CN223473195U - Automatic sample cutting device for sole detection - Google Patents
Automatic sample cutting device for sole detectionInfo
- Publication number
- CN223473195U CN223473195U CN202422994649.1U CN202422994649U CN223473195U CN 223473195 U CN223473195 U CN 223473195U CN 202422994649 U CN202422994649 U CN 202422994649U CN 223473195 U CN223473195 U CN 223473195U
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- milling cutter
- sole
- cut
- shoe
- clamping
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Abstract
The automatic sole detection sample cutting device comprises a machine table, a sole clamping mechanism, a numerical control milling cutter mechanism, a mechanical arm and a visual system, wherein the sole clamping mechanism comprises a shoe last, a clamping cylinder and a clamping plate, the shoe last is arranged on a working platform in an inverted mode, the clamping cylinder pushes the clamping plate to move and clamp shoes on the shoe last, the numerical control milling cutter mechanism is arranged on the machine table and can cut soles, the mechanical arm is arranged in the machine table and clamps the cut samples, 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 soles and feed back the images to the controller, the controller controls the numerical control milling cutter mechanism to switch cutters and cut the soles, the cutting and sampling of sole samples can be completed rapidly, only a small amount of personnel are required to install and observe the soles beside the equipment, labor force is saved, the cutting of soles made of firm materials can be completed rapidly, and the working efficiency is improved.
Description
Technical Field
The utility model belongs to the field of sole detection equipment, and particularly relates to an automatic sample cutting device for sole detection.
Background
The sole detection is an indispensable detection in the shoe quality detection, is used for evaluating the performance of the sole, is convenient for consumers to intuitively obtain required data, and is an important ring in the shoe quality detection. Before the detection of a part of items, a small sample is required to be taken down at a corresponding position of the sole for detection, and the traditional detection method usually draws a region of the sole to be detected, which is marked with the sample to be cut, and then manually cuts the marked region by using tools such as scissors or a knife to take down the sample to be detected. The manual method is easy to cut, the shape of the taken sample is uneven, a plurality of burrs exist on the edge, the sample is required to be further cut so as to facilitate subsequent detection, and time and labor are wasted. Moreover, when detecting shoes with firm soles, such as labor insurance shoes, manual cutting is extremely difficult, and the control is difficult due to excessive force application, so that operators are easy to be injured, and improvement is needed.
Disclosure of utility model
The utility model aims to overcome the defects of the prior art and provides a sole detection automatic sample cutting device.
The utility model adopts the following technical scheme:
The automatic sample cutting device for sole detection comprises a machine table, a sole clamping mechanism, a numerical control milling cutter mechanism, a manipulator and a vision system, wherein a working platform for cutting samples is arranged in the machine table, the sole clamping mechanism is arranged on the working platform and comprises a shoe last, a clamping cylinder and clamping plates, the shoe last is inversely arranged on the working platform and can be used for sleeving a shoe sole to be cut on the shoe last upwards, the clamping cylinders are oppositely arranged on two sides of the shoe last, the clamping plates are arranged at the ends of the clamping cylinders and can be used for clamping the shoe on the shoe last along with the extension of the clamping cylinders, the numerical control milling cutter mechanism is arranged on the machine table and can be used for cutting the shoe sole, the manipulator is arranged in the machine table and used for clamping the cut samples, the vision system comprises a vision camera and a controller, the vision camera is arranged at the end of the manipulator and can be moved along with the manipulator to collect marks on the shoe sole and feed back the images to the controller, and the controller is used for controlling the numerical control milling cutter mechanism to switch cutters and cut the shoe sole.
The shoe tree is arranged on the electric sliding table, the electric sliding table is movably arranged on the guide rail and can move back and forth between the transfer platform and the working platform, and the shoe tree is arranged on the electric sliding table.
Preferably, the machine is further provided with a yielding channel between the transfer platform and the working platform for the shoe tree to pass through, a lifting door movably arranged on the machine and capable of opening or closing the yielding channel, and a lifting cylinder for driving the lifting door to lift.
The numerical control milling cutter mechanism comprises a vertical milling cutter, a saw blade milling cutter, a triaxial moving assembly and a driving piece, wherein the vertical milling cutter can cut the outline of a sole to be sampled, the saw blade milling cutter can cut the bottom surface of the sole to be sampled, the triaxial moving mechanism is connected with the vertical milling cutter or the saw blade milling cutter to drive the vertical milling cutter or the saw blade milling cutter to move so as to cut the sole, and the driving piece is connected with the vertical milling cutter or the saw blade milling cutter to drive the vertical milling cutter or the saw blade milling cutter to rotate.
Preferably, the end part of the manipulator is provided with an electric clamping jaw for clamping the cut sample, and the vision camera is arranged beside the electric clamping jaw.
Preferably, the numerical control milling cutter mechanism is arranged right above the working platform, and the manipulator is arranged on the side surface of the working platform.
Preferably, an observation window which is convenient for observing the working condition of the working platform is further arranged on the machine table.
A sole detection automatic sample cutting method relates to the sole detection automatic sample cutting device, which comprises the following steps:
(1) Drawing a region to be cut, and drawing the region to be cut on the shoe to be sampled by using a marker pen which can be recognized by a vision system;
(2) The starting device is used for starting the shoe to be sampled after being sleeved on the shoe last, and the shoe is clamped on the shoe last from the left side and the right side after the clamping cylinder stretches out;
(3) Longitudinally sampling, moving the end part of the manipulator to the upper part of the shoe tree, enabling the vision camera to be adjusted to a state of vertically downwards, shooting an image, feeding back to the controller, analyzing the pattern by the controller, establishing a transverse X, Y coordinate axis by the vision midpoint of the vision camera, and then determining the coordinates of the edge contour of the sole and the coordinate contour of the cross section of the area to be cut;
(4) Transversely sampling, namely respectively moving the manipulator to four directions of the front, the rear, the left and the right of the shoe tree, enabling the vision camera to be perpendicular to the Z axis and always face the direction of the shoe tree, respectively shooting four azimuth images by the vision camera, analyzing the images by the controller to establish a transverse Z coordinate axis at the vision midpoint of the vision camera, forming an X-Y-Z coordinate system with the XY coordinate axes, determining the height of the top surface of the sole on the Z axis and the coordinate profile of the vertical section of the region to be cut, combining the three-dimensional coordinates of the region to be cut, and retracting the manipulator after the sampling is finished;
(5) The method comprises the steps of cutting once, switching a numerical control milling cutter mechanism into a vertical milling cutter, controlling the cutter feeding depth according to the height of a region to be cut, and feeding according to the cross section coordinates of the region to be cut, wherein the side surface of the region to be cut is separated from the sole;
(6) The method comprises the steps of secondary cutting, switching a numerical control milling cutter mechanism into a saw blade milling cutter, controlling the cutter feeding depth according to the height of a region to be cut, feeding according to the cross section coordinates of the region to be cut, and cutting the bottom surface of the region to be cut to thoroughly separate the region to be cut from the sole so as to obtain a sample to be detected;
(7) Sampling, moving the manipulator to a region to be cut, clamping a sample to be tested by an electric clamping jaw on the manipulator, and moving the sample to a sample outlet to discharge the sample.
Preferably, the area to be cut in step (1) should extend inwardly from the edge of the sole and the drawn lines should remain continuous and include the length, width, and height of the sampling area to ensure that it forms a three-dimensional pattern in the projection direction.
Preferably, the step (4) further comprises the step of judging which direction (namely, closer to +X axis, +Y axis, -X axis or-Y axis) the coordinates are closer to front, back, left or right according to the cross section outline coordinates of the region to be cut obtained in the step (3), and directly controlling the manipulator to move in the corresponding direction to carry out transverse sampling.
Compared with the prior art, the utility model has the beneficial effects that the marks on the soles are determined through the vision camera, so that the numerical control milling cutter mechanism can accurately cut off the sample to be tested, the cutting and sampling of the sole sample can be rapidly completed, only a small number of people are required to install and observe the soles beside the equipment, the labor force is saved, the cutting can be rapidly completed for soles made of certain firm materials, and the working efficiency is improved;
The shoe tree can be transferred to the outer side from the machine by the transfer mechanism, an operator can finish the installation or the disassembly of the sole outside the machine without penetrating the body into a working platform in the machine, so that the safety is improved;
The openable or closable lifting door is opened only when the last is conveyed or output, so that dust leakage generated during the operation of the device is avoided to pollute the environment.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of the present utility model;
FIG. 2 is a schematic diagram of a second embodiment of the present utility model;
FIG. 3 is a schematic diagram III of the structure of the present utility model;
FIG. 4 is a first state diagram of FIG. 3A;
FIG. 5 is a second state diagram of FIG. 3A;
FIG. 6 is a schematic view of a longitudinal sampling according to the present utility model;
FIG. 7 is a schematic diagram of lateral sampling according to the present utility model;
FIG. 8 is a schematic diagram of a method for automatically cutting a sample for sole detection according to the present utility model;
In the figure, 1-machine table, 11-working platform, 12-observation window, 13-lifting door, 14-lifting cylinder, 2-sole clamping mechanism, 21-shoe last, 22-clamping cylinder, 23-clamping plate, 3-transfer mechanism, 31-transfer platform, 32-guide rail, 33-electric sliding table, 4-numerical control milling cutter mechanism, 41-vertical milling cutter, 42-saw blade milling cutter, 43-triaxial moving assembly, 44-driving piece, 5-manipulator, 51-electric clamping jaw and 6-vision camera.
Detailed Description
The utility model is further described below by means of specific embodiments.
Referring to fig. 1 to 8, an automatic sample cutting device for sole detection comprises a machine table 1, a sole clamping mechanism 2, a transfer mechanism 3, a numerical control milling cutter mechanism 4, a manipulator 5 and a vision system.
A working platform 11 for cutting samples is arranged in the machine table 1. The machine 1 is also provided with an observation window 12 which is convenient for observing the working condition of the working platform 11.
The sole clamping mechanism 2 is arranged on the working platform 11 and comprises a shoe last 21, clamping air cylinders 22 and clamping plates 23, wherein the shoe last 21 is inversely arranged on the working platform 11, a shoe sole to be cut can be sleeved on the shoe last 21 upwards, the clamping air cylinders 22 are oppositely arranged on two sides of the shoe last 21, the clamping plates 23 are arranged at the end parts of the clamping air cylinders 22, the shoe can be clamped on the shoe last 21 along with the extension of the clamping air cylinders 22, and the bottom surface of the clamping plates 23 is lower than the height of the shoe sole. The shoe is clamped by the clamping cylinder 22, so that the sole is prevented from deviating and falling off during cutting.
The transfer mechanism 3 comprises a transfer platform 31, a guide rail 32 and an electric sliding table 33, wherein the transfer platform 31 extends outwards from one side of the working platform 11 to the outer side of the machine table 1, the guide rail 32 is arranged on the transfer platform 31 and the working platform 11, the electric sliding table 33 is movably arranged on the guide rail 32, and the shoe tree 21 is arranged on the electric sliding table 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 tree 21 to the outer side from the machine table 1, an operator can finish the installation or the disassembly of the sole outside the machine table 1, the body does not need to be detected into the working platform 11 in the machine table 1, and the safety is improved. Specifically, the machine 1 is further provided with a yielding channel between the transfer platform 31 and the working platform 11 for the shoe tree 21 to pass through, a lifting door 13 movably arranged on the machine 1 and capable of opening or closing the yielding channel, and a lifting cylinder 14 for driving the lifting door 13 to lift, wherein the lifting door 13 capable of opening or closing is only opened when the shoe tree 21 is conveyed or output, so that dust leakage and environmental pollution generated during the working of the device are avoided.
The numerical control milling cutter mechanism 4 is arranged right above the working platform 11 and can cut soles, the numerical control milling cutter mechanism 4 comprises a vertical milling cutter 41, a saw blade milling cutter 42, a three-shaft moving assembly 43 and a driving piece 44, the vertical milling cutter 41 can cut outlines of the soles to be sampled, the saw blade milling cutter 42 can cut the bottoms of the soles to be sampled, the three-shaft moving mechanism is connected with the vertical milling cutter 41 or the saw blade milling cutter 42 and drives the vertical milling cutter 41 or the saw blade milling cutter 42 to move so as to cut soles, and the driving piece 44 is connected with the vertical milling cutter 41 or the saw blade milling cutter 42 and drives the vertical milling cutter 41 or the saw blade milling cutter 42 to rotate. The region to be cut can be completely cut off through the cooperation of the vertical milling cutter 41 and the saw blade milling cutter 42, and even a firm sole of the labor protection shoe can be cut rapidly. Specifically, the numerical control milling cutter mechanism 4 and the machine 1 are common CNC numerical control machine tools in the prior art, and can automatically perform functions of tool changing, cutting, feeding and the like, which are technical means directly available to the person skilled in the art, and the structure and selection thereof are not further described herein.
The manipulator 5 is arranged on the side of the working platform 11, and the end of the manipulator is provided with an electric clamping jaw 51 for clamping the cut sample.
The vision system comprises a vision camera 6 and a controller, wherein the vision camera 6 is arranged at the end part of the manipulator 5 and is positioned at one side of the electric clamping jaw 51, and can move along with the manipulator 5 to collect marks on soles and feed back images to the controller, and the controller controls the numerical control milling cutter mechanism 4 to switch cutters and cut the soles. The method for cutting the sample is as follows:
(1) Drawing a region to be cut, drawing the region to be cut on the shoe to be sampled by using a marker pen which can be recognized by a vision system, wherein the region to be cut extends inwards from the edge of the sole, and drawing lines are continuous and comprise the length, the width and the height of the sampling region so as to ensure that the sampling region can form a three-dimensional graph in the projection direction.
(2) The starting device is characterized in that the lifting door 13 is opened, the electric sliding table 33 moves to the transfer platform 31, an operator sleeves a shoe to be sampled on the shoe last 21 and presses a switch, the electric sliding table 33 conveys the sole to the working platform 11, and the clamping cylinder 22 stretches out to clamp the shoe on the shoe last 21 from the left side and the right side;
(3) Longitudinally sampling, moving the end part of the manipulator 5 to the position above the shoe tree 21, enabling the vision camera 6 to be adjusted to a state of vertically downward, shooting an image, feeding back to the controller, analyzing the pattern by the controller, establishing a transverse X, Y coordinate axis at the midpoint of the visual field of the vision camera 6, and then determining the coordinates of the edge contour of the sole and the coordinate contour of the cross section of the area to be cut;
(4) The transverse sampling is carried out, according to the cross section outline coordinates of the area to be cut, the controller judges which direction the coordinates are closer to the front, the back, the left or the right (namely, closer to the +X axis, +Y axis, -X axis or-Y axis), the manipulator 5 is controlled to move in the corresponding direction, the vision camera 6 is perpendicular to the Z axis and always faces the shoe last 21 direction, the vision camera 6 shoots images respectively, the controller analyzes the images to establish a transverse Z coordinate axis at the visual midpoint of the vision camera 6, forms an X-Y-Z coordinate system with the XY coordinate axis, simultaneously determines the height of the top surface of the sole on the Z axis and the coordinate outline of the vertical section of the area to be cut, combines the three-dimensional coordinates of the area to be cut, and the manipulator 5 withdraws after the sampling is finished;
(5) The numerical control milling cutter mechanism 4 is switched into a vertical milling cutter 41 for one-time cutting, the cutter feeding depth is controlled according to the height of the area to be cut, and the cutter feeding is carried out according to the track formed by the cross section coordinates of the area to be cut, so that the side surface of the area to be cut is separated from the sole;
(6) The numerical control milling cutter mechanism 4 is switched into a saw blade milling cutter 42 for secondary cutting, the cutter feeding depth is controlled according to the height of the region to be cut, and the cutter feeding is carried out according to the cross section coordinates of the region to be cut, so that the region to be cut is thoroughly separated from the sole by cutting the bottom surface of the region to be cut to obtain a sample to be detected, the manipulator 5 controls the electric clamping jaw 51 to clamp the region to be cut to prevent the region to be cut from falling off from the sole during cutting, and the gesture of the manipulator 5 should avoid the moving track of the numerical control milling cutter mechanism 4;
(7) Sampling, the manipulator 5 moves to the area to be cut, the electric clamping jaw 51 on the manipulator 5 clamps the sample to be detected and moves to the sample outlet to discharge the sample, the electric sliding table 33 conveys the cut shoes to the proprietary platform, and the operator removes the shoes from the shoe last 21.
According to the application, the marks on the soles are determined through the vision camera 6, so that the numerical control milling cutter mechanism 4 can accurately cut the sample to be tested, the cutting and sampling of the sole sample can be rapidly completed, only a small number of people are required to install and observe the soles beside equipment, the labor force is saved, the cutting of soles made of firm materials can be rapidly completed, and the working efficiency is improved.
The foregoing description is only illustrative of the preferred embodiments of the present utility model and is not to be construed as limiting the scope of the utility model, i.e., the utility model is not to be limited to the details of the claims and the description, but rather is to cover all modifications which are within the scope of the utility model.
Claims (7)
1. The automatic sample cutting device for shoe sole detection is characterized by comprising a machine table, a shoe sole clamping mechanism, a numerical control milling cutter mechanism, a mechanical arm and a visual system, wherein a working platform for cutting samples is arranged in the machine table, the shoe sole clamping mechanism is arranged on the working platform and comprises a shoe last, a clamping cylinder and a clamping plate, the shoe last is arranged on the working platform in an inverted mode, a shoe sole to be cut can be sleeved on the shoe last upwards, the clamping cylinder is oppositely arranged on two sides of the shoe last, the clamping plate is arranged at the end part of the clamping cylinder and can clamp the shoe on the shoe last along with the extension of the clamping cylinder, the numerical control milling cutter mechanism is arranged on the machine table and can cut the shoe sole, the mechanical arm is arranged in the machine table and used for clamping the cut samples, the visual system comprises a visual camera and a controller, the visual camera is arranged at the end part 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, and the numerical control milling cutter mechanism is controlled by the controller to switch cutters and cut the shoe sole.
2. The automatic sole detection and sample cutting device according to claim 1, further comprising a transfer mechanism, wherein the transfer mechanism comprises a transfer platform, a guide rail and an electric sliding table, the transfer platform extends outwards from one side of the working platform to the outer side of the machine, the guide rail is arranged on the transfer platform and the working platform, the electric sliding table is movably arranged on the guide rail and can move back and forth between the transfer platform and the working platform, and the shoe last is arranged on the electric sliding table.
3. The automatic sole detection and sample cutting device according to claim 2, wherein the machine is further provided with a yielding channel between the transfer platform and the working platform for the shoe tree to pass through, a lifting door movably arranged on the machine and capable of opening or closing the yielding channel, and a lifting cylinder for driving the lifting door to lift.
4. The automatic sole detection and sample cutting device according to claim 1, wherein the numerical control milling cutter mechanism comprises a vertical milling cutter, a saw blade milling cutter, a triaxial moving assembly and a driving piece, the vertical milling cutter can cut the outline of a sole to be sampled, the saw blade milling cutter can cut the bottom surface of the sole to be sampled, the triaxial moving mechanism is connected with the vertical milling cutter or the saw blade milling cutter to drive the vertical milling cutter or the saw blade milling cutter to move so as to cut the sole, and the driving piece is connected with the vertical milling cutter or the saw blade milling cutter to drive the vertical milling cutter or the saw blade milling cutter to rotate.
5. The automatic sole detection and sample cutting device according to claim 4, wherein the end part of the manipulator is provided with an electric clamping jaw for clamping the cut sample, and the vision camera is arranged beside the electric clamping jaw.
6. The automatic sole detection and sample cutting device according to claim 1, wherein the numerical control milling cutter mechanism is arranged right above the working platform, and the manipulator is arranged on the side surface of the working platform.
7. The automatic sole detection and sample cutting device according to claim 1, wherein the machine is further provided with an observation window for conveniently observing the working condition of the working platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202422994649.1U CN223473195U (en) | 2024-12-05 | 2024-12-05 | Automatic sample cutting device for sole detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202422994649.1U CN223473195U (en) | 2024-12-05 | 2024-12-05 | Automatic sample cutting device for sole detection |
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| Publication Number | Publication Date |
|---|---|
| CN223473195U true CN223473195U (en) | 2025-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202422994649.1U Active CN223473195U (en) | 2024-12-05 | 2024-12-05 | Automatic sample cutting device for sole detection |
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| Country | Link |
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| CN (1) | CN223473195U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN121223145A (en) * | 2025-12-04 | 2025-12-30 | 乔那科数控装备(江苏)有限公司 | A CNC gantry milling machine that facilitates workpiece clamping |
-
2024
- 2024-12-05 CN CN202422994649.1U patent/CN223473195U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN121223145A (en) * | 2025-12-04 | 2025-12-30 | 乔那科数控装备(江苏)有限公司 | A CNC gantry milling machine that facilitates workpiece clamping |
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