Automatic sample cutting device for shoe sole detection

Abstract

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

Description

Technical Field

[0001] This utility model belongs to the field of shoe sole testing equipment, specifically an automatic sample cutting device for shoe sole testing. Background Art

[0002] Sole testing is an indispensable part of shoe quality inspection, used to evaluate sole performance and provide consumers with intuitive data. It is a crucial step in footwear quality inspection. For some tests, small samples need to be taken from corresponding locations on the sole. Traditional methods typically involve marking the area to be cut on the sole, then manually cutting the marked area using scissors or a knife. Manual cutting often results in unevenly shaped samples with burrs on the edges, requiring further trimming for subsequent testing—a time-consuming and labor-intensive process. Furthermore, manual cutting is extremely difficult when testing sturdy soles, such as work boots, and the excessive force can be uncontrollable, increasing the risk of injury to operators. This method needs improvement. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic sample cutting device for shoe sole testing.

[0004] The present invention adopts the following technical solution:

[0005] An automatic sample cutting device for shoe sole inspection includes a machine base, a shoe sole clamping mechanism, a CNC milling cutter mechanism, a robot arm, and a vision system. The machine base has a work platform for cutting samples. The shoe sole clamping mechanism, located on the work platform, includes a shoe last, clamping cylinders, and clamping plates. The shoe last is inverted on the work platform, allowing the shoe sole to be cut to be placed on the shoe last with the sole facing upwards. The clamping cylinders are positioned opposite each other on both sides of the shoe last. The clamping plates are located at the ends of the clamping cylinders and can clamp the shoe onto the shoe last as the clamping cylinders extend. The CNC milling cutter mechanism, located on the machine base, can cut the shoe sole. The robot arm, located within the machine base, grips the cut sample. The vision system includes a vision camera and a controller. The vision camera, located at the end of the robot arm, moves with the robot arm to collect markings on the shoe sole and feeds the images back to the controller. The controller then controls the CNC milling cutter mechanism to switch cutters and cut the shoe sole.

[0006] Preferably, it also includes a transfer mechanism, which includes a transfer platform, a guide rail, and an electric slide. The transfer platform extends outward from one side of the working platform to the outside of the machine. The guide rail is arranged on the transfer platform and the working platform. The electric slide is movably mounted on the guide rail and can move back and forth between the transfer platform and the working platform. The shoe last is mounted on the electric slide.

[0007] Preferably, the machine platform is also provided with a clearance channel located between the transfer platform and the working platform for the shoe last to pass through, a lifting door movably mounted on the machine platform that can open or close the clearance channel, and a lifting cylinder for driving the lifting door to rise and fall.

[0008] Preferably, the CNC milling cutter mechanism includes a vertical milling cutter, a saw blade milling cutter, a three-axis moving assembly, and a driving component. The vertical milling cutter can perform contour cutting on the part of the shoe sole to be sampled; the saw blade milling cutter can cut the bottom surface of the part of the shoe sole to be sampled; the three-axis moving assembly is connected to the vertical milling cutter or the saw blade milling cutter and drives it to move to cut the shoe sole; the driving component is connected to the vertical milling cutter or the saw blade milling cutter and drives it to rotate.

[0009] Preferably, the end of the robotic arm is equipped with an electric gripper for holding the cut sample, and the vision camera is located next to the electric gripper.

[0010] Preferably, the CNC milling cutter mechanism is located directly above the work platform, and the robot arm is located on the side of the work platform.

[0011] Preferably, the machine platform is also provided with an observation window to facilitate observation of the working status of the working platform.

[0012] An automatic sample cutting method for shoe sole testing, relating to the aforementioned automatic sample cutting device for shoe sole testing, includes:

[0013] (1) Draw the area to be cut. Draw the area to be cut on the shoe to be sampled using a marker that can be recognized by the vision system.

[0014] (2) Start the device, put the shoe to be sampled on the shoe last and start it. The clamping cylinder extends and clamps the shoe on the shoe last from the left and right sides.

[0015] (3) Longitudinal sampling: The end of the robot arm moves to the top of the shoe last and adjusts the vision camera to a vertically downward state, captures an image and feeds it back to the controller. The controller analyzes the pattern, establishes the horizontal X and Y coordinate axes with the visual midpoint of the vision camera, and then determines the coordinates of the shoe sole edge contour and the coordinate contour of the cross section of the area to be cut.

[0016] (4) Lateral sampling: The robot moves to the front, back, left and right of the shoe last, and makes the vision camera perpendicular to the Z-axis and always facing the shoe last. The vision camera takes images from the four directions. The controller analyzes the images and establishes the lateral Z-axis with the visual midpoint of the vision camera. It forms the XYZ coordinate system with the XY coordinate axis to determine the height of the top surface of the sole on the Z-axis and the coordinate contour of the vertical section of the area to be cut. The three-dimensional coordinates of the area to be cut are combined. After sampling, the robot is retracted.

[0017] (5) In one cut, the CNC milling cutter mechanism switches to a vertical milling cutter, controls the cutting depth according to the height of the area to be cut, and moves the cutter according to the cross-sectional coordinates of the area to be cut, separating the side of the area to be cut from the sole.

[0018] (6) Secondary cutting: The CNC milling cutter mechanism is switched to a saw blade milling cutter. The cutting depth is controlled according to the height of the area to be cut, and the cutting is carried out according to the cross-sectional coordinates of the area to be cut. The bottom surface of the area to be cut is cut so that the area to be cut is completely separated from the sole to obtain the sample to be tested.

[0019] (7) Sampling: The robot moves to the area to be cut, and the electric gripper on the robot grips the sample to be tested and moves it to the outlet to discharge the sample.

[0020] Preferably, the area to be cut in step (1) should extend inward from the edge of the sole, and the drawn lines should be continuous and include the length, width and height of the sampling area to ensure that it forms a three-dimensional shape in the projection direction.

[0021] Preferably, step (4) further includes: based on the cross-sectional contour coordinates of the area to be cut obtained in step (3), the controller determines which direction the coordinates are closer to (i.e., closer to the +X axis, +Y axis, -X axis, or -Y axis), and directly controls the robot to move in the corresponding direction to perform lateral sampling.

[0022] As can be seen from the above description of the present invention, compared with the prior art, the beneficial effects of the present invention are: by using a vision camera to determine the markings on the sole, the CNC milling cutter mechanism can accurately cut the sample to be tested, and the cutting and sampling of the sole sample can be completed quickly. Only a small number of personnel are needed next to the equipment to install and observe the sole, saving labor. Moreover, the cutting of soles made of some sturdy materials can be completed quickly, improving work efficiency.

[0023] The transfer mechanism can move the shoe last from inside the machine to the outside, allowing operators to install or remove the shoe sole from outside the machine without having to put their body into the work platform inside the machine, thus improving safety.

[0024] The lift door, which can be opened or closed, only opens when conveying or outputting shoe lasts, to prevent dust leakage and environmental pollution during operation. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ;

[0026] Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 ;

[0027] Figure 3 This is a schematic diagram of the structure of the present invention. Figure 3 ;

[0028] Figure 4 for Figure 3 The state at point A Figure 1 ;

[0029] Figure 5 for Figure 3 The state at point A Figure 2 ;

[0030] Figure 6 This is a schematic diagram of the longitudinal sampling of this utility model;

[0031] Figure 7 This is a schematic diagram of the horizontal sampling of this utility model;

[0032] Figure 8 This is a schematic diagram of an automatic sample cutting method for shoe sole testing according to the present invention;

[0033] In the diagram: 1-Machine base; 11-Working platform; 12-Observation window; 13-Lifting door; 14-Lifting cylinder; 2-Shoe sole clamping mechanism; 21-Shoe last; 22-Clamping cylinder; 23-Clamping plate; 3-Transfer mechanism; 31-Transfer platform; 32-Guide rail; 33-Electric slide table; 4-CNC milling cutter mechanism; 41-Vertical milling cutter; 42-Saw blade milling cutter; 43-Three-axis moving assembly; 44-Drive component; 5-Robot arm; 51-Electric gripper; 6-Vision camera. Detailed Implementation

[0034] The present invention will be further described below through specific embodiments.

[0035] Reference Figures 1 to 8 As shown, an automatic sample cutting device for shoe sole inspection includes a machine base 1, a shoe sole clamping mechanism 2, a transfer mechanism 3, a CNC milling cutter mechanism 4, a robot arm 5, and a vision system.

[0036] The machine tool 1 is equipped with a working platform 11 for cutting samples. The machine tool 1 is also equipped with an observation window 12 for easy observation of the working platform 11.

[0037] The shoe sole clamping mechanism 2 is mounted on the work platform 11 and includes a shoe last 21, clamping cylinders 22, and clamping plates 23. The shoe last 21 is inverted on the work platform 11, allowing the shoe to be cut with its sole facing upwards to be placed on the shoe last 21. The clamping cylinders 22 are positioned opposite each other on both sides of the shoe last 21. The clamping plates 23 are located at the ends of the clamping cylinders 22 and can clamp the shoe onto the shoe last 21 as the clamping cylinders 22 extend. The bottom surface of the clamping plates 23 should be lower than the height of the shoe sole. The clamping cylinders 22 hold the shoe in place, preventing the sole from shifting and falling off during cutting.

[0038] The transfer mechanism 3 includes a transfer platform 31, a guide rail 32, and an electric slide 33. The transfer platform 31 extends outward from one side of the working platform 11 to the outside of the machine 1. The guide rail 32 is arranged on the transfer platform 31 and the working platform 11. The electric slide 33 is movably mounted on the guide rail 32, and the shoe last 21 is mounted on the electric slide 33 and can move back and forth between the transfer platform 31 and the working platform 11. The transfer mechanism 3 can transfer the shoe last 21 from inside the machine 1 to the outside, allowing operators to install or remove the shoe sole from outside the machine 1 without having to put their body into the working platform 11 inside the machine 1, thus improving safety. Specifically, the machine 1 is also equipped with a clearance channel between the transfer platform 31 and the working platform 11 for the shoe last 21 to pass through, a movable lifting door 13 on the machine 1 that can open or close the clearance channel, and a lifting cylinder 14 that drives the lifting door 13 to rise and fall. The lifting door 13 that can be opened or closed is only opened when conveying or outputting the shoe last 21 to avoid dust leakage and environmental pollution during the operation of the device.

[0039] The CNC milling cutter mechanism 4 is positioned directly above the work platform 11 to cut shoe soles. The CNC milling cutter mechanism 4 includes a vertical milling cutter 41, a saw blade milling cutter 42, a three-axis moving assembly 43, and a drive unit 44. The vertical milling cutter 41 can perform contour cutting on the sampled area of ​​the shoe sole; the saw blade milling cutter 42 can cut the bottom surface of the sampled area of ​​the shoe sole; the three-axis moving assembly is connected to the vertical milling cutter 41 or the saw blade milling cutter 42, driving it to move and cut the shoe sole; the drive unit 44 is connected to the vertical milling cutter 41 or the saw blade milling cutter 42, driving it to rotate. Through the combined use of the vertical milling cutter 41 and the saw blade milling cutter 42, the area to be cut can be completely cut off, even for sturdy work shoe soles, which can be cut quickly. Specifically, the CNC milling cutter mechanism 4 and the machine base 1 are common CNC machine tools in the prior art, capable of automatically performing functions such as tool changing, cutting, and tool feed. These are technical means directly available to those skilled in the art, and their structure and selection will not be further elaborated here.

[0040] The robotic arm 5 is located on the side of the work platform 11, and its end is equipped with an electric gripper 51 for holding the cut sample.

[0041] The vision system includes a vision camera 6 and a controller. The vision camera 6 is mounted at the end of the robotic arm 5 and located on one side of the electric gripper 51. It moves with the robotic arm 5 to capture markings on the sole and feeds the images back to the controller. The controller then controls the CNC milling cutter mechanism 4 to switch cutters and cut the sole. The sample cutting method is as follows:

[0042] (1) Draw the area to be cut. Draw the area to be cut on the shoe to be sampled using a marker that can be recognized by the visual system. The area to be cut should extend from the edge of the sole inward, and the lines drawn should be continuous and include the length, width and height of the sampling area to ensure that it can form a three-dimensional figure in the projection direction.

[0043] (2) Start the device, the lifting door 13 opens, the electric slide 33 moves to the transfer platform 31, the operator puts the shoe to be sampled on the shoe last 21 and then presses the switch. The electric slide 33 transports the shoe sole to the working platform 11, and the clamping cylinder 22 extends and clamps the shoe on the shoe last 21 from the left and right sides.

[0044] (3) Longitudinal sampling: The end of the robot arm 5 moves to the top of the shoe last 21 and adjusts the vision camera 6 to a vertically downward state, captures an image and feeds it back to the controller. The controller analyzes the pattern, establishes the horizontal X and Y coordinate axes with the midpoint of the field of view of the vision camera 6, and then determines the coordinates of the shoe sole edge contour and the coordinate contour of the cross section of the area to be cut.

[0045] (4) Lateral sampling: Based on the cross-sectional contour coordinates of the area to be cut, the controller determines which direction the coordinates are closer to (i.e., closer to the +X axis, +Y axis, -X axis, or -Y axis), and controls the robot arm 5 to move in the corresponding direction so that the vision camera 6 is perpendicular to the Z axis and always faces the shoe last 21. The vision camera 6 captures images respectively. The controller analyzes the images and establishes a lateral Z coordinate axis with the visual midpoint of the vision camera 6, and forms an XYZ coordinate system with the XY coordinate axis. At the same time, the height of the top surface of the sole on the Z axis and the coordinate contour of the vertical section of the area to be cut are determined and combined to form the three-dimensional coordinates of the area to be cut. After sampling, the robot arm 5 is retracted.

[0046] (5) In one cut, the CNC milling cutter mechanism 4 switches to the vertical milling cutter 41, controls the cutting depth according to the height of the area to be cut, and moves the cutter according to the trajectory formed by the cross-sectional coordinates of the area to be cut, separating the side of the area to be cut from the sole.

[0047] (6) Secondary cutting: The CNC milling cutter mechanism 4 is switched to the saw blade milling cutter 42. The cutting depth is controlled according to the height of the area to be cut, and the cutting is carried out according to the cross-sectional coordinates of the area to be cut. The bottom surface of the area to be cut is cut so that the area to be cut is completely separated from the sole to obtain the sample to be tested. During cutting, the robot arm 5 controls the electric gripper 51 to hold the area to be cut to prevent the area to be cut from falling off the sole. The posture of the robot arm 5 should avoid the movement trajectory of the CNC milling cutter mechanism 4.

[0048] (7) Sampling: The robot arm 5 moves to the area to be cut, and the electric gripper 51 on the robot arm 5 clamps the sample to be tested and moves it to the sample outlet to discharge the sample. The electric slide table 33 transports the cut shoes to the platform, and the operator removes the shoes from the shoe last 21.

[0049] This application uses a vision camera 6 to determine the markings on the sole, enabling the CNC milling cutter mechanism 4 to accurately cut the sample to be tested. This allows for the rapid cutting and sampling of sole samples, requiring only a small number of personnel to install and observe the soles at the equipment, thus saving labor. Furthermore, it can quickly cut soles made of some sturdy materials, improving work efficiency.

[0050] The above description is merely a preferred embodiment of the present utility model, and therefore cannot be construed as limiting the scope of the present utility model. All equivalent changes and modifications made in accordance with the scope of the patent application and the contents of the specification of the present utility model shall still fall within the scope of the patent of the present utility model.

Claims

1. An automatic sample cutting device for shoe sole inspection, characterized in that: The system includes a machine base, a shoe sole clamping mechanism, a CNC milling cutter mechanism, a robotic arm, and a vision system. The machine base is equipped with a work platform for cutting samples. The shoe sole clamping mechanism is set on the work platform and includes a shoe last, clamping cylinders, and clamping plates. The shoe last is inverted on the work platform so that the shoe to be cut can be placed on the shoe last with the sole facing upwards. The clamping cylinders are arranged opposite each other on both sides of the shoe last. The clamping plate is located at the end of the clamping cylinder, which can clamp the shoe onto the shoe last as the clamping cylinder extends; the CNC milling cutter mechanism is located on the machine tool to cut the shoe sole; the robot arm is located inside the machine tool to grip the cut sample; the vision system includes a vision camera and a controller. The vision camera is located at the end of the robot arm, which can move with the robot arm to collect the marks on the shoe sole and feed the image back to the controller. The controller controls the CNC milling cutter mechanism to switch cutters and cut the shoe sole.

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

3. The automatic sample cutting device for shoe sole detection according to claim 2, characterized in that: The machine platform is also equipped with a clearance channel located between the transfer platform and the working platform, allowing the shoe last to pass through, a movable lifting door on the machine platform that can open or close the clearance channel, and a lifting cylinder that drives the lifting door to rise and fall.

4. The automatic sample cutting device for shoe sole detection according to claim 1, characterized in that: The CNC milling cutter mechanism includes a vertical milling cutter, a saw blade milling cutter, a three-axis moving assembly, and a driving component. The vertical milling cutter can perform contour cutting on the sampled area of ​​the shoe sole; the saw blade milling cutter can cut the bottom surface of the sampled area of ​​the shoe sole; the three-axis moving assembly is connected to the vertical milling cutter or the saw blade milling cutter and drives it to move to cut the shoe sole; the driving component is connected to the vertical milling cutter or the saw blade milling cutter and drives it to rotate.

5. The automatic sample cutting device for shoe sole detection according to claim 4, characterized in that: The robotic arm is equipped with an electric gripper at its end for holding the cut sample, and the vision camera is located next to the electric gripper.

6. The automatic sample cutting device for shoe sole detection according to claim 1, characterized in that: The CNC milling cutter mechanism is located directly above the work platform, and the robot arm is located on the side of the work platform.

7. The automatic sample cutting device for shoe sole detection according to claim 1, characterized in that: The machine platform is also equipped with an observation window to facilitate observation of the working status of the work platform.

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