Lean production line for cold bonding shoe forming supporting mixed production and control method thereof

Abstract

The application provides a cold bonding shoe forming lean production line supporting mixed production and a control method thereof, and relates to the field of shoemaking. The production line comprises a flow execution system, a model changing and checking system, a visual scanning system, a back support deviation correction system and a sole matching system. The model changing and checking system is used for inputting shoe model parameters corresponding to a new shoe last when the model needs to be changed, pre-binding the shoe model parameters with an RFID chip of a tray, and checking whether the input shoe model parameters are consistent with actual parameters of the shoe last. The visual scanning system is used for compensating for errors of the shoe last itself. The back support deviation correction system is used for performing back support deviation compensation on a preliminary correction processing track to generate a final processing track. The sole matching system displays corresponding sole matching requirements in real time according to actual shoe model parameters sent by the model changing and checking system, and manually completes matching of soles and uppers according to the sole matching requirements. The application can realize mixed production and intelligent matching, solve errors caused by manual operation, and improve the cold bonding shoe forming quality.

Description

Technical Field

[0001] This invention relates to the field of footwear manufacturing, and in particular to a lean production line for cold-bonded shoe molding that supports mixed-style production and its control method. Background Technology

[0002] In the current cold-bonded shoe manufacturing industry, traditional molding production lines mostly adopt a single-style dedicated production model. To produce different styles, the line needs to be shut down for style changes, resulting in cumbersome changeover processes, long downtime, and poor production flexibility. This makes it unsuitable for the current demand for small-batch, multi-style, and multi-color orders. Intelligent shoe production lines, on the other hand, mostly require embedded RFID chips in the shoe lasts for information identification. Therefore, transforming a traditional production line into an intelligent shoe production line requires a complete overhaul of existing traditional shoe lasts, resulting in a significant investment for enterprises.

[0003] Meanwhile, key steps in traditional production lines, such as lasting, heel counter assembly, and sole assembly, lack automation and require manual operation. Manual operation inevitably introduces errors, such as misalignment of the toe and heel counter, leading to deviations in the acquisition of the adhesive spraying trajectory and affecting the precision of the upper-sole bonding. Furthermore, the pairing process between the upper / last and sole in traditional production is rigid and requires strict synchronization. If the manual lasting is disordered, it will cause delays in sole distribution, making it impossible to achieve synchronized adaptation between disordered lasting and precise sole assembly, thus compromising overall production efficiency and processing accuracy. Summary of the Invention

[0004] The main objective of this invention is to propose a lean production line for cold-bonded shoe molding that supports mixed-style production and its control method. This line enables mixed-style production and intelligent matching, solves the errors caused by manual operation, and improves the quality of cold-bonded shoe molding.

[0005] This invention is achieved through the following technical solution:

[0006] The lean production line for cold-bonded shoe molding that supports mixed-style production includes a flow execution system, a cutting and verification system, a visual scanning system, a heel counter correction system, and a sole matching system.

[0007] The flow execution system includes a conveying system, forming and processing stations arranged along the main conveying line, and a tray with a built-in RFID chip, which is used to carry shoe lasts without RFID chips.

[0008] The cut-and-verify system is used when a change of style is needed while the production line is running. After placing the new shoe last on the current tray, the corresponding shoe parameters are entered and pre-bound to the RFID chip of the tray. Then, the actual shoe parameters of the shoe last are obtained visually. When the selected shoe parameters match the actual shoe parameters, the actual shoe parameters are written into the RFID chip of the tray and sent to the sole matching system. If they do not match, the shoe parameters are reselected.

[0009] The visual scanning system acquires the actual trajectory point cloud of the shoe upper on the current shoe last. Based on the actual trajectory point cloud and the template trajectory point cloud determined offline in advance, the error of the shoe last itself is compensated to generate a preliminary correction processing trajectory.

[0010] The heel counter correction system is used to collect images of the heel counter after manual lasting and lasting, in order to obtain the manual operation deviation of the shoe upper, and then to compensate for the heel counter offset of the initial correction processing trajectory to generate the final processing trajectory.

[0011] The sole matching system has a built-in cache queue module. Based on the actual shoe parameters sent by the shoe model verification system, the corresponding sole matching requirements are automatically stored in the cache queue module. The sole matching requirements are displayed in real time according to the logic of popping out of the cache queue in sequence. The manual part completes the matching of the sole and the upper according to the sole matching requirements. The molding and processing station performs the processing actions according to the final processing trajectory.

[0012] Furthermore, the shoe last verification system includes a human-machine interface and an information collection station set up before and after the conveying system. When a shoe last needs to be changed, the operator places the new shoe last on the current tray and uses the human-machine interface to select the shoe last parameters corresponding to the current shoe last from multiple pre-set sets of shoe last parameters. The shoe last parameters are then pre-bound to the RFID chip of the current tray. After the shoe last is transferred to the information collection station, the information collection station uses its built-in planar vision acquisition module to take pictures and identify the shoe last to obtain the actual shoe last parameters. The actual shoe last parameters are then compared with the shoe last parameters pre-bound to the RFID chip. If they match, the actual shoe last parameters are officially written into the RFID chip and sent to the sole matching system. If they do not match, an alarm is triggered to block subsequent production, and the shoe last parameters are reselected.

[0013] Furthermore, the template trajectory point cloud is determined using an offline visual template station independent of the conveying system. The offline visual template station scans the upper information of the new standard shoe sample to be replaced to obtain the template trajectory point cloud of the shoe. The template trajectory point cloud is named and stored according to the corresponding shoe model name and associated with a pre-set shoe model number. Each shoe model number corresponds to a set of shoe parameters.

[0014] Furthermore, the visual scanning system is deployed close to the information collection station along the flow direction of the conveying system. It performs a three-dimensional scan of the upper on the current shoe last to obtain the actual trajectory point cloud. It uses the shoe model corresponding to the current shoe last to obtain the template trajectory point cloud. The difference between the actual trajectory point cloud and the template trajectory point cloud is compared to compensate for the processing error between shoe lasts of the same size and foot and the errors of shoe upper sewing and lasting, thus generating a preliminary corrected processing trajectory.

[0015] Furthermore, the heel counter correction system is arranged behind the vision scanning system along the flow direction of the conveying system, acquires images of the heel counter of the shoe upper, processes them to determine the actual position of the specified heel counter feature, compares the actual position with the preset template position to obtain the position deviation value, and performs secondary correction on the preliminary correction processing trajectory based on the position deviation value to generate the final processing trajectory that fits the actual production state of the shoe upper.

[0016] Furthermore, the shoe parameters include shoe model, shoe size, left and right feet, and upper color.

[0017] Furthermore, the forming and processing station includes a shoe upper pretreatment station, an intelligent roughing station, an automatic glue spraying station, an activation and shaping station, a bottom-attaching and cold-pressing station, and a last-pulling and unloading station arranged sequentially along the conveying system.

[0018] Furthermore, during the processing of the forming and processing station, each station automatically retrieves the corresponding final processing trajectory based on the shoe information stored in the RFID chip of the tray.

[0019] This invention is also achieved through the following technical solutions:

[0020] The control method for a lean production line for cold-bonded shoe molding that supports mixed-style production, as described above, includes the following steps:

[0021] Step S1: When a style change is needed while the production line is running, place the new shoe last on the current tray, select the shoe parameters corresponding to the shoe last in the style cutting and verification system and pre-bind them to the RFID chip on the tray. Then, use vision to obtain the actual shoe parameters of the shoe last. When the selected shoe parameters match the actual shoe parameters, write the actual shoe parameters into the RFID chip on the tray and send them to the sole matching system. If they do not match, reselect the shoe parameters.

[0022] Step S2: The pallet is transferred to the vision scanning system along with the conveying system. The vision scanning system obtains the actual trajectory point cloud of the shoe upper on the current shoe last. Based on the actual trajectory point cloud and the template trajectory point cloud determined offline in advance, the error of the shoe last itself is compensated to generate a preliminary correction processing trajectory. The template trajectory point cloud is retrieved according to the shoe information stored in the RFID chip.

[0023] Step S3: The pallet is transferred to the back lasting correction system along with the conveyor system. The back lasting correction system is used to collect images of the shoe upper after manual lasting and lasting, in order to obtain the manual operation deviation of the shoe upper, and then to compensate for the back lasting offset of the preliminary correction processing trajectory to generate the final processing trajectory.

[0024] Step S4: The pallet is transferred to the sole matching system along with the conveying system. The sole matching system has a built-in cache queue module. According to the actual shoe parameters sent by the shoe cutting verification system, the corresponding sole matching requirements are automatically stored in the cache queue module. The sole matching requirements are displayed in real time according to the stacking logic of the cache queue. The manual pairing of the sole and the upper is completed according to the sole matching requirements.

[0025] Step S5: The forming processing station reads the RFID information of the pallet, retrieves the final processing estimate, and executes the processing action according to the final processing trajectory.

[0026] As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following beneficial effects:

[0027] This invention incorporates an RFID chip inside the tray, eliminating the need to modify the shoe last itself and allowing direct reuse of existing traditional shoe lasts. Since incorporating an RFID chip into the tray is significantly less costly than modifying all shoe lasts, this invention can substantially reduce the cost of intelligent transformation for enterprises and improve the utilization rate of existing production consumables. The style verification system is used when a style change is needed during production line operation. After placing the new shoe last on the current tray, the corresponding shoe style parameters are selected and pre-bound to the tray's RFID chip. Then, the actual shoe style parameters of the last are visually acquired. If the selected parameters match the actual shoe style parameters, the actual shoe style parameters are written into the tray's RFID chip and sent to the sole matching system. If they do not match, the shoe style parameters are reselected, and the visual verification is completed. The scanning system acquires the actual trajectory point cloud of the shoe upper on the current shoe last. Based on this actual trajectory point cloud and the pre-determined offline template trajectory point cloud, it compensates for the shoe last's own errors to generate a preliminary correction processing trajectory. The heel counter correction system collects images of the shoe upper after manual lasting and lasting to obtain the actual offset and positional error of the shoe upper. It then compensates for the heel counter offset on the preliminary correction processing trajectory to generate the final processing trajectory. The sole matching system has a built-in cache queue module. Based on the actual shoe model parameters sent by the model cutting and verification system, the corresponding sole matching requirements are automatically stored in the cache queue module. The sole matching requirements are displayed in real time according to the stacking logic of the cache queue. The manual pairing of the sole and upper is completed according to the sole matching requirements. The molding processing station executes processing actions according to the final processing trajectory. By relying on RFID information on pallets and storing trajectory templates for multiple shoe styles, this system enables simultaneous mixed production of different shoe styles, sizes, and colors on the same production line. No adjustments to the main production line are needed when changing styles, increasing production flexibility. After manual cutting, the selected shoe style is verified at the information collection station to ensure it matches the shoe last, preventing production scrap due to manual parameter input errors. A visual scanning system compensates for errors in the shoe last itself, and a backstrap correction system performs secondary correction, resolving manual operation errors caused by manual lasting and backstrap application. This ensures the processing trajectory accurately matches the actual condition of the shoe upper, improving the quality of cold-bonded shoe forming. The sole matching system works in conjunction with the cutting and verification system, utilizing its built-in cache queue module for intelligent pairing. Manual lasting can be done randomly and arbitrarily, without needing to follow a specific order, decoupling lasting from sole matching. This solves the problems of delayed sole material sourcing and rigid pairing processes, adapting to on-site manual operating habits and improving overall production efficiency. Attached Figure Description

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Figure 1 This is a schematic diagram of the production line of the present invention.

[0030] Figure 2 This is a flowchart of the control method of the present invention.

[0031] Figure 3 This is an image of the heel counter of the shoe under conditions where there is no human error. Figure 4 This is an image of the heel counter of a shoe under conditions where human error is present. Detailed Implementation

[0032] The present invention will be further described below through specific embodiments.

[0033] like Figure 1 As shown, the lean production line for cold-bonded shoe molding that supports mixed-style production includes a flow execution system, a cutting and verification system, a vision scanning system, a heel counter correction system, and a sole matching system.

[0034] The flow execution system includes a conveying system, forming and processing stations arranged along the conveying system, and trays with built-in RFID chips conveyed by the main conveying line. The trays are used to carry shoe lasts without RFID chips. The RFID chip serves as the sole carrier of production information, and a card reader capable of reading the RFID chip is installed at the corresponding position on the conveying system.

[0035] The molding and processing stations include the shoe upper pretreatment station, intelligent roughing station, automatic glue spraying station, activation and shaping station, bottom attaching and cold pressing station, and last pulling and unloading station, which are arranged sequentially along the conveying system.

[0036] The last-cutting verification system is used when a style change is needed while the production line is running. After placing the new shoe last on the current tray, the corresponding shoe style parameters are input and pre-bound to the RFID chip on the tray. Then, the actual shoe style parameters of the shoe last are obtained visually. When the selected shoe style parameters match the actual shoe style parameters, the actual shoe style parameters are written into the RFID chip on the tray and sent to the sole matching system. If they do not match, the shoe style parameters are reselected. In this embodiment, a person stands in front of the shoe last placement table to perform the last-laying operation, placing the new shoe last on the current tray.

[0037] More specifically, the shoe last verification system includes a human-machine interface and an information collection station positioned along the conveyor system's operating direction. Further, both the human-machine interface and the information collection station are located at the front end of the main conveyor line; more specifically, they are located to the left and right of the personnel placing the shoe last, respectively. When a change of style is needed, the operator places the new shoe last on the current tray and uses the human-machine interface to select the shoe model parameters corresponding to the current shoe last from a set of pre-set shoe model parameters. These shoe model parameters are then pre-bound to the RFID chip on the current tray. The shoe model parameters include shoe model, shoe size, left / right foot, and upper color. The pre-set sets of shoe model parameters are stored in the cloud according to shoe model. Pre-binding refers to associating the RFID chip's ID with the selected shoe model parameter.

[0038] After the shoe lasts are transferred to the information collection station, the station uses its built-in planar vision acquisition module to photograph and identify the shoe lasts to obtain the actual shoe parameters. These parameters are then compared with the shoe parameters pre-bound to an RFID chip. If they match, the actual shoe parameters are officially written into the RFID chip and sent to the sole matching system. If they do not match, an audible and visual alarm is triggered to halt subsequent production, and the shoe parameters are reselected. The process of identifying the actual shoe parameters based on photographs of the shoe lasts is existing technology.

[0039] The visual scanning system acquires the actual trajectory point cloud of the shoe upper on the current shoe last. Based on the actual trajectory point cloud and the template trajectory point cloud determined offline in advance, the error of the shoe last itself is compensated to generate a preliminary correction processing trajectory.

[0040] More specifically, the visual scanning system is deployed adjacent to the information collection station along the flow direction of the conveyor system, located behind the information collection station. The visual scanning system performs real-time 3D scanning on each shoe upper flowing to that station, acquiring the actual trajectory point cloud. It then compares the actual trajectory point cloud with the template trajectory point cloud, automatically compensating for processing errors between shoe lasts of the same size and foot type, as well as errors in shoe upper sewing and last assembly, based on the comparison results, generating a preliminary corrected processing trajectory. The process of comparing differences and compensating for errors based on the comparison results to generate the preliminary corrected processing trajectory is existing technology. The processing trajectory includes roughing trajectory and glue spraying trajectory.

[0041] The template trajectory point cloud is determined using offline visual template stations deployed independently of the conveyor system. These stations pre-scan the upper information of the new standard shoe sample to be replaced, obtaining the template trajectory point cloud for that shoe model. The template trajectory point cloud is stored under the corresponding shoe model name and associated with pre-set shoe model numbers, with each shoe model corresponding to a set of shoe parameters. In actual production, the offline visual template can scan the new shoe models to be produced according to the daily production plan and obtain their template trajectory point cloud data.

[0042] The heel counter correction system is used to collect images of the heel counter after manual lasting and lasting, in order to obtain the manual operation deviation of the shoe upper, and then to compensate for the heel counter offset of the initial correction processing trajectory to generate the final processing trajectory.

[0043] like Figure 3 and Figure 4 This indicates the presence of human error. Because the visual scanning system corrects the trajectory of the point cloud across the entire shoe upper, it cannot guarantee that the heel countertop features of each shoe are in the same position. If the heel countertop is misaligned, it will affect the accuracy of the adhesive application, causing quality issues. The heel countertop features can be specified based on the specific model and experience, such as... Figure 4 If the back panel has a textured design, then specify as follows: Figure 4The center of the portion shown in part A is used as a feature of the back flap, as can be seen. Figure 4 The A section of the heel counter on the left and right sides of the shoe upper protrudes outwards by different amounts, which is also different from... Figure 3 A standard shoe upper without heel counter deviation indicates a heel counter deviation.

[0044] To avoid this situation, a dedicated heel counter correction system is installed to process the heel counter of the shoe upper. This system is positioned behind the vision scanning system along the conveyor system's flow direction and has an independent dedicated vision acquisition module for the heel counter. The system acquires images of the heel counter, performs specialized recognition processing on these images to determine the actual position of pre-specified heel counter features, compares this actual position with a preset template position to obtain a positional deviation value, and then performs a secondary correction on the initial correction processing trajectory based on this deviation value to generate a final processing trajectory that conforms to the actual production state of the shoe upper. The template position of the heel counter features is pre-determined using a template shoe upper image free from human error. The process of determining the heel counter feature position based on the heel counter image is existing technology, and the specific process of performing a secondary correction on the initial correction processing trajectory based on the positional deviation value is also existing technology. The sole matching system and the cut-out verification system communicate with each other in real time. The sole matching system has a built-in cache queue module. Based on the actual shoe parameters sent by the cut-out verification system, it automatically matches the sole with the corresponding shoe model, size, left and right feet, and upper color. The sole matching requirement is automatically stored in the cache queue module. According to the stacking logic of the cache queue, the sole matching requirement is displayed in real time on the display interface (i.e., sole matching display screen) at this workstation. The operator at the sole matching workbench selects the corresponding sole from the sole rack according to the sole matching requirement to complete the pairing of the sole and the upper. This decouples the lasting and sole matching processes. The operator at the manual sole attaching station attaches the paired sole and upper.

[0045] Each molding and processing station is equipped with an RFID reading module. By reading the shoe information stored in the RFID chip on the production pallet, the corresponding final processing trajectory is automatically retrieved to complete the corresponding process.

[0046] like Figure 2 As shown, the control method for a lean production line supporting mixed-style cold-bonded shoe molding includes the following steps:

[0047] Step S1: When a style change is needed while the production line is running, the operator inserts the new shoe last into the current pallet. Then, in the style verification system, the operator manually selects the shoe parameters corresponding to the shoe last and pre-binds them to the RFID chip on the pallet. The system then uses visual verification to obtain the actual shoe parameters of the shoe last. If the selected shoe parameters match the actual shoe parameters, the actual shoe parameters are written into the RFID chip on the pallet and sent to the sole matching system. If they do not match, an alarm signal is issued, prompting the operator to recheck the selected shoe parameters. Here, the new shoe last refers to the shoe last corresponding to the shoe style to be replaced.

[0048] Step S2: The pallet is transferred to the vision scanning system along with the conveying system. The vision scanning system obtains the actual trajectory point cloud of the shoe upper on the current shoe last. Based on the actual trajectory point cloud and the template trajectory point cloud determined offline in advance, the error of the shoe last itself is compensated to generate a preliminary correction processing trajectory. The template trajectory point cloud is retrieved according to the shoe information stored in the RFID chip.

[0049] Step S3: The pallet is transferred to the back lasting correction system along with the conveyor system. The back lasting correction system is used to collect images of the shoe upper after manual lasting and lasting, in order to obtain the manual operation deviation of the shoe upper, and then to compensate for the back lasting offset of the preliminary correction processing trajectory to generate the final processing trajectory.

[0050] Step S4: The pallet is transferred to the sole matching system along with the conveying system. The sole matching system has a built-in cache queue module. According to the actual shoe parameters sent by the shoe cutting verification system, the corresponding sole matching requirements are automatically stored in the cache queue module. The sole matching requirements are displayed in real time according to the stacking logic of the cache queue. The manual pairing of the sole and the upper is completed according to the sole matching requirements.

[0051] Step S5: The forming processing station reads the RFID information of the pallet, retrieves the final processing estimate, and executes the processing action according to the final processing trajectory.

[0052] The molding lean production line of this invention can simultaneously mix 3-5 different shoe styles and multiple sizes of shoes, shortening the changeover time to less than 10 minutes. The production line does not need to be stopped, and the cost of shoe last modification is reduced by more than 90%. The defect rate caused by human operation error is reduced by 80%, which fully meets the flexible production needs of small batch and multiple styles of cold-bonded shoes.

[0053] In this invention, the terms "first," "second," and "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. The use of terms such as "upper," "lower," "left," "right," "front," and "rear" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings and is only for the convenience of describing the invention, not to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the scope of protection of this invention. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0054] Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0055] The above are merely specific embodiments of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantial modifications made to the present invention using this concept shall be considered as infringing upon the protection scope of the present invention.

Claims

1. A cold adhesive shoe forming lean production line supporting mixed model production, characterized in that: This includes a circulation execution system, a cut-off verification system, a visual scanning system, a backing correction system, and a matching system; The flow execution system includes a conveying system, forming and processing stations arranged along the main conveying line, and a tray with a built-in RFID chip, which is used to carry shoe lasts without RFID chips. The cut-and-verify system is used when a change of style is needed while the production line is running. After placing the new shoe last on the current tray, the corresponding shoe parameters are entered and pre-bound to the RFID chip of the tray. Then, the actual shoe parameters of the shoe last are obtained visually. When the selected shoe parameters match the actual shoe parameters, the actual shoe parameters are written into the RFID chip of the tray and sent to the sole matching system. If they do not match, the shoe parameters are reselected. The visual scanning system acquires the actual trajectory point cloud of the shoe upper on the current shoe last. Based on the actual trajectory point cloud and the template trajectory point cloud determined offline in advance, the error of the shoe last itself is compensated to generate a preliminary correction processing trajectory. The heel counter correction system is used to collect images of the heel counter after manual lasting and lasting, obtain the manual operation deviation of the shoe upper, and then perform heel counter offset compensation on the initial correction processing trajectory to generate the final processing trajectory. The sole matching system has a built-in cache queue module. Based on the actual shoe parameters sent by the shoe model verification system, the corresponding sole matching requirements are automatically stored in the cache queue module. The sole matching requirements are displayed in real time according to the logic of popping out of the cache queue in sequence. The manual part completes the matching of the sole and the upper according to the sole matching requirements. The molding and processing station performs the processing actions according to the final processing trajectory.

2. The cold cementing shoe forming lean production line supporting mix production of claim 1, characterized in that: The shoe last verification system includes a human-machine interface and an information collection station set up before and after the conveying system. When a shoe last needs to be changed, the operator places the new shoe last on the current tray and selects the corresponding shoe last parameters from a set of pre-set shoe last parameters using the human-machine interface. The shoe last parameters are then pre-bound to the RFID chip on the current tray. After the shoe last is transferred to the information collection station, the station uses its built-in planar vision acquisition module to take pictures and identify the shoe last to obtain the actual shoe last parameters. The actual shoe last parameters are then compared with the shoe last parameters pre-bound to the RFID chip. If they match, the actual shoe last parameters are officially written into the RFID chip and sent to the sole matching system. If they do not match, an alarm is triggered to block subsequent production, and the shoe last parameters are reselected.

3. The cold cementing shoe forming lean line supporting mix production of claim 2, characterized in that: The template trajectory point cloud is determined using an offline visual template station independent of the conveying system. The offline visual template station scans the upper information of the new standard shoe sample to be replaced to obtain the template trajectory point cloud of the shoe. The template trajectory point cloud is named and stored according to the corresponding shoe model name and associated with the pre-set shoe model. Each shoe model corresponds to a set of shoe parameters.

4. The cold cementing shoe forming lean line supporting mix production of claim 3, characterized in that: The visual scanning system is deployed close to the information collection station along the flow direction of the conveying system. It performs a three-dimensional scan of the upper on the current shoe last to obtain the actual trajectory point cloud. It uses the shoe model corresponding to the current shoe last to obtain the template trajectory point cloud. The actual trajectory point cloud and the template trajectory point cloud are compared by difference to compensate for the processing error between shoe lasts of the same size and foot and the error of shoe upper sewing and lasting, and to generate a preliminary corrected processing trajectory.

5. The cold cementing shoe forming lean line supporting mix production of claim 4, characterized in that: The heel counter correction system is positioned behind the vision scanning system along the flow direction of the conveying system. It acquires images of the heel counter of the shoe upper and processes them to determine the actual position of the specified heel counter feature. The actual position is compared with the preset template position to obtain the position deviation value. Based on the position deviation value, the initial correction processing trajectory is corrected a second time to generate the final processing trajectory that fits the actual production state of the shoe upper. The manual operation deviation includes the heel counter position offset and the height deviation.

6. The cold cementing shoe forming lean production line supporting mix production according to any one of claims 1 to 5, characterized in that: The shoe parameters include shoe model, shoe size, left and right shoes, and upper color.

7. The cold adhesive shoe forming lean production line supporting mix production of any one of claims 1 to 5, characterized in that: The forming and processing stations include, sequentially arranged along the conveying system, a shoe upper pretreatment station, an intelligent roughing station, an automatic glue spraying station, an activation and shaping station, a bottom-attaching and cold-pressing station, and a last-pulling and material-discharging station.

8. The lean production line for cold-bonded shoe molding supporting mixed-style production according to any one of claims 1 to 5, characterized in that: During the processing of the molding and processing station, each station automatically retrieves the corresponding final processing trajectory based on the shoe information stored in the RFID chip of the tray.

9. A control method for a lean production line for cold-bonded shoe molding that supports mixed-style production, as described in any one of claims 1 to 8, characterized in that: Includes the following steps: Step S1: When a style change is needed while the production line is running, place the new shoe last on the current tray, select the shoe parameters corresponding to the shoe last in the style cutting and verification system and pre-bind them to the RFID chip on the tray. Then, use vision to obtain the actual shoe parameters of the shoe last. When the selected shoe parameters match the actual shoe parameters, write the actual shoe parameters into the RFID chip on the tray and send them to the sole matching system. If they do not match, reselect the shoe parameters. Step S2: The pallet is transferred to the vision scanning system along with the conveying system. The vision scanning system obtains the actual trajectory point cloud of the shoe upper on the current shoe last. Based on the actual trajectory point cloud and the template trajectory point cloud determined offline in advance, the error of the shoe last itself is compensated to generate a preliminary correction processing trajectory. The template trajectory point cloud is retrieved according to the shoe information stored in the RFID chip. Step S3: The pallet is transferred to the back lasting correction system along with the conveyor system. The back lasting correction system is used to collect images of the shoe upper after manual lasting and lasting, in order to obtain the manual operation deviation of the shoe upper, and then to compensate for the back lasting offset of the preliminary correction processing trajectory to generate the final processing trajectory. Step S4: The pallet is transferred to the sole matching system along with the conveying system. The sole matching system has a built-in cache queue module. According to the actual shoe parameters sent by the shoe cutting verification system, the corresponding sole matching requirements are automatically stored in the cache queue module. The sole matching requirements are displayed in real time according to the stacking logic of the cache queue. The manual pairing of the sole and the upper is completed according to the sole matching requirements. Step S5: The forming processing station reads the RFID information of the pallet, retrieves the final processing estimate, and executes the processing action according to the final processing trajectory.

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