Shoe edge polishing apparatus and profile calibration method and device thereof

Abstract

The application discloses a shoe edge polishing device and a profile calibration method and device thereof, and relates to the technical field of processing equipment. The profile calibration method comprises the following steps: acquiring a preset profile of a workpiece; recording a current position when a polishing head first contacts the workpiece; constructing a virtual circle, and acquiring an intersection set of the virtual circle and the preset profile; and selecting a machining starting point from the intersection set. The profile calibration method provided by the application realizes rapid calibration, and workers only need to move the polishing cutter head to the edge of the shoe edge and touch it once, and then the system can automatically calculate and prompt the machining starting point, thereby avoiding the previous repeated trial and error, effectively shortening the production preparation time. Meanwhile, the operation difficulty and labor intensity are reduced, the consistency of operation of different workers is ensured, the quality fluctuation caused by human factors is reduced, and the standardization and stabilization of the production process are promoted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of processing equipment, in particular to a shoe edge polishing device and a profile calibration method and device thereof. BACKGROUND

[0002] In shoe sole and shoe edge polishing production, the shoe edge shape is usually an irregular closed curve, and the design drawing is stored in the form of CAD data. When using a polar coordinate mechanism (one rotating shaft J0 and one radial moving shaft J1) to perform polishing, the starting point position of the CAD closed curve on the actual workpiece needs to be accurately known. The existing method mainly relies on manual alignment by workers, gradually approaching the polishing tool head to the shoe edge, and visually finding the starting point of the track. However, the operation process is time-consuming and prone to errors, and different workers have large experience differences, resulting in insufficient consistency in processing. SUMMARY

[0003] The main purpose of the present application is to provide a shoe edge polishing device and a profile calibration method and device thereof, aiming to solve the technical problems of low efficiency, high error rate and poor consistency caused by manual calibration of the starting point of the existing shoe edge polishing device.

[0004] To achieve the above-mentioned purpose, the present application provides a profile calibration method of a shoe edge polishing device, the shoe edge polishing device comprising a moving shaft and a rotating shaft for clamping a workpiece, the end of the moving shaft being provided with a polishing head, the method comprising:

[0005] obtaining a preset profile of the workpiece, wherein the preset profile is an irregular closed curve;

[0006] based on the preset profile, controlling the moving shaft to move until the polishing head first contacts the workpiece, and recording the current position of the polishing head;

[0007] constructing a virtual circle with the axis of the rotating shaft as the center and the distance between the current position of the polishing head and the center as the radius, and obtaining the intersection set of the virtual circle and the preset profile; wherein the intersection set at least includes two intersection points of the virtual circle and the preset profile;

[0008] selecting the starting point of the workpiece from the intersection set.

[0009] In an embodiment, the specific steps of controlling the moving shaft to move based on the preset profile until the polishing head first contacts the workpiece, and recording the current position of the polishing head, comprise:

[0010] establishing a plane coordinate system with the axis of the rotating shaft as the origin, and recording the initial coordinates of the polishing head;

[0011] Based on the preset profile, the movement axis is controlled to drive the polishing head to move until the polishing head first contacts the workpiece, and the current coordinates of the polishing head are recorded.

[0012] In an embodiment, the movement axis moves radially, and the specific step of establishing a plane rectangular coordinate system with the axis center of the rotation axis as the origin and recording the initial coordinates of the polishing head comprises:

[0013] An X-Y plane rectangular coordinate system is established with the axis center of the rotation axis as the origin and a direction parallel to the movement direction of the movement axis as the Y axis;

[0014] The position relationship parameters of the movement axis and the polishing head input by the user are obtained to obtain the coordinate conversion relationship between the movement axis and the polishing head;

[0015] Based on the coordinate conversion relationship between the movement axis and the polishing head, the initial coordinates (LX, LY) of the polishing head when the movement axis is at the initial position are obtained.

[0016] In an embodiment, the specific step of controlling the movement axis to drive the polishing head to move based on the preset profile until the polishing head first contacts the workpiece, and recording the current coordinates of the polishing head comprises:

[0017] Based on the preset profile, the movement axis is controlled to move radially until the polishing head first contacts the workpiece;

[0018] Based on the coordinate conversion relationship between the movement axis and the polishing head, the current coordinates (LX, LJ1) of the polishing head when the movement axis is at the current position are obtained.

[0019] In an embodiment, the specific step of constructing a virtual circle with the axis center of the rotation axis as the center and the distance between the current position of the polishing head and the center as the radius, and obtaining the intersection set of the virtual circle and the preset profile comprises:

[0020] Based on the initial coordinates and the current coordinates, the distance between the current coordinates and the axis center of the rotation axis is calculated.

[0021] A virtual circle is constructed with the axis center of the rotation axis as the center and the distance between the current position of the polishing head and the center as the radius;

[0022] All intersections of the virtual circle and the preset profile are obtained, and an intersection set is established.

[0023] In an embodiment, the coordinate of the axis of the rotating shaft is (0, 0), and a calculation formula of a distance between the current coordinate (LX, LJ1) and the axis of the rotating shaft (0, 0) is: ;

[0024] wherein R is the distance between the current coordinate and the axis of the rotating shaft.

[0025] In an embodiment, the specific step of selecting the machining starting point of the workpiece from the intersection set comprises:

[0026] displaying all intersections of the virtual circle and the preset contour on a user interface;

[0027] receiving a selection instruction of selecting one intersection from the intersection set by a user, and setting the intersection selected by the user as the machining starting point of the workpiece.

[0028] In an embodiment, when the workpiece is clamped on the rotating shaft, the axis of the rotating shaft is located in the preset contour of the workpiece.

[0029] In addition, to achieve the above-mentioned purpose, the present application also proposes a contour calibration device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the contour calibration method of the shoe edge polishing device.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a shoe edge polishing device, comprising a contour calibration device as described above, and a moving shaft and a rotating shaft.

[0031] The one or more technical solutions proposed in the present application have at least the following technical effects:

[0032] The contour calibration method proposed in the present application realizes rapid calibration. Workers only need to move the polishing tool bit to the edge of the shoe edge and touch it once, and the system can automatically calculate and prompt the machining starting point, avoiding the previous repeated trial and error, effectively shortening the production preparation time. In terms of accuracy, the intersection is obtained by constructing a virtual circle and performing accurate geometric calculation with the preset contour, which fundamentally eliminates the manual visual error and ensures the accurate spatial alignment of the preset contour and the actual workpiece. At the same time, the present application reduces the operation difficulty and labor intensity, and the task of the worker is simplified to one touch and confirmation action. The operation is intuitive and simple, reduces the dependence on complex experience, ensures the consistency of operation by different workers, reduces the quality fluctuation caused by human factors, and promotes the standardization and stabilization of the production process. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application.

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings can also provide other drawings based on these drawings for those ordinarily skilled in the art without any creative effort.

[0035] Figure 1 A flowchart provided for the profile calibration method of the shoe edge polishing equipment according to Embodiment 1 of the present application;

[0036] Figure 2 A flowchart provided for the profile calibration method of the shoe edge polishing equipment according to Embodiment 2 of the present application;

[0037] Figure 3 A flowchart provided for the profile calibration method of the shoe edge polishing equipment according to Embodiment 3 of the present application;

[0038] Figure 4 A cross point diagram provided for the profile calibration method of the shoe edge polishing equipment according to Embodiment 4 of the present application.

[0039] The purposes, functional features and advantages of the present application will be further explained with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0040] It should be understood that the specific embodiments described herein are merely intended to explain the technical solutions of the present application, and not to limit the present application.

[0041] In order to better understand the technical solutions of the present application, the following will be described in detail with reference to the drawings and specific embodiments of the specification.

[0042] The present application provides a profile calibration method of a shoe edge polishing equipment, as shown in Figure 1 and Figure 4 The shoe edge polishing equipment includes a moving shaft and a rotating shaft for clamping a workpiece, the end of the moving shaft is provided with a polishing head, and the method includes:

[0043] S100: obtaining a preset profile of a workpiece, wherein the preset profile is an irregular closed curve;

[0044] S200: based on the preset profile, controlling the moving shaft to move until the polishing head first contacts the workpiece, and recording the current position of the polishing head;

[0045] S300: Construct a virtual circle with the axis of the rotating shaft as the center and the distance between the current position of the polishing head and the center as the radius, and obtain a set of intersection points of the virtual circle and the preset contour; wherein the set of intersection points at least includes two intersection points of the virtual circle and the preset contour;

[0046] S400: Select a machining starting point of the workpiece from the set of intersection points.

[0047] More specifically, the production of shoes usually starts with the cutting and sewing of the various parts of the upper and the independent preparation of the sole. Subsequently, through the lasting process, the upper is tightly stretched over the last and its edges are preliminarily fixed to the midsole, and then, after gluing and pressing, the sole and the upper are firmly combined into one. The polishing of the edges is carried out after pressing and before final packaging. The edges of the pressed shoe may have excess glue squeezed out, mold lines of the sole, and slight irregularities caused by the superposition of materials. The polishing process is to remove these defects to make the edge profile smooth and natural, improve the visual aesthetics and high-end texture of the shoe, and provide a flat base for subsequent surface treatments such as painting or film coating.

[0048] In the automated polishing production of shoe soles and edges, the edge profile is usually a complex and irregular closed curve, and its geometric information is generally stored and transmitted in the form of a CAD data file. In order to control the polar coordinate polishing equipment, which usually includes a rotating shaft and a radial moving shaft, to accurately track this curve for work, it is necessary to accurately correspond the starting point of the polishing trajectory defined in the CAD model to the physical position on the actual workpiece. This correspondence process, i.e. determining the position of the trajectory starting point in the real space coordinate system, is the basis for achieving automated processing, and its accuracy directly affects the quality and precision of polishing.

[0049] Currently, the commonly used starting point positioning method in the industry relies heavily on manual positioning by workers. The specific operation is as follows: the worker manually controls the tool head of the polishing equipment, gradually approaches and touches the edge profile by visual observation, and records the position considered as the starting point of the trajectory based on personal experience. This method has become the mainstream mainly because the edge shape is irregular, and there are slight differences in the clamping position of each workpiece, making it difficult to directly map the CAD data through simple mechanical positioning or theoretical calculation. However, this manual positioning method has obvious limitations. First, the entire process is time-consuming, reducing the efficiency of the production rhythm. Second, due to the reliance on visual observation and hand feeling, the positioning result is prone to subjective errors, and the consistency of processing between different batches or different shifts is difficult to guarantee. The deeper dilemma is that the experience levels of operators vary greatly, making the processing quality largely dependent on individual skills, which is not only not conducive to standardized production, but also poses great challenges to quality control and process stability.

[0050] Therefore, the key point to solve this problem is to develop a technology that can replace manual visual inspection and realize automatic identification and positioning of the starting point of the shoe edge polishing track. To this end, the present application proposes a profile calibration method for a shoe edge polishing device, the shoe edge polishing device comprising a moving shaft J1 and a rotating shaft J0 for clamping a workpiece, the end of the moving shaft J1 being provided with a polishing head, the method comprising:

[0051] In step S100, a preset profile of the workpiece is obtained, wherein the preset profile is an irregular closed curve. Step S100 imports the ideal product design model into the actual machining system. The "preset profile" here refers to an irregular closed curve representing the final shaping target of the shoe edge, which is usually derived from the CAD design file of the product. This curve precisely defines the boundary shape and size of the workpiece in theory. It provides an accurate reference for all subsequent automated operations. The fundamental purpose of all subsequent actions of the system, whether it is movement control or geometric calculation, is to make the actual polishing track coincide with the preset profile line.

[0052] In step S200, based on the preset profile, the moving shaft is controlled to move until the polishing head stops when it first contacts the workpiece, and the current position of the polishing head is recorded. Step S200 captures a real workpiece boundary point in the physical space. This step is a typical closed-loop control process. The system estimates the approximate moving direction based on the information of the preset profile, for example, and controls the moving shaft to drive the polishing head to move smoothly towards the expected edge of the workpiece. In this process, the system monitors contact signals such as sudden changes in motor current or force sensors in real time, and stops moving as soon as it detects contact between the polishing head and the workpiece surface. Subsequently, the system accurately records the current position of the polishing head in the coordinate system at that moment. Its working principle can be regarded as a "sampling of the physical world". It converts an abstract profile boundary concept into a repeatable physical point with exact coordinates in the machine tool coordinate system through active mechanical contact.

[0053] It is worth noting that traditional precise positioning often requires complex clamps to ensure that the workpiece is clamped at an absolutely consistent angle every time, increasing equipment cost and operation difficulty. The present application liberates this constraint. The operator does not need to laboriously adjust the shoe to a certain angle, but only needs to ensure that the workpiece is firmly clamped on the rotating shaft and that its center of rotation coincides with the theoretical center on which the preset profile is based. This can be easily achieved by a clamp with self-centering function or standardized positioning reference, simplifying the loading and unloading operation and improving production efficiency.

[0054] In step S300, a virtual circle is constructed with the axis of the rotating shaft as the center and the distance between the current position of the polishing head and the center as the radius, and a set of intersection points of the virtual circle and the preset profile is obtained; the set of intersection points includes at least two intersection points of the virtual circle and the preset profile. A "virtual circle" is constructed in a two-dimensional plane with the axis of the rotating shaft, i.e., the center of the workpiece rotation, as the center and the distance from the current position of the polishing head recorded in step S200 to the center as the radius. Since the workpiece is clamped on the rotating shaft, the circle represents the entire path that can be scanned by the polishing head at the current position as the workpiece rotates. Then, the system calculates all intersection points of the virtual circle and the irregular closed preset profile by a geometric algorithm. The working principle is based on a key spatial logic: a correct machining starting point must satisfy two conditions, i.e., being located on the preset profile and being located on the virtual circle with the contact point radius as the distance. Therefore, the intersection points naturally constitute all possible starting point candidates, usually two or more intersection points.

[0055] The virtual circle constructed in step S300 is a perfect circle, so that the circumferential angle of the workpiece can be ignored when the workpiece is placed. Regardless of how the workpiece rotates, any point on the profile will form a circular trajectory with the axis as the center when the workpiece rotates. Therefore, when the polishing head contacts the edge of the workpiece at any angle, the recorded contact point is essentially a point where the preset profile intersects the virtual circle at an unknown angle. Solving the intersection points of the virtual circle and the preset profile only depends on the shape of the profile and the radius of the circle, and is completely independent of the initial placement angle of the workpiece. All possible positions of the profile that can produce the radius contact point are automatically "calculated", thereby offsetting the influence of the initial angle uncertainty.

[0056] In step S400, the machining starting point of the workpiece is selected from the set of intersection points. The set of intersection points calculated in S300, i.e., the candidate points, are presented to the operator for final confirmation and selection. The system is responsible for providing all mathematically and physically valid options, excluding human visual errors; and the operator makes the final decision based on process knowledge to ensure the rationality of the machining process. Once the starting point is selected, the system can translate the starting point of the entire preset profile trajectory to the point, thereby realizing the precise alignment of the digital trajectory and the actual workpiece in space, laying a solid foundation for subsequent high-precision and automated polishing operations.

[0057] Briefly speaking, the system "perceives" the boundary of the workpiece through one-time physical contact based on the preset contour, then calculates all possible intersection points with the preset contour by constructing a virtual circle, and finally selects one intersection point by the operator. Through geometric calculation, the complex mechanical mechanism and tedious manual adjustment are replaced, the operation difficulty is minimized, and the positioning accuracy and reliability are guaranteed. The contour calibration method proposed in the application realizes rapid calibration. The worker only needs to move the polishing tool head to the edge of the shoe and touch it once, and the system can automatically calculate and prompt the starting point of processing, avoiding the previous trial and error, effectively shortening the production preparation time. In terms of accuracy, the intersection point is obtained by constructing a virtual circle and performing accurate geometric calculation with the preset contour, which fundamentally eliminates the manual visual error and ensures the accurate spatial alignment of the preset contour and the actual workpiece. At the same time, the application reduces the operation difficulty and labor intensity, and the worker's task is simplified to one touch and confirmation action. The operation is intuitive and simple, reduces the dependence on complex experience, ensures the consistency of operation by different workers, reduces the quality fluctuation caused by human factors, and promotes the standardization and stabilization of the production process.

[0058] In an embodiment, as shown in FIG. 1, the step S200 of controlling the movement axis to move until the polishing head stops when it first contacts the workpiece based on the preset contour and recording the current position of the polishing head includes steps S210-S220: Figure 2

[0059] S210: Establish a plane coordinate system with the axis center of the rotation axis as the origin, and record the initial coordinates of the polishing head;

[0060] S220: Control the movement axis to drive the polishing head to move until the polishing head stops when it first contacts the workpiece based on the preset contour, and record the current coordinates of the polishing head.

[0061] It can be understood that step S210 defines a plane coordinate system with the axis center of the rotation axis as the origin. The coordinate system will rotate with the workpiece, so that the contour of the workpiece has a fixed mathematical expression in the coordinate system, thereby simplifying all subsequent calculations. Then, the system accurately records the initial coordinates of the polishing head in the coordinate system. The initial coordinates map the relative position relationship between the physical devices (rotation axis center and polishing head) to an abstract two-dimensional coordinate space that is convenient for geometric operations. If there is no such unified coordinate system, the subsequent movement control, contact point recording and virtual circle construction will lose the common reference, and the accuracy and consistency of the calculation cannot be guaranteed.

[0062] ​After the coordinate system is established, the system controls the movement axis to drive the polishing head to move towards the edge position of the workpiece according to the preset profile information (for example, an approximate moving direction is estimated) in step S220. During the entire movement process, the system monitors the feedback from the sensor in real time to determine whether the polishing head is in contact with the surface of the workpiece. Once the contact signal is detected, the control system immediately issues a stop command to make the movement axis instantaneously brake. It is worth noting that the movement axis is in a position away from the workpiece and in a non-contact state before this. Subsequently, the system accurately records the "current coordinates" of the polishing head in the coordinate system established in S210 at this moment. This coordinate point serves as the actual radius basis for the construction of the virtual circle.

[0063] In an embodiment, the movement axis moves in the radial direction, and the specific steps of step S210 of establishing a plane rectangular coordinate system with the axis center of the rotation axis as the origin and recording the initial coordinates of the polishing head include steps S211-S213.

[0064] S211: Establish an X-Y plane rectangular coordinate system with the axis center of the rotation axis as the origin and the direction parallel to the moving direction of the movement axis as the Y axis;

[0065] S212: Obtain the position relationship parameters of the movement axis and the polishing head input by the user to obtain the coordinate conversion relationship between the movement axis and the polishing head;

[0066] S213: Obtain the initial coordinates (LX, LY) of the polishing head when the movement axis is in the initial position based on the coordinate conversion relationship between the movement axis and the polishing head.

[0067] It can be understood that step S211 explicitly takes the axis center of the rotation axis as the coordinate origin and defines the Y axis as parallel to the radial direction of the movement axis. Since the movement axis drives the polishing head to mainly approach or move away from the workpiece in the radial direction, aligning the Y axis with this direction means that subsequent instructions for moving the polishing head, such as moving a certain distance along the Y axis, can be directly and intuitively converted into the action of the movement axis without the need for complex direction conversion calculations, simplifying the motion control logic and avoiding calculation errors that may be introduced due to misalignment of the coordinate system.

[0068] Step S212 calibrates the spatial geometric relationship between the moving axis and the polishing head. The system directly controls and reads the position of the moving axis itself, but the key point that actually comes into contact with the workpiece is the tip of the polishing head. Due to the tolerances and specific geometry of mechanical installation, the coordinate origin of the moving axis and the position of the tip of the polishing head are usually not coincident. Therefore, this step needs to obtain the parameters describing the relative position relationship between the two, which are input by the user. Through this set of parameters, the system can construct a mathematical formula, so that the actual position of the tip of the polishing head in the overall coordinate system established in S211 can be accurately calculated in the case of knowing the coordinate of the moving axis. Step S212 compensates for the slight deviation of mechanical assembly, ensuring that the position of the polishing head "perceived" by the system is completely consistent with its real position in space.

[0069] Step S213 calculates the accurate initial position of the polishing head in the unified coordinate system before the start of movement. This step first obtains the "initial position" coordinate of the moving axis before starting to perform the contact detection task. Then, using the "coordinate conversion relationship" established in S212, the coordinate representing the position of the moving axis is converted into the coordinate (LX, LY) of the tip of the polishing head in the overall coordinate system.

[0070] In an embodiment, the step S220 of controlling the moving axis to drive the polishing head to move based on the preset profile until the polishing head stops when it first contacts the workpiece, and recording the current coordinate of the polishing head comprises steps S221-S222:

[0071] S221: control the moving axis to move radially based on the preset profile until the polishing head stops when it first contacts the workpiece;

[0072] S222: based on the coordinate conversion relationship between the moving axis and the polishing head, obtain the current coordinate (LX, LJ1) of the polishing head when the moving axis is in the current position.

[0073] It can be understood that step S221 actively seeks and confirms the external boundary of the workpiece in the physical space through controlled mechanical movement. The system first plans a moving path radially along the center of rotation starting from a safe position based on the geometric information of the preset profile. The control unit then drives the moving axis to smoothly approach the workpiece along this path with the polishing head. In this process, the system detects the contact state in real time through a high-sensitivity sensor. Once the signal of "first contact" between the polishing head and the workpiece surface is detected, the control unit will immediately issue a stop command to stop the moving axis.

[0074] Step S222 converts the position data of the moving axis into the accurate coordinates of the polishing head in the actual machining space through a known mathematical relationship. The input of this step is the axis position data fed back by the encoder of the moving axis after it stops. However, there is a fixed geometric offset between the coordinate origin of the moving axis and the actual working tip point of the polishing head. According to the position relationship parameters of the moving axis and the polishing head input by the user, the current coordinates (LX, LJ1) of the current polishing head are obtained.

[0075] In an embodiment, as shown in FIG. 3, the step S300 includes steps S310-S330. Figure 3

[0076] S310: Calculate the distance between the current coordinates and the axis center of the rotating axis based on the initial coordinates and the current coordinates.

[0077] S320: Construct a virtual circle with the axis center of the rotating axis as the center and the distance between the current position of the polishing head and the center as the radius.

[0078] S330: Obtain all intersection points of the virtual circle and the preset contour, and establish an intersection point set.

[0079] It can be understood that step S310 converts the position coordinates in the coordinate system into a radius. The input of this step is the current coordinates recorded in S200 when the polishing head contacts the workpiece, and the known axis center coordinates (usually the origin of the coordinate system) of the rotating axis. The calculation is based on the distance formula between two points in a two-dimensional space. This process essentially abstracts the spatial position information "where does the polishing head contact the workpiece" into the key geometric parameter "what is the radius of the workpiece at the contact point". The calculated distance value represents the radial length between the center of the workpiece and the actual contact point.

[0080] Step S320 constructs an auxiliary geometric figure for spatial reasoning with the axis center of the rotating axis as the center and the accurate distance calculated in the previous step S310 as the radius to construct a perfect circle in a two-dimensional plane, i.e., a "virtual circle". The circumference of the virtual circle represents all the trajectories that can be scanned by the tip of the polishing head when the workpiece rotates without changing the current position of the polishing head. In other words, this circle is a collection of all possible contact points with the workpiece that are at the same radius as the current contact point.

[0081] ​Step S330 locks all possible machining starting point candidate positions. The system uses numerical algorithms to solve all mathematical intersections of the virtual circle and the preset profile. Generally, an irregular closed curve intersects with a circle to produce two or more intersection points, all of which are collected to form an "intersection set" to provide options for the final decision. This step successfully uses geometric constraints to reduce an infinite number of profile points to a limited number of candidate points, simplifying the selection decision-making process.

[0082] In an embodiment, the coordinates of the axis of the rotation axis are (0, 0); the calculation formula of the distance between the current coordinates (LX, LJ1) and the axis of the rotation axis (0, 0) is: ; wherein R is the distance between the current coordinates and the axis of the rotation axis. This R value is independent of the specific angular direction, and it only represents "how far is the workpiece surface from the rotation center in this contact direction". The radius R obtained in this way is the only and crucial parameter for constructing the virtual circle, the core geometric model, which lays the foundation for the system to deduce the potential corresponding points on the entire workpiece profile from a single contact measurement.

[0083] In an embodiment, the specific steps of selecting the machining starting point of the workpiece from the intersection set include:

[0084] Display all intersections of the virtual circle and the preset profile on the user interface; receive the selection instruction of the user selecting one of the intersections from the intersection set, and set the intersection selected by the user as the machining starting point of the workpiece.

[0085] It can be understood that the system renders the virtual circle (representing the trajectory of the current polishing head position) calculated previously, the preset workpiece theoretical profile line, and all intersections between them in a clear graphical manner on the display screen. Through visualization, the abstract concept of "intersection set" is concretized. The system may use different colors, shapes or labels to highlight these intersections, and may be supplemented by a coordinate list to ensure accurate information transmission. The user usually selects the intersection by clicking or touching on the graphical interface, and when the user makes a selection, the system will receive and analyze this "selection instruction", and then set the coordinates of the selected intersection as the starting point of the machining path, and the subsequent machining process is automatically performed along the preset profile.

[0086] In an embodiment, as Figure 4As shown, the axis of the rotating shaft is located within the preset contour of the workpiece when the workpiece is clamped on the rotating shaft. The workpiece contour is a closed shape around the rotation center, so that the subsequent search algorithm based on the "virtual circle" has certainty and feasibility. If the rotating shaft axis is located outside the workpiece contour, the virtual circle constructed from a contact point may intersect the contour at one point, not intersect, or be tangent, and cannot stably provide two or more candidate intersection points. In addition, this setting also conforms to the actual machining scene of most of the workpieces of the rotary body type such as shafts, discs, and sleeve parts, ensuring the practicability and universality of the method.

[0087] In summary of the above embodiments, the specific steps of the embodiment include:

[0088] First, set the rotating shaft in the mechanism as J0 shaft, and the moving shaft as J1 shaft. The coordinate system origin is located at the J0 rotation center. The moving shaft J1 is parallel to the Y axis of the coordinate system by default, and the positive direction is consistent with the positive direction of the Y axis. The user needs to input the structural parameters of the device, including the initial position (LX, LY) of the polishing head under the coordinate system when the moving shaft J1 is at zero point. Then, the operator places the footwear workpiece on the J0 rotating shaft at an arbitrary angle, only ensuring that the CAD design contour of the workpiece is aligned with the rotation center, and the angle of placement has no specific requirements. Next, the worker controls the moving shaft J1 to move until the polishing head contacts the shoe edge, and the system automatically records the position value (LX, LJ1) of the polishing point at this time.

[0089] According to the recorded J1 shaft position, the system calculates the distance R of the polishing head to the J0 rotation center, and the calculation formula is based on the geometric relationship of (LX, LY) and the J1 movement amount . Then, a virtual circle is constructed with the J0 rotation center as the center and R as the radius. The system automatically solves all intersection points (such as P1 to P4) of the circle and the preset shoe edge CAD closed trajectory, and visualizes these intersection points on the operation interface to the worker. The worker selects the appropriate point from the candidate intersection points as the starting point of processing according to the actual workpiece shape. The system takes the selected point as the starting point of the processing path, and the subsequent processing process is automatically executed along the closed trajectory.

[0090] In addition, the application further provides a contour calibration device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the contour calibration method of the shoe edge polishing device. A main controller can be used to implement, such as a DSP (Digital Signal Process), an FPGA (Field Programmable Gate Array), an MCU (Microcontroller Unit), an SOC (System On Chip), etc.

[0091] It is worth noting that since the contour calibration device of the application is applied to the contour calibration method of the shoe edge polishing device, the embodiments of the contour calibration device of the application include all the technical solutions of all the embodiments of the contour calibration method of the shoe edge polishing device, and the technical effects achieved are also completely the same, which will not be repeated here.

[0092] In addition, the application further provides a shoe edge polishing device, comprising the contour calibration device as described above, and a moving shaft and a rotating shaft. The end of the moving shaft is provided with a polishing head for performing polishing work; the rotating shaft is used for clamping and positioning the workpiece; and the contour calibration device is used to implement the contour calibration method as described above to automatically determine the starting point of processing, thereby improving the precision and efficiency of the polishing process.

[0093] The contour calibration method provided by the application realizes rapid calibration. The worker only needs to move the polishing head to the edge of the shoe and touch it once, and the system can automatically calculate and prompt the starting point of processing, thereby avoiding the previous repeated trial and error, effectively shortening the production preparation time. In terms of precision, the intersection is obtained by constructing a virtual circle and performing accurate geometric calculation with the preset contour, which fundamentally eliminates the manual visual error and ensures the accurate spatial alignment of the preset contour and the actual workpiece. At the same time, the application reduces the operation difficulty and labor intensity, and the worker's task is simplified to one touch and confirmation action, the operation is intuitive and simple, the dependence on complex experience is reduced, the consistency of operation by different workers is ensured, the quality fluctuation caused by human factors is reduced, and the standardization and stabilization of the production process are promoted.

[0094] The above only describes some embodiments of the application, and does not limit the patent scope of the application. Any equivalent structural transformation based on the technical concept of the application, or direct / indirect application in other related technical fields is included in the patent protection scope of the application.

Claims

1. A method of profiling a shoe edge finishing apparatus, characterized by, The shoe edge polishing device comprises a moving shaft and a rotating shaft for clamping a workpiece, the end of the moving shaft is provided with a polishing head, and the method comprises the following steps: obtaining a preset profile of the workpiece, wherein the preset profile is an irregular closed curve; based on the preset profile, controlling the movement of the moving shaft until the polishing head first contacts the workpiece, and recording the current position of the polishing head; constructing a virtual circle with the center of the rotating shaft as the center and the distance between the current position of the polishing head and the center as the radius, and obtaining the intersection set of the virtual circle and the preset profile; wherein the intersection set at least includes two intersection points of the virtual circle and the preset profile; selecting the machining starting point of the workpiece from the intersection set.

2. The method of calibrating the profile of a shoe edging apparatus according to claim 1, wherein, The specific steps of the step of controlling the movement of the moving shaft based on the preset profile until the polishing head first contacts the workpiece, and recording the current position of the polishing head, include: establishing a plane coordinate system with the center of the rotating shaft as the origin, and recording the initial coordinates of the polishing head; based on the preset profile, controlling the movement of the polishing head driven by the moving shaft until the polishing head first contacts the workpiece, and recording the current coordinates of the polishing head.

3. The method of profiling a shoe edging apparatus according to claim 2, wherein, The specific steps of the step of moving the moving shaft radially, establishing a plane rectangular coordinate system with the center of the rotating shaft as the origin, and recording the initial coordinates of the polishing head, include: establishing an X-Y plane rectangular coordinate system with the center of the rotating shaft as the origin and the direction parallel to the moving direction of the moving shaft as the Y axis; obtaining the position relationship parameters of the moving shaft and the polishing head input by the user, and obtaining the coordinate conversion relationship between the moving shaft and the polishing head; based on the coordinate conversion relationship between the moving shaft and the polishing head, obtaining the initial coordinates (LX, LY) of the polishing head when the moving shaft is at the initial position.

4. The method of calibrating the profile of a shoe edging apparatus of claim 3, wherein, The specific steps of the step of controlling the movement of the polishing head driven by the moving shaft based on the preset profile until the polishing head first contacts the workpiece, and recording the current coordinates of the polishing head, include: based on the preset profile, controlling the radial movement of the moving shaft until the polishing head first contacts the workpiece; based on the coordinate conversion relationship between the moving shaft and the polishing head, obtaining the current coordinates (LX, LJ1) of the polishing head when the moving shaft is at the current position.

5. The method of profiling a shoe edging apparatus according to claim 4, wherein, The specific steps of the step of constructing a virtual circle with the center of the rotating shaft as the center and the distance between the current position of the polishing head and the center as the radius, and obtaining the intersection set of the virtual circle and the preset profile, include: based on the initial coordinates and the current coordinates, calculating the distance between the current coordinates and the center of the rotating shaft; constructing a virtual circle with the center of the rotating shaft as the center and the distance between the current position of the polishing head and the center as the radius; obtaining all intersection points of the virtual circle and the preset profile, and establishing an intersection set.

6. The method of profiling a shoe edging apparatus according to claim 5, wherein, The coordinate (0, 0) of the axis of the rotation axis; the calculation formula of the distance between the current coordinate (LX, LJ1) and the axis (0, 0) of the rotation axis is: ; wherein R is the distance between the current coordinates and the center of the rotating shaft.

7. The method of calibrating the profile of a shoe edging apparatus of claim 1, wherein, The specific step of selecting the machining starting point of the workpiece from the intersection set comprises: displaying all intersections of the virtual circle and the preset contour on a user interface; receiving a selection instruction of a user selecting one intersection from the intersection set, and setting the selected intersection as the machining starting point of the workpiece.

8. The profile calibration method of a toe-pounding apparatus according to any one of claims 1 to 7, wherein When the workpiece is clamped on the rotating shaft, the axis of the rotating shaft is arranged in the preset contour of the workpiece.

9. A profile calibration device, characterized in that The shoe edge polishing device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the contour calibration method of the shoe edge polishing device.

10. A toe cap polishing apparatus characterized by, The contour calibration device comprises the contour calibration device according to claim 9, and a moving shaft and a rotating shaft.

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