Automatic sample cutting method for sole detection

Abstract

An automatic sample cutting method for shoe sole detection relates to the field of shoe sole detection equipment, and comprises a machine table, a shoe sole clamping mechanism, a numerical control milling cutter mechanism, a manipulator and a visual system, the shoe sole clamping mechanism comprises a shoe tree, a clamping cylinder and a clamping plate, and the shoe tree is inversely arranged on a working platform; the clamping cylinder pushes the clamping plate to move and clamps the shoe on the shoe tree; the numerical control milling cutter mechanism is arranged on the machine table and can cut shoe soles. The manipulator is arranged in the machine table to clamp the cut sample; the visual system comprises a visual camera and a controller, the visual camera is arranged at the end of the mechanical arm and can move along with the mechanical arm to collect marks on the shoe sole and feed back images to the controller, the controller controls the numerical control milling cutter mechanism to switch cutters and cut the shoe sole, and cutting and sampling of shoe sole samples can be rapidly completed. According to the shoe sole cutting device, only a small number of persons are needed to install and observe shoe soles beside the device, labor force is saved, some shoe soles made of firm materials can be rapidly cut, and working efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of sole detection equipment, and in particular relates to an automatic sample cutting method for sole detection. Background Art

[0002] Sole testing is an indispensable test in shoe quality inspection. It is used to evaluate the performance of the sole and facilitate consumers to intuitively obtain the required data. It is an important part of footwear quality inspection. Before testing some items, it is necessary to remove a small sample from the corresponding position of the sole for testing. The traditional testing method usually first draws a mark on the sole to be tested to mark the area where the sample needs to be cut, and then manually uses scissors or knives and other tools to cut the marked area to remove the sample to be tested. Manual cutting methods can easily lead to uneven shapes of the removed samples, and there will be many burrs on the edges. The samples need to be further trimmed for subsequent testing, which is time-consuming and labor-intensive. In addition, when testing shoes with strong soles such as labor protection shoes, manual cutting is extremely difficult, and it is difficult to control due to excessive force, which can easily cause injuries to operators, and needs to be improved. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a method for automatically cutting samples for sole detection.

[0004] The present invention adopts the following technical solution: A device for automatically cutting samples for sole detection comprises a machine platform, a sole clamping mechanism, a CNC milling cutter mechanism, a manipulator and a visual system, wherein a working platform for cutting samples is arranged in the machine platform; the sole clamping mechanism is arranged on the working platform, and comprises a shoe last, a clamping cylinder and a clamping plate, the shoe last is inverted on the working platform, and the sole of the shoe to be cut can be mounted on the shoe last with the sole facing upward; the clamping cylinders are arranged on both sides of the shoe last relatively; the clamping plates are arranged at the ends of the clamping cylinders, and the shoes can be clamped on the shoe last as the clamping cylinders are extended; the CNC milling cutter mechanism is arranged on the machine platform and can cut the sole; the manipulator is arranged in the machine platform to clamp the cut samples; the visual system comprises a visual camera and a controller, the visual camera is arranged at the end of the manipulator, and can move with the manipulator to collect marks on the sole and feed back the image to the controller, and the controller controls the CNC milling cutter mechanism to switch the tool and cut the sole.

[0005] Preferably, it also includes a transfer mechanism, which includes a transfer platform, a guide rail and an electric slide, the transfer platform extends outward from one side of the working platform to the outside of the machine; the guide rail is arranged on the transfer platform and the working platform; the electric slide is movably set on the guide rail, and can move back and forth between the transfer platform and the working platform, and the shoe last is set on the electric slide.

[0006] Preferably, the machine platform is also provided with a make way passage between the transfer platform and the working platform for the shoe last to pass through, a lifting door movably arranged on the machine platform for opening or closing the make way passage, and a lifting cylinder for driving the lifting door to rise and fall.

[0007] Preferably, the CNC milling cutter mechanism includes a vertical milling cutter, a saw blade milling cutter, a three-axis moving assembly and a driving member. The vertical milling cutter can perform contour cutting on the portion of the sole to be sampled; the saw blade milling cutter can cut the bottom surface of the portion of the sole to be sampled; the three-axis moving mechanism is connected to the vertical milling cutter or the saw blade milling cutter to drive it to move to cut the sole; the driving member is connected to the vertical milling cutter or the saw blade milling cutter to drive it to rotate.

[0008] Preferably, an electric clamp for clamping the cut sample is provided at the end of the manipulator, and the visual camera is arranged next to the electric clamp.

[0009] Preferably, the CNC milling cutter mechanism is arranged directly above the working platform, and the manipulator is arranged on the side of the working platform.

[0010] Preferably, the machine platform is also provided with an observation window for conveniently observing the working condition of the working platform.

[0011] A method for automatically cutting samples for sole detection, which relates to the above-mentioned device for automatically cutting samples for sole detection, comprises: (1) Draw the area to be cut on the shoes to be sampled using a marker that can be recognized by the visual system; (2) Start the device, put the shoes to be sampled on the shoe last and start it, and then extend the clamping cylinder to clamp the shoes on the shoe last from the left and right sides; (3) Longitudinal sampling: the end of the robot moves to the top of the shoe last and adjusts the visual camera to a vertical downward position, captures an image and feeds it back to the controller, which analyzes the pattern and establishes the horizontal X and Y coordinate axes with the visual midpoint of the visual camera. Then, the coordinates of the edge contour of the sole and the coordinate contour of the cross section of the area to be cut are determined; (4) Horizontal sampling: the robot moves to the front, back, left, and right of the shoe last, and makes the visual camera perpendicular to the Z axis and always facing the direction of the shoe last. The visual camera takes images of the four directions respectively. The controller analyzes the image and establishes the horizontal Z coordinate axis with the visual midpoint of the visual camera, and forms an XYZ coordinate system with the XY coordinate axis to determine the height of the top surface of the sole on the Z axis and the coordinate contour of the vertical section of the area to be cut, which are combined into the three-dimensional coordinates of the area to be cut. After the sampling is completed, the robot is retracted; (5) Once the cutting is completed, the CNC milling cutter mechanism switches to a vertical milling cutter, controls the cutting depth according to the height of the area to be cut, and moves the cutter according to the cross-sectional coordinates of the area to be cut, separating the side of the area to be cut from the sole; (6) Secondary cutting: the CNC milling cutter mechanism is switched to a saw blade milling cutter. The cutting depth is controlled according to the height of the area to be cut, and the cutting is performed according to the cross-sectional coordinates of the area to be cut. The bottom surface of the area to be cut is cut so that the area to be cut is completely separated from the sole to obtain the sample to be tested. (7) Sampling: The robot moves to the cutting area, clamps the sample to be tested with the electric gripper on the robot and moves it to the sample outlet to discharge the sample.

[0012] Preferably, the area to be cut in step (1) should extend inward from the edge of the sole, and the drawn lines should remain continuous and include the length, width and height of the sampling area to ensure that it forms a three-dimensional figure in the projection direction.

[0013] Preferably, step (4) further includes: based on the cross-sectional contour coordinates of the area to be cut obtained in step (3), the controller determines which direction the coordinates are closer to, front, back, left or right (i.e., closer to the +X axis, +Y axis, -X axis or -Y axis), and directly controls the manipulator to move in the corresponding direction for lateral sampling.

[0014] From the above description of the present invention, it can be seen that compared with the prior art, the present invention has the following beneficial effects: by using a visual camera to determine the mark on the sole, the CNC milling cutter mechanism can accurately cut the sample to be tested, and the cutting and sampling of the sole sample can be completed quickly. Only a small number of personnel are required to install and observe the sole beside the equipment, which saves labor, and the soles of some solid materials can also be quickly cut, thereby improving work efficiency; The transfer mechanism can transfer the shoe last from the machine to the outside, so the operator can install or remove the sole outside the machine without having to lean on the working platform inside the machine, which improves safety. The lifting door, which can be opened or closed, is only opened when conveying or outputting shoe lasts, to avoid dust leakage and environmental pollution when the device is working. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The structure of the present invention is schematically shown Figure 1 ; Figure 2 The structure of the present invention is schematically shown Figure 2 ; Figure 3 The structure of the present invention is schematically shown Figure 3 ; Figure 4 for Figure 3 The state at A Figure 1 ; Figure 5 for Figure 3 The state at A Figure 2 ; Figure 6 This is a schematic diagram of longitudinal sampling of the present invention; Figure 7 This is a schematic diagram of transverse sampling of the present invention; Figure 8 A schematic diagram of a method for automatically cutting samples for sole inspection in the present invention; In the figure: 1-machine platform; 11-working platform; 12-observation window; 13-lifting door; 14-lifting cylinder; 2-sole clamping mechanism; 21-shoe last; 22-clamping cylinder; 23-plywood; 3-transfer mechanism; 31-transfer platform; 32-guide rail; 33-electric slide; 4-CNC milling cutter mechanism; 41-vertical milling cutter; 42-saw blade milling cutter; 43-three-axis moving assembly; 44-driving part; 5-manipulator; 51-electric gripper; 6-visual camera. DETAILED DESCRIPTION

[0016] The present invention is further described below through specific implementation modes.

[0017] Reference Figures 1 to 8 As shown, a sole inspection automatic sample cutting device includes a machine platform 1, a sole clamping mechanism 2, a transfer mechanism 3, a CNC milling cutter mechanism 4, a manipulator 5, and a visual system.

[0018] A working platform 11 for cutting samples is provided in the machine 1. An observation window 12 for observing the working condition of the working platform 11 is also provided on the machine 1.

[0019] The sole clamping mechanism 2 is arranged on the working platform 11, and includes a shoe last 21, a clamping cylinder 22 and a clamping plate 23. The shoe last 21 is inverted on the working platform 11, and the shoe sole to be cut can be placed on the shoe last 21 with the sole facing upward; the clamping cylinder 22 is relatively arranged on both sides of the shoe last 21; the clamping plate 23 is arranged at the end of the clamping cylinder 22, and the shoe can be clamped on the shoe last 21 as the clamping cylinder 22 is extended, and the bottom surface of the clamping plate 23 should be lower than the height of the sole. The shoe is clamped by the clamping cylinder 22 to prevent the sole from shifting and falling off during cutting.

[0020] The transfer mechanism 3 includes a transfer platform 31, a guide rail 32 and an electric slide 33. The transfer platform 31 extends outward from one side of the working platform 11 to the outside of the machine 1; the guide rail 32 is arranged on the transfer platform 31 and the working platform 11; the electric slide 33 is movably arranged on the guide rail 32, and the shoe last 21 is arranged on the electric slide 33 and can move back and forth between the transfer platform 31 and the working platform 11. The transfer mechanism 3 can transfer the shoe last 21 from the machine 1 to the outside, and the operator can complete the installation or removal of the sole outside the machine 1 without having to lean on the working platform 11 inside the machine 1, thereby improving safety. Specifically, the machine 1 is also provided with a make way passage between the transfer platform 31 and the working platform 11 for the shoe last 21 to pass through, a lifting door 13 movably arranged on the machine 1 to open or close the make way passage, and a lifting cylinder 14 for driving the lifting door 13 to lift and lower. The lift door 13 that can be opened or closed is only opened when the shoe last 21 is conveyed or output, so as to avoid dust leakage and environmental pollution when the device is working.

[0021] The CNC milling cutter mechanism 4 is arranged directly above the working platform 11 and can cut the sole. The CNC milling cutter mechanism 4 includes a vertical milling cutter 41, a saw blade milling cutter 42, a three-axis moving assembly 43 and a driving member 44. The vertical milling cutter 41 can perform contour cutting on the part of the sole to be sampled; the saw blade milling cutter 42 can cut the bottom surface of the part of the sole to be sampled; the three-axis moving mechanism is connected to the vertical milling cutter 41 or the saw blade milling cutter 42 to drive it to move to cut the sole; the driving member 44 is connected to the vertical milling cutter 41 or the saw blade milling cutter 42 to drive it to rotate. The area to be cut can be completely cut off by the use of the vertical milling cutter 41 and the saw blade milling cutter 42, and even the solid sole of the labor protection shoe can be quickly cut. Specifically, the CNC milling cutter mechanism 4 and the machine platform 1 are CNC machine tools commonly used in the prior art, which can automatically perform functions such as tool changing, cutting and tool feeding, and are technical means directly available to those skilled in the art, and their structure and selection are not further described here.

[0022] The manipulator 5 is arranged on the side of the working platform 11, and an electric clamp 51 for clamping the cut sample is arranged at the end thereof.

[0023] The visual system includes a visual camera 6 and a controller. The visual camera 6 is arranged at the end of the manipulator 5 and is located on one side of the electric gripper 51. It can move with the manipulator 5 to collect the marks on the sole and feed the image back to the controller. The controller controls the CNC milling cutter mechanism 4 to switch the tool and cut the sole. The sample cutting method is as follows: (1) Draw the area to be cut. Use a marker pen that can be recognized by the visual system to draw the area to be cut on the shoe to be sampled. The area to be cut should extend inward from the edge of the sole, and the drawn lines should be continuous and include the length, width, and height of the sampling area to ensure that it can form a three-dimensional figure in the projection direction.

[0024] (2) Start the device, the lifting door 13 opens, the electric slide 33 moves to the transfer platform 31, the operator puts the shoes to be sampled on the shoe last 21 and presses the switch, the electric slide 33 transports the soles to the working platform 11, and the clamping cylinder 22 extends to clamp the shoes on the shoe last 21 from the left and right sides; (3) Longitudinal sampling: the end of the manipulator 5 moves to the top of the shoe last 21 and adjusts the visual camera 6 to a vertical downward position, captures an image and feeds it back to the controller, which analyzes the pattern and establishes the horizontal X and Y coordinate axes with the midpoint of the field of view of the visual camera 6, and then determines the coordinates of the edge contour of the sole and the coordinate contour of the cross section of the area to be cut; (4) Horizontal sampling: According to the coordinates of the cross-sectional contour of the area to be cut, the controller determines which direction the coordinate is closer to, front, back, left or right (i.e., closer to the +X axis, +Y axis, -X axis or -Y axis), and controls the manipulator 5 to move in the corresponding direction, so that the visual camera 6 is perpendicular to the Z axis and always faces the direction of the shoe last 21. The visual camera 6 takes images respectively, and the controller analyzes the images to establish a horizontal Z coordinate axis with the visual midpoint of the visual camera 6, and forms an XYZ coordinate system with the XY coordinate axis. At the same time, the height of the top surface of the sole on the Z axis and the coordinate contour of the vertical section of the area to be cut are determined, and the three-dimensional coordinates of the area to be cut are combined. After the sampling is completed, the manipulator 5 is retracted; (5) Once the cutting is completed, the CNC milling cutter mechanism 4 switches to a vertical milling cutter 41, controls the cutting depth according to the height of the area to be cut, and moves the cutter along the trajectory formed by the cross-sectional coordinates of the area to be cut, thereby separating the side of the area to be cut from the sole; (6) Secondary cutting: the CNC milling cutter mechanism 4 is switched to a saw blade milling cutter 42, the cutting depth is controlled according to the height of the area to be cut, and the cutting is performed according to the cross-sectional coordinates of the area to be cut. The bottom surface of the area to be cut is cut so that the area to be cut is completely separated from the sole to obtain the sample to be tested. During cutting, the manipulator 5 controls the electric clamp 51 to clamp the area to be cut to prevent the area to be cut from falling off the sole, and the posture of the manipulator 5 should avoid the activity track of the CNC milling cutter mechanism 4; (7) Sampling: The robot 5 moves to the cutting area, clamps the sample to be tested through the electric gripper 51 on the robot 5 and moves to the sample outlet to discharge the sample. The electric slide 33 transports the cut shoes to the secondary platform, and the operator removes the shoes from the shoe last 21.

[0025] The present application determines the marks on the sole through the visual camera 6, so that the CNC milling cutter mechanism 4 can accurately cut the sample to be tested, and can quickly complete the cutting and sampling of the sole sample. Only a small number of people are needed to install and observe the sole next to the equipment, which saves labor. The cutting of soles made of some solid materials can also be completed quickly, thereby improving work efficiency.

[0026] The above description is only a preferred embodiment of the present invention, and therefore cannot be used to limit the scope of implementation of the present invention. That is, equivalent changes and modifications made according to the scope of the patent application of the present invention and the contents of the specification should still fall within the scope covered by the patent of the present invention.

Claims

1. A method for automatically cutting samples for sole detection, characterized in that: based on a device for automatically cutting samples for sole detection, A sole inspection automatic cutting sample device comprises a machine platform, a sole clamping mechanism, a CNC milling cutter mechanism, a manipulator and a visual system. A working platform is arranged in the machine platform; the sole clamping mechanism is arranged on the working platform, and comprises a shoe last, a clamping cylinder and a splint. The shoe last is inverted on the working platform; the clamping cylinder is relatively arranged on both sides of the shoe last; The clamping plate is arranged at the end of the clamping cylinder; the CNC milling cutter mechanism is arranged on the machine platform, including a vertical milling cutter and a saw blade milling cutter; the manipulator is arranged in the machine platform; the visual system includes a visual camera and a controller, and the visual camera is arranged at the end of the manipulator, which can move with the manipulator to collect marks on the sole and feed back the image to the controller, and the controller controls the CNC milling cutter mechanism to switch the tool and cut the sole; A method for automatically cutting samples for sole detection comprises: (1) Draw the area to be cut on the shoes to be sampled using a marker that can be recognized by the visual system; (2) Start the device, put the shoes to be sampled on the shoe last and start it, the clamping cylinder extends and the clamps clamp the shoes on the shoe last from the left and right sides; (3) Longitudinal sampling: the end of the robot moves to the top of the shoe last and adjusts the visual camera to a vertical downward position, captures an image and feeds it back to the controller, which analyzes the pattern and establishes the horizontal X and Y coordinate axes with the visual midpoint of the visual camera. Then, the coordinates of the edge contour of the sole and the coordinate contour of the cross section of the area to be cut are determined; (4) Horizontal sampling: the robot moves to the front, back, left, and right of the shoe last, and makes the visual camera perpendicular to the Z axis and always facing the direction of the shoe last. The visual camera takes images of the four directions respectively. The controller analyzes the image and establishes the horizontal Z coordinate axis with the visual midpoint of the visual camera, and forms an XYZ coordinate system with the XY coordinate axis to determine the height of the top surface of the sole on the Z axis and the coordinate contour of the vertical section of the area to be cut, which are combined into the three-dimensional coordinates of the area to be cut. After the sampling is completed, the robot is retracted; (5) Once the cutting is completed, the CNC milling cutter mechanism switches to a vertical milling cutter, controls the cutting depth according to the height of the area to be cut, and moves the cutter according to the cross-sectional coordinates of the area to be cut, separating the side of the area to be cut from the sole; (6) Secondary cutting: the CNC milling cutter mechanism is switched to a saw blade milling cutter. The cutting depth is controlled according to the height of the area to be cut, and the cutting is performed according to the cross-sectional coordinates of the area to be cut. The bottom surface of the area to be cut is cut so that the area to be cut is completely separated from the sole to obtain the sample to be tested. (7) Sampling: The robot moves to the cutting area, clamps the sample to be tested with the electric gripper on the robot and moves it to the sample outlet to discharge the sample.

2. The method for automatically cutting samples for sole detection according to claim 1, characterized in that: The automatic sample cutting device for sole inspection also includes a transfer mechanism, which includes a transfer platform, a guide rail and an electric slide. The transfer platform extends outward from one side of the working platform to the outside of the machine platform; the guide rail is arranged on the transfer platform and the working platform; the electric slide is movably set on the guide rail and can move back and forth between the transfer platform and the working platform, and the shoe last is set on the electric slide.

3. The method for automatically cutting samples for sole detection according to claim 2, characterized in that: The platform is also provided with a clearance passage between the transfer platform and the working platform for the shoe last to pass through, a lifting door movably arranged on the platform for opening or closing the clearance passage, and a lifting cylinder for driving the lifting door to rise and fall.

4. The method for automatically cutting samples for sole detection according to claim 1, characterized in that: The CNC milling cutter mechanism also includes a three-axis moving assembly and a driving member. The vertical milling cutter can perform contour cutting on the part of the sole to be sampled; the saw blade milling cutter can cut the bottom surface of the part of the sole to be sampled; the three-axis moving mechanism is connected to the vertical milling cutter or the saw blade milling cutter to drive it to move to cut the sole; the driving member is connected to the vertical milling cutter or the saw blade milling cutter to drive it to rotate.

5. The method for automatically cutting samples for sole detection according to claim 4, characterized in that: An electric clamp for clamping the cut sample is arranged at the end of the manipulator, and the visual camera is arranged beside the electric clamp.

6. The method for automatically cutting samples for sole inspection according to claim 1, characterized in that: The CNC milling cutter mechanism is arranged directly above the working platform, and the manipulator is arranged on the side of the working platform.

7. The method for automatically cutting samples for sole inspection according to claim 1, characterized in that: The machine platform is also provided with an observation window for conveniently observing the working condition of the working platform.

8. The method for automatically cutting samples for sole inspection according to claim 1, characterized in that: The area to be cut in step (1) should extend inward from the edge of the sole, and the drawn lines should remain continuous and include the length, width, and height of the sampling area to ensure that it forms a three-dimensional figure in the projection direction.

9. The method for automatically cutting samples for sole inspection according to claim 1, characterized in that: Step (4) also includes: based on the cross-sectional contour coordinates of the area to be cut obtained in step (3), the controller determines which direction the coordinates are closer to (i.e., closer to the +X axis, +Y axis, -X axis, or -Y axis), and directly controls the manipulator to move in the corresponding direction for lateral sampling.

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