial camera takes a picture to form a digital scanning image. The intelligent visual recognition of the industrial camera on the target shoe material is based on the deep learning of the appearance of the shoe material, analyzes the image data of the shoe material, obtains the ability of accurate positioning and picture recognition, realizes the analysis of the shape characteristics of the shoe material, and forms a digital scanning image; the microcomputer controls the laser cutter (the control program can be realized by general technical personnel) to cut and separate the target shoe material to obtain the upper and the sole.

[0039] Specifically, to achieve the above-mentioned purpose, the application provides an intelligent precise disassembly method for waste shoe materials, comprising the following steps:

[0040] Conveying waste shoe materials by a conveyor belt;

[0041] Intelligent visual recognition of the waste shoe materials by a machine;

[0042] Laser cutting and separation of the upper and the sole of the target shoe material;

[0043] Grabbing the upper by a mechanical gripper;

[0044] Intelligent visual recognition of the sole by a machine;

[0045] Precise laser cutting and separation of the multi-layer sole.

[0046] Further, after the step of "conveying waste shoe materials", the following steps are further included:

[0047] Grabbing and fixing the shoe material on the workbench by the mechanical gripper.

[0048] Further, in the step of "grabbing and fixing the shoe material on the intelligent numerical control workbench by the mechanical gripper", the following steps are further included:

[0049] If the laser penetrates the shoe body and hits the intelligent numerical control workbench, the intelligent numerical control workbench protects the conveyor belt below from being damaged by the laser and can detect and shut down the laser operation.

[0050] Further, after the step of "intelligent visual recognition of the waste shoe materials by a machine", the following steps are further included:

[0051] 360-degree rotation of the shoe material by the mechanical gripper to realize recognition.

[0052] Further, after the step of "360-degree rotation of the shoe material by the mechanical gripper to realize recognition", the following steps are further included:

[0053] Generating a digital scanning image and transmitting it to a microcomputer.

[0054] Further, after the step of "generating a digital scanning image and transmitting it to a microcomputer", the following steps are further included:

[0055] Data import to a laser cutter, fixation of the shoe material by the mechanical gripper, and 360-degree free rotation to realize the laser cutting of the upper and the sole from bottom to top.

[0056] Further, after the step of "laser cutting and separation of the upper and the sole of the target shoe material", the following steps are further included:

[0057] 360-degree rotation of the shoe material by the mechanical gripper to realize intelligent recognition of the sole.

[0058] Further, after the step of "intelligent visual identification of the shoe sole", the following steps are further included:

[0059] The digital scanning image is generated and transmitted to the microcomputer.

[0060] Further, after the shoe sole is identified, if it is one layer, it is cut once; if it is more than two layers, it needs to be visually identified and judged once for each cutting.

[0061] Further, after the step of "generating digital scanning image and transmitting to microcomputer", the following steps are further included:

[0062] The data is imported to the laser cutter, and the mechanical gripper realizes the fixation of the shoe material and can rotate freely by 360 degrees, realizing the circular cutting of the laser on the shoe sole.

[0063] Further, after the step of "precise cutting and separation of the multi-layer shoe sole with laser", the following steps are further included:

[0064] Further, the shoe sole of the target shoe material can be one layer or multi-layer composite;

[0065] The machine recognition includes an industrial camera and a high-speed camera.

[0066] The mechanical gripper can rotate freely by 360 degrees.

[0067] The beneficial effects of the present application are that the above technical solution of the present application can recycle a variety of shoes, realize the precise disassembly of the shoe sole and the upper of the waste shoe material and the multi-layer shoe sole, promote the precise disassembly and separation of the waste shoe material and the fine recycling and reuse, and does not need to use a debonding agent and a heating device in the disassembly process, improves the disassembly efficiency, reduces the pollution to the environment and the waste of resources. BRIEF DESCRIPTION OF DRAWINGS

[0068] Figure 1 It is a green intelligent precise disassembly method flow chart of waste shoe material.

[0069] Fig. 2(a) is a front view of the green intelligent precise disassembly equipment of waste shoe material of the present application.

[0070] Fig. 2(b) is a left view of Fig. 2(a).

[0071] Fig. 2(c) is a top view of Fig. 2(a).

[0072] Figure 3 It is an intelligent identification schematic diagram of a green intelligent precise disassembly method of waste shoe material of the present application. DETAILED DESCRIPTION

[0073] To explain possible application scenarios, technical principles, specific implementation schemes, and the purposes and effects of the present application in detail, the following embodiments are described in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0074] In this paper, the term "embodiment" means that the specific features, structures or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The term "embodiment" appearing at various places in the specification does not necessarily refer to the same embodiment, and does not particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, each technical feature mentioned in each embodiment can be combined in any way to form a corresponding implementable technical solution.

[0075] Unless otherwise defined, the meanings of the technical terms used herein are the same as those commonly understood by those skilled in the art to which the present application belongs; the use of related terms herein is only for the purpose of describing specific embodiments, and is not intended to limit the present application.

[0076] In the description of the present application, the phrase "and / or" is a description of the logical relationship between the objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this paper generally represents that the associated objects before and after are a "or" logical relationship.

[0077] In the present application, terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual quantity, primary and secondary or order relationship between the entities or operations.

[0078] Without more limitations, in the present application, the phrases "include", "contain", "have" or other similar expressions used in the sentence are intended to cover non-exclusive inclusion, and these expressions do not exclude the presence of other elements in the process, method or product including the described elements, so that the process, method or product including a series of elements can not only include those limited elements, but also include other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0079] The same as the understanding in the "Examination Guidelines", in this application, "greater than", "less than", "exceed" and the like are understood as not including the number; "above", "below", "within" and the like are understood as including the number. In addition, in the description of the embodiments of the present application, the meaning of "multiple" is more than two (including two), and similar expressions related to "multiple" are also understood in this way, for example, "multiple groups", "multiple times" and the like, unless otherwise explicitly specified.

[0080] In the description of the embodiments of the present application, the spatially related expressions used, such as "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiment or the drawing, and are only for the convenience of describing the specific embodiments of the present application or for the reader to understand, and do not indicate or imply that the indicated device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. Unless otherwise explicitly specified or limited, in the description of the embodiments of the present application, the terms "mount", "connect", "connect", "fix", "set" and the like should be broadly understood. For example, the "connection" can be fixed connection, or detachable connection, or integrated setting; it can be mechanical connection, or electrical connection, or communication connection; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For those skilled in the art to which the present application belongs, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0081] Please refer to Figures 1 to 3 The embodiment of the present application is a kind of green intelligent precise disassembly method and equipment for waste shoe material, comprising the following steps:

[0082] Step S100: conveying waste shoe material to the front of the workbench;

[0083] Step S101: machine intelligent visual identification of waste shoe material;

[0084] Step S102: laser cutting separates the sole of the target shoe material;

[0085] Step S103: secondary machine intelligent visual identification of the sole;

[0086] Step S104: laser precise cutting separates the multilayer sole.

[0087] Specifically as Figure 1As shown, S100 waste shoe material conveying, S101 waste shoe material machine intelligent identification; when the machine intelligent identification is single layer shoe sole, S102 laser cutting target shoe material, separating out the shoe sole, separating is finished; when the machine intelligent identification is multi-layer shoe sole, S102 laser cutting target shoe material, S103 machine intelligent identification, S104 laser cutting target shoe material, separating out multi-layer shoe sole, separating is finished.

[0088] Unlike the prior art, the above technical scheme can recycle whole shoes, separate target shoe materials from waste shoe materials, laser cut the soles and uppers of the target shoe materials, separate the soles and uppers of the target shoe materials, crush the soles to obtain sole crushed materials, and separate crushed material products of different materials from the sole crushed materials. These crushed material products of different materials can then be used as raw materials for producing other products, promoting effective recycling and reuse of waste shoe materials, reducing environmental pollution, and promoting coordinated development of economy, society and environment.

[0089] Step S100: conveying waste shoe materials to the front of the workbench:

[0090] Please refer to FIG. 2(a). According to an embodiment of the present application, the conveying device is a conveyor belt, which includes but is not limited to a belt conveyor, a plate conveyor, and a trolley conveyor.

[0091] Step S101: machine intelligent visual identification of waste shoe materials:

[0092] When the target shoe material is conveyed to the front of the workbench by the conveying device, the target shoe material is grabbed by the mechanical gripper and placed on the workbench 1.

[0093] Please refer to FIG. 2(a). According to an embodiment of the present application, the workbench functions as:

[0094] 1. When the laser penetrates the shoe sole and is directed downward, the safety of the conveying device is protected.

[0095] 2. The workbench has a certain inclination angle. The inclination can make the shoe sole cut by the laser directly slide onto the conveyor belt below the workbench, increasing efficiency.

[0096] Please refer to FIG. 2(a). According to an embodiment of the present application, the reason for using the workbench is that under the premise of laser fixation, the laser is emitted downward, which may cause damage to the conveying device below, increasing maintenance costs. The workbench 1 is arranged above the conveying device 2, which can effectively protect the conveying device below and ensure the continuity of the conveying device, without the need for segmented arrangement due to the laser cutter, thereby reducing costs.

[0097] Referring to FIG. 2(a), according to an embodiment of the present application, the protection principle of the workbench 1: taking the "light spot" shot by the laser beam as the center, a sensor 3 is arranged on the workbench 1, when the laser beam is shot on the sensor, the sensor transmits a signal to the laser cutter, and the laser cutter is paused.

[0098] Referring to FIG. 2(a), according to an embodiment of the present application, there is a laser cutter (right) and an industrial camera (left) above the workbench, and the left and right positions are only limited in this example. In reality, the relative fixed positions of the laser cutter and the industrial camera are: first fix the laser cutter above the sensor, and then fix the camera on the side opposite to the laser cutter according to the conveying direction of the conveyor belt (for example, if the conveyor belt conveys shoe materials from left to right, the camera is fixed on the right side of the laser cutter). The fixing methods include but are not limited to riveting, splicing, welding, hinging (hinge), screwing, splicing, buckling, etc. The fixed position is above the sensor of the workbench, and the center of the laser cutting and the center of the sensor are in a vertical line.

[0099] After the target shoe material is grabbed to the workbench by the mechanical gripper 4, the target shoe material is fixed by the mechanical gripper 4 and placed under the industrial camera for 360-degree rotation to realize recognition (since the mechanical gripper is prior art and can realize 360-degree rotation), the industrial camera takes pictures to form a digital scanning image.

[0100] The intelligent visual recognition of the industrial camera to the target shoe material is based on the deep learning of the appearance of the shoe material. The image data of the shoe material is analyzed to obtain the ability of accurate positioning and picture recognition, realize the analysis of the shape characteristics of the shoe material, and form a digital scanning image, which can be realized by ordinary skilled persons.

[0101] Further, the digital scanning image generated by the industrial camera is transmitted to the microcomputer.

[0102] Step S102: separating the shoe sole by laser cutting on the shoe material:

[0103] The microcomputer controls the laser cutter (the control program can be realized by ordinary skilled persons) to separate the upper and the sole of the target shoe material by laser cutting.

[0104] Specifically, the microcomputer transmits operation instructions to the mechanical gripper and the laser cutter respectively.

[0105] The laser cutting is to separate the shoe upper and the shoe sole by using the high power density energy generated by the focused laser. Under the control of the microcomputer, the laser cutter discharges through pulse to output the controlled repeated high frequency pulse laser, forming a certain frequency and pulse width light beam. The pulse laser beam is conducted and reflected through the focusing lens group and focused on the shoe material to form a fine and high energy density spot to melt or gasify the shoe material in an instant. The laser cutter, the mechanical gripper and the shoe material continuously move relative to the pattern drawn by the microcomputer (the control program can be realized by general technical personnel), and then the shoe upper and the shoe sole are separated.

[0106] The mechanical gripper and the laser cutter encircle the bottom layer of the shoe sole according to the indication, and separate the shoe upper and the shoe sole.

[0107] Referring to FIG. 2(b), according to an embodiment of the present application, the mechanical gripper 4 is composed of a base rotating disc b3, an upper metal arm a1, a lower metal arm a2 and a mechanical claw c.

[0108] The base rotating disc b3 constitutes one of the joints of the mechanical gripper, the joint b2 is the joint between the upper metal arm a1 and the lower metal arm a2, and the upper joint b1 is the joint between the mechanical claw c and the upper metal arm a1. The mechanical gripper 4 is a product that can be produced under the existing scientific and technological level.

[0109] Referring to FIG. 2(b), according to an embodiment of the present application, the base rotating disc b3 of the mechanical gripper 4 is a rotating disc that can rotate horizontally and control the lower metal arm a2 to swing in the vertical plane. The rotating angle is determined according to the indication output by the microcomputer. The rotation of the joint can control the movement of the shoe material in the X-axis and Y-axis directions during cutting.

[0110] Referring to FIG. 2(b), according to an embodiment of the present application, the joint b2 of the mechanical gripper can rotate up and down. The rotation is determined according to the indication output by the microcomputer. The rotation of the joint can control the movement of the shoe material in the Z-axis direction during cutting.

[0111] Referring to FIG. 2(b), according to an embodiment of the present application, the upper joint b1 of the mechanical gripper can rotate 360 degrees. The 360-degree rotation of the upper joint b1 realizes the step S101 of intelligently identifying the target shoe material by the machine vision.

[0112] In step S101, the upper joint b1 of the mechanical gripper rotates to grab and rotate the shoe material by 360 degrees, providing a way for the intelligent identification and scanning of the camera.

[0113] Referring to FIG. 2(a), according to an embodiment of the present application, the laser cutter is fixed above the workbench and can only emit laser light downward in the vertical direction. The cutting direction of the fixed laser cutter protects the surrounding workers and devices.

[0114] Referring to FIG. 2(a), FIG. 2(b) and FIG. 2(c), according to an embodiment of the present application, the operation of laser cutting is that the laser cutter emits laser light downward in the vertical direction, and the mechanical gripper grabs the target shoe material to move and rotate in various directions according to the indication transmitted by the microcomputer, so as to realize the cutting of the target shoe material.

[0115] After the microcomputer determines that the target shoe material is a single-layer sole, the mechanical gripper releases the shoe upper after the cutting in step S102, so that the shoe upper falls to the workbench and slides to the conveyor belt, and the shoe upper and the sole are conveyed away for the separation work of the next shoe material. If the microcomputer determines that the target shoe material is a multi-layer sole, the multi-layer sole of the target shoe material is scanned and cut again.

[0116] Step S103: The shoe material with a multi-layer sole is scanned again by machine intelligent vision recognition:

[0117] After the microcomputer determines that the shoe material has a multi-layer sole, only the lowermost sole is cut off in step S102, and the multi-layer sole is not separated, so the multi-layer sole of the shoe material is scanned again, and the scanning step is the same as S101:

[0118] The mechanical gripper rotates the shoe material with a multi-layer sole by 360 degrees on the workbench, and after scanning by the camera, a digital scanning image is generated and transmitted to the microcomputer. The microcomputer generates operation instructions and transmits them to the mechanical gripper and the laser cutter respectively.

[0119] Step S104: The multi-layer sole is precisely cut and separated by laser.

[0120] The mechanical gripper holds the shoe material with a multi-layer sole, and rotates up and down and left and right under the indication transmitted by the microcomputer, so as to cooperate with the laser cutter to cut the multi-layer sole in a ring shape.

[0121] After the final cutting is completed, the mechanical gripper rotates the multi-layer sole by 360 degrees again, and after scanning by the camera, the microcomputer determines that the multi-layer sole has been cut and separated completely, and then the mechanical gripper releases the shoe upper after the cutting in step S102 and the sole after the cutting in step S104, so that they fall to the workbench and slide to the conveyor belt, and the shoe upper and the sole are conveyed away for the cutting work of the next shoe material.

[0122] It should be noted that although the above embodiments have been described in the present text, the patent protection scope of the present application is not limited thereby. Therefore, based on the innovative idea of the present application, the changes and modifications of the embodiments described in the present text, or the equivalent structure or equivalent process transformation made by using the content of the present application specification and drawings, directly or indirectly apply the above technical solutions to other related technical fields, are all included in the patent protection scope of the present application.

Claims

1. A green intelligent precise disassembly method for waste and old shoe materials, characterized in that, It comprises the following steps: 1) conveying waste and old shoe materials; 2) machine intelligent visual identification of waste and old shoe materials; 3) laser cutting of the target shoe material to separate the upper and the sole; 4) machine intelligent visual identification of the sole; 5) if it is a multi-layer sole, laser precise cutting is used to separate the multi-layer sole; After step 1) conveying waste and old shoe materials, the following steps are included: The target shoe material is fixed on the workbench by the mechanical gripper; After step 2) "machine intelligent visual identification of waste and old shoe materials", the following steps are included: Machine intelligent visual identification of the target shoe material, the mechanical gripper fixes the target shoe material and rotates 360 degrees to realize machine intelligent visual 360-degree identification; After the step of fixing the target shoe material by the mechanical gripper and rotating 360 degrees to realize machine intelligent visual 360-degree identification, the following steps are included: After machine intelligent visual 360-degree identification, a digital scanning image is generated and transmitted to a microcomputer; After the step of "generating a digital scanning image and transmitting it to a microcomputer", the following steps are included: The microcomputer imports data into the laser cutter, the mechanical gripper realizes the lateral fixation of the target shoe material, and 360-degree free rotation is realized to realize the laser cutting of the upper and the sole.

2. The green intelligent precise disassembling method for waste and old shoe materials according to claim 1, characterized in that, After step 4) "machine intelligent visual identification of the sole", the following steps are included: Generating a digital scanning image and transmitting it to a microcomputer.

3. The green intelligent precise disassembling method for waste and old shoe materials according to claim 2, characterized in that, After the step of "generating a digital scanning image and transmitting it to a microcomputer", if it is one layer, it does not need to be cut multiple times; if it is more than two layers, it needs to be machine intelligent visual identification once for each cutting.

4. The green intelligent precise disassembling method for waste and old shoe materials according to claim 3, characterized in that, After the step of "generating a digital scanning image and transmitting it to a microcomputer", the following steps are included: The microcomputer imports data into the laser cutter, the mechanical gripper realizes the fixation of the multi-layer sole, and can rotate 360 degrees freely to realize the precise cutting of the multi-layer sole by laser.

5. The green intelligent precise disassembling method for waste and old shoe materials according to claim 1, characterized in that, After the step of "precise laser cutting of the multi-layer sole", the following steps are included: The mechanical gripper grabs the separated sole and puts it on the workbench, which is directly slid to the conveyor belt below the workbench through the workbench with a certain inclination angle.

6. The green intelligent precise disassembling method for waste and old shoe materials according to any one of claims 1 to 5, characterized in that, The sole of the target shoe material can be one layer or multi-layer composite; The machine intelligent visual identification includes industrial camera or high-speed camera identification; The mechanical gripper can rotate 360 degrees freely.

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