Vamp automatic chip mounter based on visual positioning

Abstract

The invention relates to the field of vamp processing devices, in particular to an automatic vamp chip mounter based on visual positioning, which comprises a working frame, a working platform, a hot pressing assembly, a visual positioning assembly, a cut piece grabbing and welding device, a platform driving mechanism and a grabbing driving assembly, wherein the platform driving mechanism, the hot pressing assembly, the visual positioning assembly and the grabbing driving assembly are all assembled on the working frame; wherein the visual positioning assembly is located above the working platform and used for detecting the position of a cutting piece, and the grabbing driving assembly is in driving connection with the cutting piece grabbing and welding device and drives the cutting piece grabbing and welding device to grab and weld the cutting piece on the working platform; the platform driving mechanism drives the working platform to move to the hot pressing assembly; and the hot-pressing assembly is used for realizing hot-pressing treatment on the cut pieces on the working platform. And the visual positioning assembly is used, so that the operation of the system is more automatic and intelligent, the intervention and management of manual operation are reduced, the processing efficiency is improved, and the personal error is reduced.

Description

Technical Field

[0001] This invention relates to the field of shoe upper processing equipment, and more particularly to an automatic shoe upper patching machine based on vision positioning. Background Technology

[0002] In the current footwear and apparel manufacturing industry, automated cutting equipment is typically used to cut fabric into pieces with shaped designs.

[0003] The existing shoe uppers are made by using a mold with several positioning pins or hanging pins. Then, multiple cut pieces need to be stacked manually in sequence and in preset positions. Then, preliminary welding is done manually, followed by manual hot pressing.

[0004] The shortcomings of existing technologies are:

[0005] 1. Stacking of cut pieces is inefficient. Traditional production methods require workers to manually stack multiple cut pieces in order and position, which is inefficient and lacks precision. This increases production cycle time, manufacturing costs, and the risk of breakage.

[0006] 2. Low welding efficiency. Traditional welding methods are usually carried out manually, which results in low work efficiency, difficulty in guaranteeing welding quality, and certain safety hazards during the operation.

[0007] 3. Complex operation. In traditional production methods, workers need to manually complete multiple actions, which requires a high level of technical skills from the workers, leading to an increase in the burden and pressure on production personnel.

[0008] In summary, the main problems currently existing are low efficiency and reliance on skilled workers. Therefore, in order to solve the problems in the existing technology, the applicant aims to propose an automatic shoe upper patching machine based on vision positioning to solve the above-mentioned technical problems. Summary of the Invention

[0009] To address the aforementioned problems, this invention provides an automatic shoe upper patching machine based on visual positioning, thereby resolving the technical issues described above.

[0010] To achieve the above objectives, the technical solution adopted by the present invention is as follows: an automatic shoe upper patching machine based on vision positioning, comprising a nozzle mounting plate, an ultrasonic welding gun, and a drive assembly that drives the nozzle mounting plate to move; wherein the nozzle mounting plate is provided with a negative pressure air passage connected to a negative pressure device, and the bottom surface of the nozzle mounting plate is provided with a plurality of nozzle mounting holes connected to the corresponding negative pressure air passages, wherein each nozzle mounting hole is equipped with a negative pressure logic valve, and each negative pressure logic valve is provided with a soft nozzle at its end; wherein the ultrasonic welding gun is mounted on the nozzle mounting plate, and the welding end of the ultrasonic welding gun extends beyond the bottom surface of the nozzle mounting plate, and the plane where the welding ends of the multiple ultrasonic welding guns are located is higher than the plane where the multiple soft nozzles are located.

[0011] As a further optimization, the negative pressure logic valve includes a logic valve body, wherein a threaded cylinder is provided at the top of the logic valve body, a soft suction nozzle is fitted at the tail of the logic valve body, and a valve body cavity is provided inside the logic valve body, wherein a valve body steel ball is installed in the valve body cavity; wherein the logic valve body is screwed to the suction nozzle mounting hole through the threaded cylinder.

[0012] As a further optimization, the system also includes a welding torch mounting plate and connecting bolts, wherein several ultrasonic welding torches are fixed on the welding torch mounting plate, and the welding torch mounting plate is fixed above the nozzle mounting plate by the connecting bolts. At the same time, the drive assembly is drivenly connected to the welding torch mounting plate.

[0013] As a further optimization, the surface of the nozzle mounting plate is provided with several welding gun clearance holes, and the welding end of the ultrasonic welding gun passes through the welding gun clearance holes.

[0014] As a further optimization, the drive assembly includes a first fixed plate, a drive motor, a drive reducer, a first pulley, a second pulley, a drive belt, and a drive hollow shaft. One end of the drive hollow shaft is movably mounted on the first fixed plate via a bearing, and the other end of the drive hollow shaft is fixedly connected to a welding torch mounting plate. The output end of the drive motor is connected to the drive reducer, and the output end of the drive reducer passes through the first fixed plate and is connected to the first pulley. The second pulley is sleeved on the drive hollow shaft, and the drive belt is sleeved on both the first pulley and the second pulley.

[0015] As a further optimization, the drive assembly also includes a second fixed plate and an XYZ axis drive device, wherein the second fixed plate is vertically connected to the surface of the first fixed plate, and the XYZ axis drive device is connected to the second fixed plate and drives the second fixed plate to move along the spatial XYZ axis direction.

[0016] As a further optimization, the XYZ axis drive device drives the nozzle mounting plate to press down and deform the soft nozzle, thereby making the plane of the welding end of the ultrasonic welding gun consistent with the plane of the soft nozzle.

[0017] As a further optimization, a photoelectric arc plate is also sleeved on the drive hollow shaft, wherein a photoelectric sensor is provided at the bottom of the first fixed plate, and the photoelectric arc plate rotates with the drive hollow shaft, and the photoelectric arc plate blocks the photoelectric sensor.

[0018] The beneficial effects of this invention are as follows:

[0019] 1. Simple structure: This design requires fewer components and has a simple structure, making it easy to manufacture and maintain.

[0020] 2. High stability: The drive component can achieve precise control of the nozzle mounting plate by moving along the XYZC axes, thereby enabling precise operation of the cut pieces, resulting in higher efficiency and better stability.

[0021] 3. During the fabric piece grasping process, the flexible suction nozzle needs to contact the fabric piece. If the flexible suction nozzle is above the welding end of the ultrasonic welding gun, the welding end may interfere with the suction action of the flexible suction nozzle during contact with the fabric piece, thus affecting the stability and accuracy of the grasping. Therefore, in this application, the flexible suction nozzle is positioned below the plane of the welding end, which avoids interference between the flexible suction nozzle and the welding end, thereby grasping the fabric piece more stably and improving the grasping accuracy and efficiency of the device.

[0022] 4. When the flexible suction nozzle moves above the corresponding cut piece, the drive assembly will drive the suction nozzle mounting plate to move down to pick up the cut piece, and then the drive assembly will move the cut piece above the bottom cut piece; at the same time, the drive assembly will drive the suction nozzle mounting plate to press down. At this time, due to the deformability of the flexible suction nozzle, the flexible suction nozzle is compressed. After being compressed, the flexible suction nozzle can achieve downward positioning of the cut piece. The flexible suction nozzle performs downward positioning before welding, which can greatly reduce the movement of the cut piece during welding and improve the welding accuracy.

[0023] 5. This application utilizes a visual positioning component, which automates and intelligently enhances the system's operation, reducing human intervention and management, while simultaneously improving processing efficiency and minimizing human error. Compared to traditional manual processing techniques, the visual positioning component can accurately identify fabric pieces of different shapes, sizes, and types, thereby expanding the processing scope and flexibility. Furthermore, the visual positioning component provides detailed data and dynamic monitoring information about the processed objects, helping users better understand and optimize the production process. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of an automatic shoe upper patching machine based on vision positioning.

[0025] Figure 2This is a three-dimensional structural diagram of an automatic shoe upper patching machine based on visual positioning from another perspective.

[0026] Figure 3 This is a structural diagram of the nozzle mounting plate.

[0027] Figure 4 This is a schematic diagram of a negative pressure logic valve.

[0028] Figure 5 This is a schematic diagram of the cut piece projected onto the nozzle mounting plate.

[0029] Figure 6 This is a structural diagram of an automatic shoe upper patching machine.

[0030] Figure 7 This is a structural schematic diagram of an automatic shoe upper patching machine from another perspective.

[0031] Figure 8 This is a structural diagram of the hot pressing assembly and the working platform.

[0032] Figure 9 This is a structural schematic diagram of the hot pressing assembly and the working platform from another perspective.

[0033] Reference numerals: 1. Suction nozzle mounting plate; 11. Negative pressure air passage; 12. Suction nozzle mounting hole; 13. Welding torch clearance hole; 2. Ultrasonic welding torch; 3. Negative pressure logic valve; 31. Fitting threaded cylinder; 32. Logic valve body; 4. Soft suction nozzle; 5. Welding torch mounting plate; 6. Connecting bolt; 71. First fixing plate; 72. Drive motor; 73. Drive reducer; 74. First pulley; 75. Second pulley; 76. Drive hollow shaft; 77. Second fixing plate; 78. Photoelectric arc plate; 79. Photoelectric sensor; 710. Large cut piece; 81. Medium cut piece; 82. Small cut piece; 83. Working frame; 10. 20. Working platform, 201. Slider, 202. Slide rail, 203. Clamping block, 30. Hot pressing assembly, 301. Hot pressing fixing plate, 302. Connecting rod, 303. Hot pressing drive plate, 304. Hot pressing drive cylinder, 305. Movable rod, 306. Hot pressing plate, 307. Pre-press plate, 308. Spring assembly, 40. Vision positioning assembly, 50. Fixed bracket, 51. Z-axis linear drive module, 52. Y-axis linear drive module, 53. X-axis linear drive module, 61. Platform drive motor, 62. Platform drive driven pulley, 63. Platform drive drive pulley, 64. Platform drive belt. Detailed Implementation

[0034] Please see Figure 1-9As shown, this invention relates to an automatic shoe upper patching machine based on vision positioning, comprising a working frame 10, a working platform 20, a hot pressing assembly 30, a vision positioning assembly 40, a cut piece gripping and welding device, a platform driving mechanism, and a gripping driving assembly; wherein the platform driving mechanism, the hot pressing assembly 30, the vision positioning assembly 40, and the gripping driving assembly are all mounted on the working frame 10; wherein the vision positioning assembly 40 is located above the working platform 20 and is used to detect the position of the cut piece, the gripping driving assembly is driven to the cut piece gripping and welding device, and drives the cut piece gripping and welding device to grip and weld the cut piece on the working platform 20; the platform driving mechanism is driven to the working platform 20, and drives the working platform 20 to move to the hot pressing assembly 30; and the hot pressing assembly 30 performs hot pressing treatment on the cut piece on the working platform 20.

[0035] The fabric piece gripping and welding device includes a nozzle mounting plate 1, an ultrasonic welding gun 2, and a drive assembly that drives the nozzle mounting plate 1 to move. The nozzle mounting plate 1 has a negative pressure air passage 11 connected to a negative pressure device. The bottom surface of the nozzle mounting plate 1 has several nozzle mounting holes 12 connected to the corresponding negative pressure air passages 11. Each nozzle mounting hole 12 is equipped with a negative pressure logic valve 3, and each negative pressure logic valve 3 has a soft nozzle 4 at its end. The ultrasonic welding gun 2 is mounted on the nozzle mounting plate 1, and the welding end of the ultrasonic welding gun 2 extends beyond the bottom surface of the nozzle mounting plate 1. The plane where the welding ends of the multiple ultrasonic welding guns 2 are located is higher than the plane where the multiple soft nozzles 4 are located.

[0036] As a further optimization, the negative pressure logic valve 3 includes a logic valve body 32, wherein a threaded cylinder 31 is provided on the top of the logic valve body 32, a soft suction nozzle 4 is fitted at the tail of the logic valve body 32, and a valve body cavity is provided inside the logic valve body 32, wherein a valve body steel ball is installed in the valve body cavity; wherein the logic valve body 32 is screwed to the suction nozzle mounting hole 12 through the threaded cylinder 31.

[0037] Since each suction nozzle mounting hole 12 is equipped with a negative pressure logic valve 3, not all negative pressure logic valves 3 are in working condition when the suction nozzle mounting plate 1 is picking up the cut piece. To a certain extent, this can concentrate the negative pressure suction and reduce the burden on the negative pressure equipment. The working principle of the negative pressure logic valve 3 is that when there is a cut piece under the corresponding negative pressure logic valve 3, the valve body steel ball in the valve body cavity will not block the valve body cavity because the soft suction nozzle 4 below shares part of the suction force, so the valve body steel ball cannot reach the height to block the valve body cavity. However, if there is no cut piece under the corresponding negative pressure logic valve 3, the valve body steel ball in the valve body cavity will block the valve body cavity because the soft suction nozzle 4 below does not share part of the suction force, so the valve body steel ball can reach the height to block the valve body cavity, thus directly blocking the valve body cavity.

[0038] Overall, this design reduces the load on the negative pressure equipment, improves its production efficiency and stability, and lowers its error rate. Furthermore, the working principle of the negative pressure logic valve 3 is very intelligent and simple. The valve body cavity can only open when there is a cut piece at the bottom of the valve 3, thus enabling the negative pressure logic valve 3 to operate. When there is no cut piece at the bottom, the valve body ball inside the valve body cavity will block the valve body cavity, preventing the soft suction nozzle 4 from generating negative pressure suction and reducing the pressure on the negative pressure device. This design is ingenious and practical, providing greater convenience for the operation and maintenance of the device. In addition, the negative pressure logic valve 3 has low design and manufacturing costs, a long service life, and can adapt to various types and shapes of cut pieces, exhibiting excellent adaptability and flexibility to meet the requirements of different needs and operating scenarios.

[0039] In fact, there are similar negative pressure logic valves 3 on the market that can achieve the same effect. Therefore, they can be used to replace the negative pressure logic valves 3 on the market. For example, a vacuum check valve from Baihui Pneumatic Company, model ZP2V series, can be used.

[0040] As a further optimization, the system also includes a welding torch mounting plate 5 and connecting bolts 6. Several ultrasonic welding torches 2 are fixed to the welding torch mounting plate 5, which is then fixed above the nozzle mounting plate 1 via the connecting bolts 6. Simultaneously, the drive assembly is drivenly connected to the welding torch mounting plate 5. With the ultrasonic welding torches 2 fixed to the welding torch mounting plate 5 and the drive assembly directly connected to it, the welding force and welding effect can be transmitted to the ultrasonic welding torches 2 to the maximum extent, improving welding stability and precision, and providing greater convenience for device adjustment and maintenance.

[0041] As a further optimization, the surface of the nozzle mounting plate 1 is provided with a plurality of welding gun clearance holes 13, and the welding end of the ultrasonic welding gun 2 passes through the welding gun clearance holes 13.

[0042] See Figure 5Furthermore, in actual production, the uppers of different shoe styles vary, thus requiring different cut pieces. Therefore, the distribution of ultrasonic welding guns 2 must be adapted to the manufacturing of most cut pieces on the market. Based on industry big data, the cut pieces are divided into large cut pieces 81, medium cut pieces 82, and small cut pieces 83. For example, two ultrasonic welding guns 2 are sufficient for small cut pieces 83, while eight ultrasonic welding guns 2 are needed for large cut pieces 81. In this specific embodiment, using different cut pieces and ultrasonic welding gun 2 distribution methods for different shoe styles reflects the idea of ​​personalized production strategies and process routes based on market demand and industry data, representing a good practice in promoting intelligent and personalized production. Simultaneously, dividing the cut pieces into large, medium, and small sizes, with each type requiring a different number of ultrasonic welding guns 2, allows for optimized resource allocation and process route design based on different cut piece sizes, thereby improving production efficiency and controlling costs.

[0043] As a further optimization, the drive assembly includes a first fixed plate 71, a drive motor 72, a drive reducer 73, a first pulley 74, a second pulley 75, a drive belt 76, and a drive hollow shaft 77. One end of the drive hollow shaft 77 is movably mounted on the first fixed plate 71 via a bearing, and the other end of the drive hollow shaft 77 is fixedly connected to the welding torch mounting plate 5. The output end of the drive motor 72 is connected to the drive reducer 73, and the output end of the drive reducer 73 passes through the first fixed plate 71 and is connected to the first pulley 74. The second pulley 75 is sleeved on the drive hollow shaft 77, and the drive belt 76 is sleeved on both the first pulley 74 and the second pulley 75.

[0044] In this design, the drive assembly includes a first fixed plate 71, a drive motor 72, a drive reducer 73, a first pulley 74, a second pulley 75, a drive belt 76, and a drive hollow shaft 77. This design allows for more stable and efficient dynamic transmission during operation and movement. One end of the drive hollow shaft 77 is connected to the first fixed plate 71 via a bearing, while the other end is connected to the welding torch mounting plate 5, allowing for flexible movement while maintaining stability. The combination of the drive motor 72 and the drive reducer 73 provides greater power transmission and effective speed control. Belt drive ensures a more uniform power output from the drive motor 72, avoiding the impact forces generated by direct drive. The drive assembly employs a two-pulley design, where the first pulley 74 passes through the first fixed plate 71 and is connected to the drive reducer 73, and the second pulley 75 is sleeved on the drive hollow shaft 77. The drive belt 76 is respectively sleeved on the positions of the first pulley 74 and the second pulley 75. This design enables the drive assembly to transmit power more smoothly and reliably, thereby improving the accuracy and stability of the device.

[0045] Meanwhile, the drive assembly in this solution enables the rotation of the nozzle mounting plate 1. By driving the hollow shaft 77 to rotate, the welding torch mounting plate 5 also rotates, thus achieving the rotation of the nozzle mounting plate 1. The components in this solution, such as the first fixed plate 71, drive motor 72, drive reducer 73, first pulley 74, second pulley 75, drive belt 76, and pulleys, also serve to help drive the hollow shaft 77 to achieve rotation. By controlling the output power of the drive motor 72 and the output speed of the drive reducer 73, the speed and direction of the rotation can be controlled, achieving a more precise operating effect.

[0046] As a further optimization, the drive assembly also includes a second fixed plate 78 and an XYZ axis drive device, wherein the second fixed plate 78 is vertically connected to the surface of the first fixed plate 71, and the XYZ axis drive device is connected to the second fixed plate 78 and drives the second fixed plate 78 to move along the spatial XYZ axis direction.

[0047] The second fixed plate 78 is perpendicularly connected to the first fixed plate 71, giving the device more room for adjustment. The XYZ axis drive device is connected to the second fixed plate 78, which can drive the second fixed plate 78 to move along the XYZ axis in space, realizing the overall multi-dimensional movement. This allows for more flexible adaptation to the picking and welding of cut pieces of different shapes and sizes.

[0048] In summary, this optimized drive component solution enables more complex motion control and better adapts to the pick-up and welding of cut pieces of different shapes and sizes, thereby improving the accuracy and flexibility of the device. In production, it can improve production efficiency and quality and has broad application prospects.

[0049] As a further optimization, the XYZ axis drive device presses down the nozzle mounting plate 1, causing the flexible nozzle 4 to deform. This ensures that the welding end of the ultrasonic welding gun 2 is at the same height as the flexible nozzle 4. This design allows the ultrasonic welding gun 2 to better weld the cut pieces and improves the stability of the welding quality. By adjusting the movement speed and pressing depth of the XYZ axis drive device, more precise control of the deformation of the flexible nozzle 4 and the height of the welding end can be achieved, thereby improving the production efficiency and quality of the device and providing a better foundation for subsequent processing steps.

[0050] As a further optimization, a photoelectric arc plate 79 is also sleeved on the drive hollow shaft 77, wherein a photoelectric sensor 710 is provided at the bottom of the first fixed plate 71, wherein the photoelectric arc plate 79 rotates with the drive hollow shaft 77, and the photoelectric arc plate 79 blocks the photoelectric sensor 710.

[0051] When the hollow shaft 77 rotates, the photoelectric arc plate 79 also rotates. The photoelectric arc plate 79 periodically blocks the photoelectric sensor 710, thereby generating a series of photoelectric signals. By identifying and recording the changes in these photoelectric signals, the speed and direction of the hollow shaft 77's rotation can be determined, and the output power and speed of the drive motor 72 and drive reducer 73 can be controlled to achieve more precise motion control and adjustment. Simultaneously, this design can also monitor and control the operating status of the hollow shaft 77, promptly detect and eliminate abnormalities and faults during operation, ensure the stability and safety of the device, and provide a better basis for subsequent operation and maintenance.

[0052] Furthermore, in this specific embodiment, two photoelectric sensors 710 are provided. This means that during the rotation of the hollow shaft 77, the two photoelectric sensors 710 will be successively blocked by the photoelectric arc plate 79. Thus, the rotation direction of the hollow shaft 77 can be determined by comparing the signals sensed by the two photoelectric sensors 710. The use of two photoelectric sensors 710 provides a more complete monitoring signal, thereby further improving the monitoring accuracy. By comparing the signals from the two photoelectric sensors 710 and transmitting these signals to the control system for analysis and processing, the rotation direction and speed of the hollow shaft 77 can be monitored in real time, thereby better realizing the monitoring and control of the hollow shaft 77.

[0053] As a further optimization, the XYZ axis drive device includes an X-axis linear drive module 53, a Y-axis linear drive module 52, a Z-axis linear drive module 51, and a fixed bracket 50 mounted on the working frame 10. The Z-axis linear drive module 51 is driven connected to the second fixed plate, the Y-axis linear drive module 52 is driven connected to the Z-axis linear drive module 51, and the X-axis linear drive module 53 is fixed on the fixed bracket 50 and driven connected to the Y-axis linear drive module 52.

[0054] The entire system can be driven by the XYZ axis drive device. Grab welding device Moving along the XYZ axes in space enables multi-dimensional movement of the whole, allowing for more flexible adaptation to absorb and weld pieces of different shapes and sizes.

[0055] As a further optimization, the platform drive mechanism includes a platform drive motor 61 disposed on one side of the working frame 10 and a platform drive driven pulley 62 disposed on the other side of the working frame 10. The output end of the platform drive motor 61 is connected to a platform drive driving pulley 63. A platform drive belt 64 is fitted between the platform drive driven pulley 62 and the platform drive driving pulley 63. A clamping block 203 is disposed at the bottom of the working platform 20, clamping the platform drive belt 64. As a further optimization, a slide rail 202 is also disposed on the surface of the working frame 10, and a slider 201 is also disposed at the bottom of the working platform 20. The working platform 20 moves along the slide rail 202 via the slider 201.

[0056] The platform drive mechanism is driven by a belt and a motor. In addition, a clamping block 203 is set at the bottom of the work platform 20 to provide traction for the belt, so that the work platform 20 moves in a straight line. At the same time, in a further optimized solution, a slide rail 202 is set on the surface of the work frame 10 and a slider 201 is set at the bottom of the work platform 20, which can further ensure the linear movement of the work platform 20.

[0057] As a further optimization, the hot pressing assembly 30 includes a hot pressing drive plate 303, a hot pressing fixed plate 301, a hot pressing drive cylinder 304, a hot pressing plate 306, a connecting rod 302, and a movable rod 305. The hot pressing fixed plate 301 is fixed inside the working frame 10 by the connecting rod 302, and the hot pressing drive cylinder 304 is fixed on the surface of the hot pressing fixed plate 301. The movable end of the hot pressing drive cylinder 304 passes through the hot pressing fixed plate 301 and is connected to the hot pressing drive plate 303 located below the hot pressing fixed plate 301. The hot pressing plate 306 is located above the working frame 10, and one end of the movable rod 305 is connected to the hot pressing plate 306. The other end of the movable rod 305 passes through the hot pressing fixed plate 301 and is connected to the hot pressing drive plate 303.

[0058] The hot press fixing plate 301 is fixed inside the working frame 10 via connecting rod 302, thus providing sufficient stability and support during hot pressing operations to ensure uniform pressure distribution of the material. The hot press drive cylinder 304 is fixed to the surface of the hot press fixing plate 301 and, through the connection of components such as the hot press drive plate 303 and movable rod 305, drives the hot press plate 306 to perform pressure adjustment operations. The hot press plate 306 is located above the frame of the working platform 20 and has a certain working area, allowing multiple materials to be processed in a single hot press. In summary, this component is easily integrated inside the working platform 20 and enables efficient hot pressing operations, improving work efficiency and processing quality.

[0059] As a further optimization, a pre-pressing plate 307 is connected to the bottom of the hot press plate 306 via a spring assembly 308. This design can further improve the hot pressing effect and processing quality. Specifically, the spring assembly 308 can act as a buffer and clamp, allowing the pre-pressing plate 307 to apply more uniform pressure to the material and ensuring that the material does not move or slide during heating, thereby ensuring the stability and uniformity of the hot pressing process. In addition, the pre-pressing plate 307 can also pre-press and align the material before the hot press plate 306 applies pressure, ensuring that the material does not deform or produce uneven pressure distribution during the hot pressing process.

[0060] Furthermore, heating pipes are pre-embedded inside the pre-pressing plate 307 to heat it. This design further increases the temperature of the pre-pressing plate 307 and the material, promoting better hot pressing of the cut pieces and thus improving the efficiency and quality of the entire hot pressing process. Specifically, the pre-embedded heating pipes transfer heat to the interior of the pre-pressing plate 307 through heat conduction, causing it to gradually heat up. When the hot pressing process begins, the pre-pressing plate 307 and the material have already reached a suitable temperature, enabling large-scale hot pressing to be achieved in a short time.

[0061] Furthermore, in this application, hot pressing components 30 are provided on both the left and right sides of the working frame 10, and there are two working platforms 20; one working platform 20 is in the middle position, and the other working platform 20 is on the left side position; after the piece grabbing and welding device finishes processing the middle working platform 20, that is, the middle working platform 20 is moved to the hot pressing component 30 on the right side for processing, and then the working platform 20 on the left side is sent to the middle position, so that the piece can be placed on the working platform 20 to wait for processing.

[0062] First, hot pressing components 30 are installed on both the left and right sides, allowing for parallel processing and improving the overall system efficiency. Furthermore, the presence of two work platforms 20 enables seamless integration of piece processing and hot pressing operations, avoiding inefficiencies caused by unstable worktable positions.

[0063] In the specific workflow, after the cutting piece gripping and welding device finishes processing the intermediate work platform 20, it is moved to the right-side hot pressing assembly 30 for further processing. Meanwhile, the left-side work platform 20 can simultaneously perform the cutting piece hot pressing task. The entire operation has no significant waiting time or delay. This design is simple, the operation process is flexible, and it improves the efficiency and stability of the entire production line.

[0064] In summary, the advantages of the device described in this application are as follows:

[0065] Simple structure: This design requires fewer components and has a simple structure, making it easy to manufacture and maintain.

[0066] High stability: The drive component can achieve precise control of the nozzle mounting plate 1 by moving along the XYZC axes, thereby enabling precise operation of the cut pieces, resulting in higher efficiency and better stability.

[0067] During the fabric piece grasping process, the flexible suction nozzle 4 needs to contact the fabric piece. If the flexible suction nozzle 4 is above the welding end of the ultrasonic welding gun 2, the welding end may interfere with the suction effect of the flexible suction nozzle 4 during contact with the fabric piece, thus affecting the stability and accuracy of the grasping. Therefore, in this application, the flexible suction nozzle 4 is located below the plane where the welding end is located, which avoids interference between the flexible suction nozzle 4 and the welding end, thereby grasping the fabric piece more stably and improving the grasping accuracy and efficiency of the device.

[0068] When the soft suction nozzle 4 moves above the corresponding cut piece, the drive assembly will drive the suction nozzle mounting plate 1 to move down to pick up the cut piece, and then the drive assembly will move the cut piece above the bottom cut piece; at the same time, the drive assembly will drive the suction nozzle mounting plate 1 to press down. At this time, due to the deformability of the soft suction nozzle 4, the soft suction nozzle 4 is compressed. After the soft suction nozzle 4 is compressed, it can achieve downward positioning of the cut piece. The downward positioning of the soft suction nozzle 4 before welding can greatly reduce the movement of the cut piece 82 during welding and improve the welding accuracy.

[0069] This application utilizes a visual positioning component 40, which automates and intelligently enhances the system's operation, reducing human intervention and management, while simultaneously improving processing efficiency and minimizing human error. Compared to traditional manual processing techniques, the visual positioning component 40 can accurately identify fabric pieces of different shapes, sizes, and types, thereby expanding the processing range and flexibility. Furthermore, the visual positioning component 40 provides detailed data and dynamic monitoring information about the processed objects, helping users better understand and optimize the production process.

[0070] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An automatic shoe upper patching machine based on vision positioning, characterized in that: The device includes a working frame, a working platform, a hot pressing assembly, a vision positioning assembly, a piece gripping and welding device, a platform driving mechanism, and a gripping driving assembly. The platform driving mechanism, hot pressing assembly, vision positioning assembly, and gripping driving assembly are all mounted on the working frame. The vision positioning assembly is located above the working platform and is used to detect the position of the piece. The gripping driving assembly is driven and connected to the piece gripping and welding device, driving the device to grip and weld the piece on the working platform. The platform driving mechanism is driven and connected to the working platform, driving the platform to move to the hot pressing assembly. The hot pressing assembly performs hot pressing on the piece on the working platform.

2. The automatic shoe upper patching machine based on vision positioning according to claim 1, characterized in that: The fabric piece gripping and welding device includes a nozzle mounting plate, an ultrasonic welding gun, and a drive assembly that drives the nozzle mounting plate to move. The nozzle mounting plate has a negative pressure air passage connected to a negative pressure device. The bottom surface of the nozzle mounting plate has several nozzle mounting holes connected to the corresponding negative pressure air passages. Each nozzle mounting hole is equipped with a negative pressure logic valve, and each negative pressure logic valve has a flexible nozzle at its end. The ultrasonic welding gun is mounted on the nozzle mounting plate, and the welding end of the ultrasonic welding gun extends beyond the bottom surface of the nozzle mounting plate. The plane where the welding ends of the multiple ultrasonic welding guns are located is higher than the plane where the multiple flexible nozzles are located.

3. The automatic shoe upper patching machine based on vision positioning according to claim 2, characterized in that: The negative pressure logic valve includes a logic valve body, wherein a threaded cylinder is provided at the top of the logic valve body, a soft suction nozzle is fitted at the tail of the logic valve body, and a valve body cavity is provided inside the logic valve body, wherein a valve body steel ball is installed in the valve body cavity; wherein the logic valve body is screwed to the suction nozzle mounting hole through the threaded cylinder.

4. The automatic shoe upper patching machine based on vision positioning according to claim 3, characterized in that: It also includes a welding torch mounting plate and connecting bolts, wherein several ultrasonic welding torches are fixed on the welding torch mounting plate, and the welding torch mounting plate is fixed above the nozzle mounting plate by the connecting bolts, and the driving assembly is drivenly connected to the welding torch mounting plate.

5. The automatic shoe upper patching machine based on vision positioning according to claim 3, characterized in that: The gripping drive assembly includes a first fixed plate, a drive motor, a drive reducer, a first pulley, a second pulley, a drive belt, a drive hollow shaft, a second fixed plate, and an XYZ axis drive device. One end of the drive hollow shaft is movably mounted on the first fixed plate via a bearing, and the other end of the drive hollow shaft is fixedly connected to a welding torch mounting plate. The output end of the drive motor is connected to the drive reducer, and the output end of the drive reducer passes through the first fixed plate and is connected to the first pulley. The second pulley is sleeved on the drive hollow shaft, and the drive belt is sleeved on both the first pulley and the second pulley. The second fixed plate is vertically connected to the surface of the first fixed plate, and the XYZ axis drive device is connected to the second fixed plate and drives the second fixed plate to move along the spatial XYZ axis direction.

6. The automatic shoe upper patching machine based on vision positioning according to claim 5, characterized in that: The XYZ axis drive device includes an X-axis linear drive module, a Y-axis linear drive module, a Z-axis linear drive module, and a fixed bracket mounted on the working frame. The Z-axis linear drive module is driven connected to the second fixed plate, the Y-axis linear drive module is driven connected to the Z-axis linear drive module, and the X-axis linear drive module is fixed on the fixed bracket and driven connected to the Y-axis linear drive module.

7. The automatic shoe upper patching machine based on vision positioning according to claim 5, characterized in that: The platform drive mechanism includes a platform drive motor disposed on one side of the working frame and a platform drive driven pulley disposed on the other side of the working frame. The output end of the platform drive motor is connected to a platform drive driving pulley. A platform drive belt is sleeved between the platform drive driven pulley and the platform drive driving pulley. A clamping block is disposed at the bottom of the working platform, and the clamping block is clamped on the platform drive belt.

8. The automatic shoe upper patching machine based on vision positioning according to claim 7, characterized in that: The working frame surface is also equipped with slide rails, and the bottom of the working platform is also equipped with sliders, in which the working platform moves along the slide rails via the sliders.

9. The automatic shoe upper patching machine based on vision positioning according to claim 8, characterized in that: The hot pressing assembly includes a hot pressing drive plate, a hot pressing fixed plate, a hot pressing drive cylinder, a hot pressing plate, a connecting rod, and a movable rod. The hot pressing fixed plate is fixed inside the working frame by the connecting rod, and the hot pressing drive cylinder is fixed on the surface of the hot pressing fixed plate. The movable end of the hot pressing drive cylinder passes through the hot pressing fixed plate and connects to the hot pressing drive plate located below the hot pressing fixed plate. The hot pressing plate is located above the working frame, and one end of the movable rod is connected to the hot pressing plate. The other end of the movable rod passes through the hot pressing fixed plate and connects to the hot pressing drive plate.

10. The automatic shoe upper patching machine based on vision positioning according to claim 8, characterized in that: The bottom of the hot press plate is also connected to a pre-press plate via a spring assembly.

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