CN108135331A - Shoes adhesion agent application system, coating Track Pick-up device and footwear manufacturing method - Google Patents

Abstract

Shoes adhesion agent application system (1) has maintaining part, outline identification portion (72), coating track configuration part (78), adhesive applicating portion, mobile mechanism (50) and control unit (79).Maintaining part is so that the bottom surface state upward of footwear component parts keeps footwear component parts.The profile of the bottom surface of outline identification portion (72) identification footwear component parts.The bottom surface that coating track configuration part (78) is set according to the profile identified to footwear component parts applies coating track during bonding agent.Mobile adhesive applicating portion of mobile mechanism (50).Control unit (79) proceeds as follows control：Control mobile mechanism (50) makes adhesive applicating portion apply bonding agent to the bottom surface of footwear component parts so that adhesive applicating portion is moved along coating track as a result,.

Description

Shoes adhesion agent application system, coating Track Pick-up device and footwear manufacturing method

Technical field

The present invention relates to shoes adhesion agent application system, coating Track Pick-up device and footwear manufacturing methods.

Background technology

In the manufacturing process of footwear, proceed as follows：Bonding agent is applied on the bonding plane of footwear component parts, then will The footwear component parts is bonded with other footwear component parts.As for reducing the operator in the manufacturing process of footwear as described above Troublesome system, for example, Patent Document 1 discloses for using robot in the upper surface of sole coating bonding agent System.

Existing technical literature

Patent document

Patent document 1：Japanese Unexamined Patent Application Publication 2001-508571 bulletins

Invention content

The subject that the invention solves

In the manufacturing process of footwear, sometimes other than the upper surface of sole, it is also necessary in the footwear component parts such as upper of a shoe Bottom surface applies bonding agent.Therefore, it is desirable to it reduces troublesome when the bottom surface of footwear component parts applies bonding agent in upper of a shoe System.

The present invention be in view of the above subject and complete, its purpose is to provide can reduce in the footwear component parts such as upper of a shoe Bottom surface coating bonding agent when troublesome shoes adhesion agent application system, coating Track Pick-up device and footwear manufacturing method.

Means for solving the problems

In order to solve the above problems, shoes adhesion agent application system of the invention has：Maintaining part, so that footwear constituting portion The state of the bottom surface of part upward keeps the footwear component parts；Outline identification portion identifies the profile of the bottom surface；Apply rail Mark configuration part, according to the profile come coating track when setting to bottom surface coating bonding agent；Adhesive applicating portion；It moves Motivation structure moves the adhesive applicating portion；And control unit, it carries out control as follows：Control the mobile mechanism so that The adhesive applicating portion is moved along the coating track, is bonded so as to which the adhesive applicating portion be made to apply the bottom surface Agent.

In addition, or, also have in one embodiment of the present invention：Elevation measurement portion measures the bottom surface The height at point on the coating track；With elevation information generating unit, according to the measurement result in the elevation measurement portion Elevation information is generated, the elevation information represents the bonding when adhesive applicating portion is moved along the coating track The height of agent coated portion.The control unit controls the mobile mechanism so that the adhesive applicating portion is along the coating rail The height in adhesive applicating portion when mark moves becomes height corresponding with the elevation information.

In addition, in one embodiment of the present invention, the mobile mechanism is the machine for the degree of freedom at least having 6 axis People.The elevation measurement portion is all disposed within the arm end of the robot with the adhesive applicating portion.

In addition, in one embodiment of the present invention, the coating track includes periphery corresponding with the periphery of the bottom surface Path portion.The beginning and end of the coating track is set at the position than the periphery path portion in the inner part.

In addition, in one embodiment of the present invention, the periphery that the periphery path portion is set at than the bottom surface is leaned on The position of inside predetermined distance.Also there is the shoes adhesion agent application system distance specified for accepting the predetermined distance to refer to Determine receiving unit.

In addition, in one embodiment of the present invention, can also include：1st setting unit has the maintaining part, described Maintaining part is so that the bottom surface state upward of the 1st footwear component parts keeps the 1st footwear component parts；With the 2nd setting unit, with institute The 2nd footwear component parts for stating the bottom surface bonding of the 1st footwear component parts is set to the 2nd with the state of upper surface upward Setting unit.The outline identification portion at least identifies the profile of the bottom surface of the 1st footwear component parts.The coating track is set Portion is determined according to the profile of the bottom surface of the 1st footwear component parts to set the bottom surface to the 1st footwear component parts The 1st coating track during bonding agent is applied, sets the when bonding agent is applied to the upper surface of the 2nd footwear component parts 2 coating tracks.The control unit proceeds as follows control：The mobile mechanism is controlled so that adhesive applicating portion edge The 1st coating track movement, so as to which the adhesive applicating portion be made to apply the bottom surface of the 1st footwear component parts Bonding agent, and proceed as follows control：The mobile mechanism is controlled so that the adhesive applicating portion is along the described 2nd Track movement is applied, so as to which the adhesive applicating portion be made to apply bonding agent to the upper surface of the 2nd footwear component parts.

In addition, in one embodiment of the present invention, the outline identification portion identifies the bottom of the 1st footwear component parts The profile of the upper surface of the profile in face and the 2nd footwear component parts.The shoes adhesion agent application system also has：Sentence Portion is determined, according to the upper surface of the profile of the bottom surface of the 1st footwear component parts and the 2nd footwear component parts Profile judges whether the combination of the 1st footwear component parts and the 2nd footwear component parts is the regulation group that should be bonded to each other It closes；And output section, carry out output corresponding with the judgement result of the determination unit.

In addition, in one embodiment of the present invention, the track configuration part that applies is by the mirror image of the described 1st coating track Track is set as the 2nd coating track.

In addition, in one embodiment of the present invention, the track configuration part that applies is by the non-mirror image of the described 1st coating track Track be set as it is described 2nd coating track.

In addition, in one embodiment of the present invention, receiving unit also is specified with application width, which, which specifies, accepts Portion accepts the specified of the application width of the bonding agent in the adhesive applicating portion.

In addition, in one embodiment of the present invention, also there is the specified receiving unit in coating interval, which, which specifies, accepts Portion accepts the specified of the coating interval of the bonding agent in the adhesive applicating portion.

In addition, in one embodiment of the present invention, also with backlight, the backlight is to the footwear that are kept by the maintaining part Component parts is irradiated.The wheel of the shadow of the footwear component parts that the outline identification portion identification is irradiated by the backlight It is wide.

In addition, in one embodiment of the present invention, also have：Storage part, with the classification and ruler with footwear component parts The relevant information of at least one party in very little correspondingly stores coating track；And judegment part, according to the profile, differentiate by institute State at least one party in the classification and size of the footwear component parts of maintaining part holding.The coating track configuration part is from described Storage part obtains the corresponding coating track of differentiation result with the judegment part.

In addition, in one embodiment of the present invention, also have：Track Pick-up portion is applied, institute is generated according to the profile State coating track；With coating track register, by by the coating track of coating Track Pick-up portion generation with and by The relevant information of at least one party in the classification and size of the footwear component parts that the maintaining part is kept correspondingly is deposited It is stored in the storage part.

In addition, in one embodiment of the present invention, the coating track configuration part generates the coating according to the profile Track.

In addition, the coating Track Pick-up device of the present invention has：Maintaining part, so that the bottom surface of footwear component parts is towards upper The state of side keeps the footwear component parts；Outline identification portion identifies the profile of the bottom surface；And coating Track Pick-up Portion applies the bottom surface according to the profile generation coating track during bonding agent.

In addition, the footwear manufacturing method of the present invention includes：Outline identification step is identified so that the bottom surface direction of footwear component parts The state of top keeps the profile of the bottom surface of the footwear component parts that the maintaining part of the footwear component parts is kept；Coating Track setting procedure, according to the profile come coating track when setting to bottom surface coating bonding agent；And applying step, Proceed as follows control：The mobile mechanism in mobile adhesive applicating portion is controlled so that the adhesive applicating portion is along described Track movement is applied, so as to which the adhesive applicating portion be made to apply bonding agent to the bottom surface.

Invention effect

In accordance with the invention it is possible to reduce the trouble to upper of a shoe when the bottom surface of footwear component parts applies bonding agent.

Description of the drawings

Fig. 1 is the stereogram of an example of the appearance for the shoes adhesion agent application system for showing embodiments of the present invention.

Fig. 2 is the stereogram of an example of the appearance for the shoes adhesion agent application system for showing embodiments of the present invention.

Fig. 3 is the figure for being illustrated to setting table, backlight and the ministry of photography.

Fig. 4 is the figure for being illustrated to robot.

Fig. 5 is the functional block diagram shown with an example of the associated functional block of enrollment mode.

Fig. 6 is the functional block diagram for showing to implement with coating an example of the functional block of pattern association.

Fig. 7 is the flow chart for an example for showing registration process.

Fig. 8 is the figure for showing to automatically generate an example of picture.

Fig. 9 A are the figures of an example of the profile for the bonding plane for showing footwear component parts.

Fig. 9 B are the figures for an example for showing reference axis.

Fig. 9 C are the figures for an example for showing coating track.

Fig. 9 D are the figures of another for showing coating track.

Figure 10 is the figure for an example for showing registration picture.

Figure 11 is the figure of an example for the data structure for showing storage part.

Figure 12 is to show that the flow chart of an example of processing is implemented in coating.

Figure 13 is to show that the flow chart of an example of picture is implemented in coating.

Figure 14 is the stream for illustrating the details of the processing to the bonding plane implementation adhesive applicating of footwear component parts Cheng Tu.

Figure 15 is the functional block diagram of another for showing to implement with coating the functional block of pattern association.

Figure 16 is to show that the flow chart of another of processing is implemented in coating.

Specific embodiment

Hereinafter, the example of the shoes adhesion agent application system of embodiments of the present invention is said in detail with reference to the accompanying drawings It is bright.Shoes adhesion agent application system is for the system to footwear component parts coating bonding agent.

Fig. 1 and Fig. 2 is the solid of an example of the appearance for the shoes adhesion agent application system for showing embodiments of the present invention Figure.In addition, in fig. 1 and 2, for convenience of description, it is illustrated that include the three-dimensional using vertical upward direction as the Z axis of positive direction Orthogonal coordinate system (XYZ coordinate system).

As shown in Figure 1 and Figure 2, the shoes adhesion agent application system 1 of embodiments of the present invention includes the 1st setting table 10 (the 1 setting unit), the 2nd setting table 15 (the 2nd setting unit), the 1st delivery track 20, the 2nd delivery track 25, the 1st backlight the 30, the 2nd back of the body Light source 35, the 1st the ministry of photography 40, the 2nd the ministry of photography 45 and robot 50.

1st setting table 10 and the 2nd setting table 15 are the platforms for setting footwear component parts.Footwear component parts is with bonding plane court State upward is arranged in the 1st setting table 10 or the 2nd setting table 15.In addition, " bonding plane " refers to and other footwear constituting portion The face of part bonding, and be the face for applying bonding agent.

1st setting table 10 is moved by the 1st delivery track 20 between people operates place PA and robot manipulation place PB. Similarly, the 2nd setting table 15 is moved by the 2nd delivery track 25 between people operates place PA and robot manipulation place PB.

It is to implement the footwear component parts carried out to the 1st setting table 10 or the 2nd setting table 15 by operator that people, which operates place PA, Setting or be set to the 1st setting table 10 or the 2nd setting table 15 footwear component parts recycling place.On the other hand, machine It is the footwear component parts implemented by robot 50 to being set to the 1st setting table 10 or the 2nd setting table 15 that people, which operates place PB, Manage the place of (coating of bonding agent etc.).

Fig. 1 shows the 1st setting table 10 and the 2nd setting table 15 is located at the state that people operates place PA.Fig. 2 shows the 1st settings 10 and the 2nd setting table 15 of platform is located at the state of robot manipulation place PB.

In the condition shown in figure 1, when the conveying button being set near people's operation place PA is pressed, the 1st setting Platform 10 operates place PA from people and is transported to robot manipulation place PB.Similarly, the 2nd setting table 15 also operates place PA from people It is transported to robot manipulation place PB.

Robot manipulation place PB on the 1st delivery track 20 is provided with the 1st backlight 30.The 1st setting table 10, The side opposed with robot manipulation place PB is formed with opening.In addition, be formed as cavity in the 1st setting table 10.Therefore, when When 1 setting table 10 is transported to robot manipulation place PB, the 1st backlight 30 is incorporated in the 1st setting table 10.

Similarly, the robot manipulation place PB on the 2nd delivery track 25 is provided with the 2nd backlight 35.Similarly, exist 2nd setting table 15, opposed with robot manipulation place PB side is also formed with being open.In addition, also shape in the 2nd setting table 15 As cavity.Therefore, when the 2nd setting table 15 is transported to robot manipulation place PB, the 2nd backlight 35 is incorporated in the 2nd In setting table 15.

1st the ministry of photography 40 is arranged on 30 (in other words, the robot manipulation place on the 1st delivery track 20 of the 1st backlight PB top).1st the ministry of photography 40 is set to for shooting in the 1st setting table 10 for being transported to robot manipulation place PB Footwear component parts.Similarly, the 2nd the ministry of photography 45 is arranged on 35 (in other words, the robot on the 2nd delivery track 25 of the 2nd backlight Operate place PB) top.2nd the ministry of photography 45 is set to the be transported to robot manipulation place PB the 2nd setting for shooting Footwear component parts on platform 15.

In addition, in Fig. 1, example shown in Fig. 2, use and hung to fix the 1st the ministry of photography 40 and the 2nd the ministry of photography 45 Boom crane, still, the fixing means of the 1st the ministry of photography 40 and the 2nd the ministry of photography 45 are not limited to the example.For example, it is also possible to by the 1st 40 and the 2nd the ministry of photography 45 of the ministry of photography is fixed on the ceiling.

Fig. 3 is used for further to the 1st setting table 10, the 1st backlight 30, the 1st the ministry of photography 40, the 2nd setting table the 15, the 2nd The figure that 35 and the 2nd the ministry of photography 45 of backlight is described in detail.In addition, Fig. 3 shows observation the 1st setting table the 10 and the 2nd setting Platform 15 is transported to the situation of the state after the PB of robot manipulation place.

In the example depicted in fig. 3, it is assumed that by upper of a shoe 60 and to be bonded in upper of a shoe 60 bottom (under) sole 65 bond Situation about coming.I.e., it is assumed that the situation that the upper surface 66 of the bottom surface 61 (lower surface) of upper of a shoe 60 and sole 65 is glued together.Cause This, in the example depicted in fig. 3, upper of a shoe 60 is arranged on the state of the bottom surface 61 of upper of a shoe 60 upward in the 1st setting table 10. In addition, sole 65 is arranged on the state of the upper surface 66 of sole 65 upward in the 2nd setting table 15.

As shown in figure 3, the 1st setting table 10 has maintaining part 11, which is kept into upper of a shoe 60 at the bottom of upper of a shoe 60 The state of face 61 upward.In the example depicted in fig. 3, maintaining part 11 includes the resin or metal etc. for being referred to as " shoe tree " Foot type portion 12 and the pin 13 being fixed in the 1st setting table 10.The hole for being inserted into pin 13 is equipped in the upper surface in foot type portion 12, is led to It crosses and pin 13 is inserted into the hole and is fixed in foot type portion 12 in the 1st setting table 10 with the state to turn upside down.By by foot type Portion 12 is inserted into the inside of upper of a shoe 60 and upper of a shoe 60 is installed on maintaining part 11.Upper of a shoe 60 is fixed so that upper of a shoe 60 as a result, Bottom surface 61 is in state upward and the bottom surface 61 of upper of a shoe 60 is in approximate horizontal state.As a result, can By ground by adhesive applicating in the bottom surface of vamp 60 61.In addition, it is easy to bonding agent being evenly coated at the bottom surface 61 of upper of a shoe 60, It also is able to inhibit the uneven generation of bonding agent.

In addition, maintaining part 11 is not limited to example shown in Fig. 3.For example, it is also possible to use the L words with generally L-shaped shape Type component realizes maintaining part 11.That is, state (the state of inverted L word that L fonts component can also be turned upside down：From upright State is rotated clockwise the state after 180 degree or 90 degree) it is fixed in the 1st setting table 10.It then, can also be by by the L Font component (maintaining part 11) is inserted into the inside of upper of a shoe 60 and upper of a shoe 60 is installed on maintaining part 11.It as a result, also can be by upper of a shoe 60 are kept into so that the bottom surface 61 of upper of a shoe 60 is in state upward and the bottom surface 61 of upper of a shoe 60 is approximate horizontal State.

1st setting table 10 is formed by the material that such as transparent plastic or glass etc. can penetrate light, from the 1st backlight 30 light penetrates the 1st setting table 10.Therefore, the upper of a shoe of the 1st setting table 10 is arranged on using the light irradiation from the 1st backlight 30 60, the 1st the ministry of photography 40 shoots the shadow of upper of a shoe 60 irradiated by the 1st backlight 30.

In the same manner as the 1st setting table 10, the 2nd setting table 15 is also formed by the material that can penetrate light, from the 2nd backlight The light in source 35 penetrates the 2nd setting table 15.Therefore, the footwear of the 2nd setting table 15 are arranged on using the light irradiation from the 2nd backlight 35 The 65, the 2nd the ministry of photography 45 of side shoots the shadow of upper of a shoe 65 irradiated by the 2nd backlight 35.

It in addition, about the 1st the ministry of photography 40 and the 2nd the ministry of photography 45, may be set on higher position, and use long lens Head.In this way, in the 1st the ministry of photography 40 and the 2nd the ministry of photography 45, the light from the 1st backlight 30 and the 2nd backlight 35 is close to parallel Light.As a result, the shadow of footwear component parts during the photographs of the 1st the ministry of photography 40 or the 2nd the ministry of photography 45 can be inhibited Size according to the difference of the height of the bonding plane from the upper surface of the 1st setting table 10 or the 2nd setting table 15 to footwear component parts and The situation of variation.For example, in the example depicted in fig. 3, from the upper surface of the 1st setting table 10 to the height of the bottom surface 61 of upper of a shoe 60 It is different from the height of the upper surface 66 from the upper surface of the 2nd setting table 15 to sole 65, still, by being conditioned as stated above, So that the size of shadow of the upper of a shoe 60 in the photographs of the 1st the ministry of photography 40 and the footwear in the photographs of the 2nd the ministry of photography 45 The shadow at bottom 65 is substantially equal to the magnitudes.

In addition, about the 1st the ministry of photography 40 and the 2nd the ministry of photography 45, camera lens can be reduced.In this way so that the position of focusing increases It is more, so that the profile of the footwear component parts in the photographs of the 1st the ministry of photography 40 and the 2nd the ministry of photography 45 is apparent from.Separately Outside, if reducing camera lens, photographs can be dimmed, therefore, can be by becoming the 1st backlight 30 and the 2nd backlight 35 It becomes clear and carrys out prolonging exposure time.

Robot 50 is for the robot to footwear component parts coating bonding agent.Robot 50 is configured in being conveyed On the position opposed to the 1st setting table 10 of robot manipulation place PB or the 2nd setting table 15.

Fig. 4 is the figure illustrated for an example of the structure to robot 50.Robot 50 is so-called joint type (multiaxis) robot.For example, using the robot for having at least 6 axis degree of freedom as robot 50.As shown in figure 4, robot 50 have abutment portion 51, rotating base portion 52, the 1st arm 53, the 2nd arm 54, adhesive applicating portion 55 and elevation measurement portion 56.

Abutment portion 51 is integrally fixed at the support plinth portion on bottom surface etc..Rotating base portion 52 links with abutment portion 51.Machine People 50 includes the servo motor for rotating base portion 52 to be made to be rotated around S axis, and S axis is the normal side with the face of fixed abutment portion 51 To corresponding axis, rotating base portion 52 is linked (with reference to the arrow A1 of Fig. 4) in a manner of it can be rotated around S axis with abutment portion 51.

1st arm 53 links with rotating base portion 52.Robot 50 includes that the 1st arm 53 is made to watch around what L axis rotated Motor is taken, L axis is the axis substantially vertical with S axis, and the 1st arm 53 connects in a manner of it can be rotated around L axis with rotating base portion 52 Knot (with reference to the arrow A2 of Fig. 4).

The terminal part of 2nd arm 54 and the 1st arm 53 links.Robot 50 includes that the 2nd arm 54 is made to rotate around U axis Servo motor, the axis (i.e. the axis substantially vertical with S axis) that U axis is with L axis is substantially parallel, the 2nd arm 54 around U axis can revolve The mode turned and the terminal part connection of the 1st arm 53 (with reference to the arrow A3 of Fig. 4).

In addition, robot 50 is also included for servo motor that the end of the 2nd arm 54 is made to be reversed around R axis, R axis is and the The corresponding axis of extending direction (length direction) of 2 arms 54, the end of the 2nd arm 54 are configured to reverse (reference around R axis The arrow A4 of Fig. 4).

Adhesive applicating portion 55 carries out the coating of bonding agent.The discharge of bonding agent is equipped in the end in adhesive applicating portion 55 Mouthful, adhesive applicating portion 55 is configured to discharge bonding agent from outlet.

The terminal part connection of 55 and the 2nd arm 54 of adhesive applicating portion.Robot 50, which includes, makes adhesive applicating portion 55 around B The servo motor of axis rotation, B axle is the axis substantially vertical with the extending direction in adhesive applicating portion 55 (length direction), bonding agent Coated portion 55 links (with reference to the arrow A5 of Fig. 4) with the terminal part of the 2nd arm 54 in a manner of it can be rotated around B axle.

In addition, robot 50 also includes the servo motor for adhesive applicating portion 55 to be made to be reversed around T axis, T axis is with gluing The corresponding axis of extending direction (length direction) of agent coated portion 55 is connect, adhesive applicating portion 55 is configured to reverse around T axis (with reference to the arrow A6 of Fig. 4).

By control each servo motor that robot 50 included and rotating base portion 52, the 1st arm 53 and the 2nd Arm 54 acts, so that adhesive applicating portion 55 moves.Therefore, robot 50 is played as mobile adhesive applicating portion 55 Mobile mechanism effect.

Adhesive applicating portion 55 and elevation measurement portion 56 are equipped in the end of the 2nd arm 54.Elevation measurement portion 56 measure away from The height (distance) of object.Elevation measurement portion 56 be, for example, elevation measurement sensor, to object project light and receive by The light of object reflection, so as to measure the height away from object.Elevation measurement portion 56 is arranged on the end in adhesive applicating portion 55 Near (outlet), measure from object to the height of the end in adhesive applicating portion 55.

Although being omitted in Fig. 1, Fig. 2, shoes adhesion agent application system 1 includes to control the 1st conveying Track 20, the 2nd delivery track 25, the 1st backlight 30, the 2nd backlight 35, the 1st the ministry of photography 40, the 2nd the ministry of photography 45 and robot 50 control device.Control device be for example, by have microprocessor, main storage portion, auxiliary storage portion, operation portion (mouse, Keyboard or touch panel etc.) and the computer of display unit realize.Control device and the 1st delivery track 20, the 2nd conveyor track Road 25, the 1st backlight 30, the 2nd backlight 35, the 1st the ministry of photography 40, the 2nd the ministry of photography 45 and robot 50 connect, and carry out to this The control of a little parts.

Fig. 5 and Fig. 6 is the function of showing the function of being realized by control device in the function of shoes adhesion agent application system 1 Block diagram.

Shoes adhesion agent application system 1 has two operation modes.First operation mode is following pattern：It automatically generates And register control data (coating track etc.) (the following description in the adhesive applicating portion 55 when bonding agent is applied to footwear component parts For " enrollment mode ").In addition, second operation mode is following pattern：Use the control data control registered using enrollment mode Adhesive applicating portion 55 processed, thus to footwear component parts coating bonding agent (following to describe as " coating implementation pattern ").For example, It bonds upper of a shoe and during sole, in shoes adhesion agent application system 1, first, is automatically generated and registered using enrollment mode and be used for The control data in the adhesive applicating portion 55 of adhesive applicating are carried out to upper of a shoe and are glued for carrying out adhesive applicating to sole The control data of agent coated portion 55 are connect, then, bonding agent are carried out to the various pieces of upper of a shoe and sole using implementation pattern is applied Coating.

Fig. 5 is the functional block diagram shown with an example of the associated functional block of enrollment mode.As shown in figure 5, as with registration The functional block of pattern association, control device 70 (coating Track Pick-up device) include specified receiving unit 71, outline identification portion 72, painting Apply Track Pick-up portion 73, elevation information generating unit 74, register 75 and storage part 76.In addition, wherein, specified receiving unit 71 includes The specified receiving unit 71A (predetermined distance specifies receiving unit) of periphery offset, application width specify receiving unit 71B and coating interval specified Receiving unit 71C.For example, the functional block other than storage part 76 is stored in subsidy by the microprocessor execution by control device 70 and deposits The program in storage portion realizes that storage part 76 realizes by subsidizing storage part.

On the other hand, Fig. 6 is the functional block diagram for showing to implement with coating an example of the functional block of pattern association.Such as Fig. 6 institutes Show, as with the associated functional block of modes of application, control device 70 include outline identification portion 72, storage part 76, judegment part 77, apply Apply track configuration part 78 and control unit 79.For example, the functional block other than storage part 76 by microprocessor execution by being stored in benefit The program of storage part is helped to realize, storage part 76 is realized by subsidizing storage part.In addition, outline identification portion 72 and storage part 76 is identical with the outline identification portion 72 of Fig. 5 and storage part 76.

First, enrollment mode is illustrated.In addition, in the following contents, for convenience it is assumed that automatically generating simultaneously Register for footwear component parts A coating bonding agent adhesive applicating portion 55 control data situation and to enrollment mode into Row explanation.In addition, it is as " SH1 " and the left foot of the footwear of " 23.0cm " for example as footwear type and footwear size to set footwear component parts A Upper of a shoe.

In order to automatically generate and register above-mentioned control data, first, operator by using control device 70 operation portion Predetermined operation is carried out to start enrollment mode.When enrollment mode starts, perform to automatically generate and register adhesive applicating The processing (following to describe as " registration process ") of the control data in portion 55.

Fig. 7 is the flow chart for an example for showing registration process.With reference to Fig. 7 to the content of registration process and shown in fig. 5 each Functional block illustrates.

As shown in fig. 7, first, specified receiving unit 71 shows to automatically generate adhesive applicating portion 55 on display unit Control data automatically generate picture (S10).Fig. 8 shows to automatically generate an example of picture.As shown in figure 8, automatically generate picture 80 include to accept the multiple columns specified in order to generate the various information needed for the control data in adhesive applicating portion 55.

Picture 80 is automatically generated for example comprising footwear type column 81, footwear size column 82, unit type column 83 and left and right column 84.Footwear Type column 81 is for accepting the column specified which footwear component parts footwear component parts A is.Use is accepted in footwear type column 81 In unique identification footwear type identification information (such as type coding or type name etc.) it is specified.Footwear size column 82 is for accepting Footwear component parts A is the column specified of the footwear component parts of which size.Footwear type column 83 is to be for accepting footwear component parts A The column specified of which component parts (such as upper of a shoe or sole).Left and right column 84 be for accept footwear component parts A be left foot and The column specified of the component parts of the footwear of which of right crus of diaphragm foot.

In addition, automatically generating picture 80 includes camera column 85 and time for exposure column 86.Camera column 85 is for accepting In order to shoot the column specified of camera (the ministry of photography) used in footwear component parts A, time for exposure column 86 is exposed for accepting The column specified between light time.For example, when footwear component parts A is arranged in the 1st setting table 10, operator is on camera column 85 It is middle to select the 1st the ministry of photography 40 (being " camera 1 " in Fig. 8).

In addition, it is inclined comprising jube 89, periphery between track classification column 87, application width column 88, coating to automatically generate picture 80 Move column 90 and coating height column 91.

Track classification column 87 is for accepting the column specified of the classification of coating track automatically generated.Shown in Fig. 8 In example, as the classification of coating track automatically generated, the coating track (ginseng comprising rectangle part and outer peripheral portion has been selected According to aftermentioned Fig. 9 C).

Application width column 88 is the column specified for accepting the application width of bonding agent.Application width specifies receiving unit 71B accepts the specified of application width via application width column 88.

Jube 89 is the column specified for accepting the coating interval of bonding agent between coating.Here, " coating interval " meaning Makes a path portion in coating track and between the close another path portion of a path portion far from (connecing Closely) to which kind of degree.The specified receiving unit 71C jubes 89 between coating in coating interval accept the specified of coating interval.In addition, such as Example shown in Fig. 8 is such, when negative value is set as coating interval, represents to apply bonding in a manner of being overlapped bonding agent Agent.At this moment numerical value represents lap.

Periphery offset column 90 is the column specified for accepting the offset from the outer thoughtful coating track of footwear component parts A. In other words, offset column 90 in periphery is for accepting the coating of the position how far setting in the inner part track of the periphery than footwear component parts A The column specified.Offset specified receiving unit 71A in periphery accepts the specified of periphery offset via periphery offset column 90.

Coating height column 91 is the adhesive applicating portion 55 when implementing the coating of bonding agent to footwear component parts A for accepting Height the column specified.For example, coating height column 91 is for accepting bonding of the adhesive applicating portion 55 away from footwear component parts A The column specified of the height (that is, the bonding plane for making adhesive applicating portion 55 from footwear component parts A is separate to which kind of degree) in face.

In addition, automatically generating picture 80 includes generation button 92 and cancel button 93.It is viscous for accepting to generate button 92 Connect the button for automatically generating instruction of the control data of agent coated portion 55.Cancel button 93 is for accepting adhesive applicating portion 55 Control data automatically generate suspension instruction button.

When generation button 92 is chosen, control device 70 becomes standby mode.At this moment, the 1st setting table the 10 and the 2nd is set Platform 15 is located at people and operates place PA, and control device 70 waits for the 1st setting table 10 or the 2nd setting table for being provided with footwear component parts A 15 are transported to robot manipulation place PB.

In this case, footwear component parts A is arranged on and refers to the camera column 85 by automatically generating picture 80 by operator In the fixed corresponding setting table of the ministry of photography (camera).For example, it is the 1st the ministry of photography 40 in the ministry of photography specified by camera column 85 In the case of, footwear component parts A is arranged in the 1st setting table 10 by operator.Then, operator, which presses, is arranged on people operatively Conveying button near point PA.When conveying button is pressed, the 1st setting table 10 operates place PA from people and is transported to robot Operate place PB.

When the 1st setting table 10 is transported to robot manipulation place PB, it is arranged on the 1st by the shooting of the 1st the ministry of photography 40 and sets Put the footwear component parts A (S11) on platform 10.That is, according to the control of control device 70, the 1st the ministry of photography 40 is shot by the 1st backlight The shadow of the footwear component parts A of 30 irradiations.In addition, during according to the exposure specified by the time for exposure column 86 for automatically generating picture 80 Between control the time for exposure at this moment.In addition, the photographs of the 1st the ministry of photography 40 is provided to control device 70.

After step S11 is performed, outline identification portion 72 identifies the profile of the bonding plane of the footwear component parts A in photographs (S12).As described above, the shadow of footwear component parts A irradiated by the 1st backlight 30, therefore, profile are shown in photographs Identification part 72 by the outline identification of the shadow be footwear component parts A bonding plane profile.Fig. 9 A show to identify in step s 12 An example of the profile of the bonding plane of footwear component parts A gone out.

After step S12 is performed, coating Track Pick-up portion 73 is generated according to the profile identified in step s 12 to footwear structure Into components A bonding plane apply bonding agent when coating track (S13).In addition, according to the track class by automatically generating picture 80 The classification or value generation coating track that jube 89 and periphery offset column 90 are specified between other column 87, application width column 88, coating.

For example, the profile 100 of the bonding plane about footwear component parts A, reference axis is set according at least two characteristic points. Fig. 9 B show an example of reference axis.In the example shown in Fig. 9 B, using tiptoe position 101 and heel position 102 as spy Sign point.In addition, Xs axis and Ys axis are set as reference axis, wherein, the Xs axis with from tiptoe position 101 towards heel position 102 direction corresponds to, and the Ys axis is vertical with Xs axis, and passes through tiptoe position 101.By being applied in advance in shoes adhesion agent Pair for calibrating and storing the position in photographs and the position in the 1st setting table 10 (or the 2nd setting table 15) is performed in system 1 It should be related to.That is, the coordinate in photographs is associated with the coordinate in realistic space.Further, since the seat of XsYs coordinate systems Mark is associated with the coordinate in photographs, and therefore, the coordinate of XsYs coordinate systems has also been associated with the coordinate in realistic space Come.Therefore, in shoes adhesion agent application system 1, it will appreciate that XsYs coordinate systems are associated with which coordinate of realistic space.Separately Outside, characteristic point and reference axis are not limited to the example shown in Fig. 9 B, can also set other feature point and reference axis.

In step s 13, the setting coating track in the profile 100 of footwear component parts A.That is, coating track is set at On two dimensional surface (XsYs planes), coating track is represented using XsYs coordinate systems.Fig. 9 C show the coating rail generated in step S13 An example of mark.Coating track 110 is represented by dashed line in Fig. 9 C.As shown in Figure 9 C, coating track 110 is from starting point P1 to terminal The track that the unicursal of P4 goes out.

The starting point P1 and terminal P4 of coating track 110 are set at the specified position in the profile 100 of footwear component parts A. For example, starting point P1 is set according to tiptoe position 101.Specifically, starting point P1 is for example set at from tiptoe position 101 along Xs On position after axis positive direction movement predetermined distance (distance for being more than the distance D shown in Fig. 9 C).In addition, for example according to heel Position 102 sets terminal P4.It is moved specifically, terminal P4 is for example set at from heel position 102 along Xs axis negative directions On position after predetermined distance (distance for being more than the distance D shown in Fig. 9 C).

As shown in Figure 9 C, coating track 110 includes the 1st path portion 111, the 2nd path portion 112 and the 3rd path portion 113。

1st path portion 111 is the path portion from the point P2 on starting point P1 to the 2nd path portion 112.1st track portion Divide 111 to be set in the region surrounded by the 2nd path portion 112, be the path portion for applying bonding agent in the region. In the example shown in Fig. 9 C, the 1st path portion 111 has the wavy shape (shape similar to rectangular wave) of rectangle.

2nd path portion 112 be with 111 continuous path portion of the 1st path portion, be from the point P2 shown in Fig. 9 C to point The path portion of P3.2nd path portion 112 be with 100 corresponding path portion of the profile of footwear component parts A, be for along The profile 100 of footwear component parts A applies the path portion of bonding agent.Specifically, the 2nd path portion 112 is along footwear constituting portion The profile 100 of part A, and set than from the position of the profile 100 of footwear component parts A predetermined distance D in the inner part.Here, using certainly The value set in the periphery offset column 90 of dynamic generation picture 80 is as predetermined distance D.As described above, the 2nd path portion 112 is set It is set to and surrounds the 1st path portion 111.

3rd path portion 113 be with 112 continuous path portion of the 2nd path portion, be from the 2nd path portion 112 Point P3 is to the path portion of terminal P4.3rd path portion 113 is also set in the region surrounded by the 2nd path portion 112.

As described above, the starting point P1 and terminal P4 of coating track 110 are set at than the 2nd path portion 112 in the inner part Position.When applying bonding agent to footwear component parts, need that bonding agent is made not overflow from footwear component parts.In beginning and end During the coating of bonding agent, the accumulation referred to as " accumulation (ス ピ ッ De) " can be generated, therefore, bonding agent is particularly easy to form from footwear Component overflows.Therefore, in shoes adhesion agent application system 1, the starting point P1 and terminal P4 of coating track 110 are set at than edge The position of 2nd path portion 112 of the profile 100 of footwear component parts A in the inner part.Generation bonding agent is not easy due to accumulation as a result, And from footwear component parts overflow coating track.And then in shoes adhesion agent application system 1, coating track 110 is formed as The track that unicursal goes out.Generation is not susceptible to the coating track of accumulation as a result,.

In addition, in shoes adhesion agent application system 1, coating track 110 includes the 1st path portion 111 and the 3rd track portion Point the 113 and the 2nd path portion 112, the 2nd path portion 112 is by above-mentioned 1st path portion 111 and the 3rd path portion 113 surround.Generation is not likely to produce the coating track in the insufficient region of adhesive applicating as a result,.

In addition, coating track 110 is not limited to the example shown in Fig. 9 C.For example, in the example shown in Fig. 9 C, starting point P1 quilts 101 side of tiptoe position is set in, terminal P4 is set at 102 side of heel position, but it is also possible to which starting point P1 is set in foot 102 side of heel position, terminal P4 are set in 101 side of tiptoe position.

In addition, in the example shown in Fig. 9 C, the 1st path portion 111 has the wavy shape of rectangle, still, the 1st track Part 111 can also have other shapes.For example, the 1st path portion 111 can also have sinusoidal wave shape, triangle wavy or saw The wavy shape of tooth.

In addition, in the example shown in Fig. 9 C, the 1st path portion 111 is entire throughout being surrounded by the 2nd path portion 112 Region, but it is also possible to which the 1st path portion 111 to be set in a part of area in the region surrounded by the 2nd path portion 112 Domain (such as left area：101 side region of tiptoe position), the 3rd path portion 113 is set in other regions (such as right half-court Domain：102 side region of heel position).

In addition it is also possible to will apply track 110 is formed as such profile with footwear component parts A for example shown in Fig. 9 D Specified position in 100 is as starting point P1, from inside towards the spiral helicine track of outer expandable.In addition, in the form, apply The terminal P4 of deposited track 110 may be set in the position than the path portion along profile 100 in the inner part.

After step S13 is performed, the generation of elevation information generating unit 74 represent the coating track that is generated in step S13 into The elevation information (S14) of the height in the adhesive applicating portion 55 during the coating of row bonding agent.

For example, control device 70 controls robot 50 and makes adhesive applicating portion 55 along the painting generated in step s 13 Track is applied to move on footwear component parts A.At this moment, during adhesive applicating portion 55 is moved along coating track, bonding agent The height (position in Z-direction) of coated portion 55 remains fixed, and about the direction in adhesive applicating portion 55, makes the row of bonding agent Outlet is maintained at defined state (for example, state (in other words, the outlet of bonding agent and the 1st setting table towards vertical direction The consistent state of 10 normal direction).In addition, here, bonding is moved for the purpose for the measure for implementing elevation measurement portion 56 Agent coated portion 55, therefore do not implement the coating of bonding agent.

During adhesive applicating portion 55 is moved along coating track, the measure in elevation measurement portion 56 is carried out.Highly survey Determine the height at the point on the coating track for the bonding plane that portion 56 measures footwear component parts A.The measurement result in elevation measurement portion 56 Control device 70 is provided to, control device 70 generates elevation information according to the measurement result.

Here, if adhesive applicating portion 55 (elevation measurement portion 56) in a period of carrying out the measure in elevation measurement portion 56 Highly be " Ha ", the measurement result in elevation measurement portion 56 at some point on coating track it is " Hb ".In this case, " Ha " table Show from datum level (such as upper surface of the 1st setting table 10) to the height in adhesive applicating portion 55 (elevation measurement portion 56), " Hb " It represents from the bonding plane of the footwear component parts A at the above-mentioned point on coating track to adhesive applicating portion 55 (elevation measurement portion 56) Height.

In this case, the bonding plane of the footwear component parts A at the above-mentioned point on coating track is calculated using following formula (1) Height Hc.

Hc=Ha-Hb (1)

In addition, when value specified in setting the coating height column 91 for automatically generating picture 80 is " Hd ", following formula is utilized (2) the height He in the adhesive applicating portion 55 when bonding agent is applied at the above-mentioned point on applying track is calculated.

He=Hc+Hd (2)

As described above, the adhesive applicating portion 55 when applying bonding agent at this point for each point generation on coating track Elevation information (He).

In addition, here, when adhesive applicating portion 55 is according to the movement of coating track, so that from the coating on footwear component parts The height in point to adhesive applicating portion 55 on track is the mode of fixed value Hd (the specified value in coating height column 91) The elevation information (He) in adhesive applicating portion 55 is set, still, the setting method of the elevation information in adhesive applicating portion 55 is unlimited In method described above.For example, it is also possible to by adhesive applicating portion 55 in the 1st path portion 111 and the 3rd path portion 113 Above-mentioned value Hd when upper mobile is set as H1, and above-mentioned value Hd of the adhesive applicating portion 55 when being moved on the 2nd path portion 112 is set It is set to H2.In this case, the specified of the value of H1, H2 can also be accepted on picture 80 is automatically generated.In addition it is also possible to H2 is set It is set to the value less than H1.Thus or, path portion (the 2nd path portion 112) on the outside, from close to footwear constituting portion The place of the bonding plane of part comes into effect the coating of bonding agent, in path portion (the 1st path portion 111 and the 3rd track of inside Part 113), the coating of bonding agent is come into effect from the place of the bonding plane far from footwear component parts.Thus, it is possible to more suitably Apply bonding agent.

After step S14 is performed, control device 70 shows the painting for being generated in register step S13, S14 on display unit Apply the registration picture (S15) of track and elevation information.

Figure 10 shows an example of registration picture.As shown in Figure 10, in picture 120 is registered, with identifying in step s 12 The profile 100 of footwear component parts A display in association with the coating track 110 generated in step S13.In addition, though in Figure 10 In omitted, but it is also possible to also show the elevation information that is generated in step S14 on registration picture 120.

It registers picture 120 and includes register button 121.Register button 121 is the coating for will be generated in step S13, S14 Track and elevation information are registered in the button in storage part 76.When register button 121 is chosen, register 75 will be used for footwear The control data in the adhesive applicating portion 55 of component parts A coating bonding agents are registered in storage part 76 (S16).In addition, with It, for convenience's sake, will be for the control data in the adhesive applicating portion 55 to footwear component parts A coating bonding agents in lower content It is abbreviated as " control data A ".

Control data A is the adhesive applicating portion 55 for representing to be directed to when applying the bonding plane of footwear component parts A bonding agent Control content (mobile control content etc.) data, data A is for example comprising following data for control.

The coating track generated in step s 13

The elevation information generated in step S14

Application width (value set in the application width column 88 for automatically generating picture 80)

In addition, control data A can also include the inclination for representing the adhesive applicating portion 55 at each point on coating track The inclination information of degree.For example, it can be so that adhesive applicating portion on the 1st path portion 111 and the 3rd path portion 113 55 towards the side of vertical direction (i.e. so that the direction in adhesive applicating portion 55 and the normal direction of footwear component parts are substantially parallel) Formula setting adhesive applicating portion 55, and cause adhesive applicating portion 55 on the 2nd path portion 112 relative to footwear component parts Normal direction be slightly inclined.For example, it is also possible to make adhesive applicating portion 55 on the 2nd path portion 112 with adhesive applicating The mode that the direction in portion 55 is in towards the direction of inside on the outside of profile is slightly inclined.

In storage part 76, with the relevant information of at least one party in the classification and size with footwear component parts correspondingly Store the control data in adhesive applicating portion 55.Figure 11 shows to be stored in an example of the data structure of storage part 76.In Figure 11 institutes In the example shown, adhesive applicating is correspondingly stored with with footwear type, unit type, the relevant information of footwear size and left and right The control data in portion 55.

In step s 16, with the footwear type column 81, footwear size column 82, unit type column 83 for automatically generating picture 80 with And the information specified in left and right column 84 correspondingly registers control data A (the coating track generated in step S13, S14 and height Spend information etc.).As described later, the control data A being registered in storage part 76 is used in coating implementation pattern (with reference to Figure 14's Step S33).

In addition, in step s 16, represent the outline data of the profile of footwear component parts A identified in step s 12 It is registered with together with control data A.As described later, which is also used in coating implementation pattern (with reference to the step of Figure 14 Rapid S32).

In addition, registration picture 120 includes mirror image register button 122.Mirror image register button 122 is applied for generating bonding agent The button of the control data in portion 55 is applied, the adhesive applicating portion 55 is used for the footwear of the foot to the opposite side of footwear component parts A Component parts A ' applies bonding agent.For example, when the footwear that footwear component parts A is footwear type and footwear size is " SH1 " and " 23.0cm " Left foot upper of a shoe when, footwear component parts A ' is the right crus of diaphragm of footwear type and footwear size for the footwear of " SH1 " and " 23.0cm " Upper of a shoe.In addition, in the following contents, for convenience's sake, will be used to apply the bonding agent of footwear component parts A ' coating bonding agents The control data for applying portion 55 are abbreviated as " control data A ' ".

When mirror image register button 122 is chosen, control device 70 is according to control data A generation control data A ' (S17).

For example, control device 70 according to the coating Track Pick-up generated in step s 13 to the bonding of footwear component parts A ' Face applies coating track during bonding agent.For example, control device 70 generates the mirror image of coating track generated in step s 13 Coating track of the track as footwear component parts A '.In addition, the track of the mirror image of coating track generated in step s 13 is Refer to, the track as obtained from the coating track that will generate in step s 13 or so reversion.That is, the painting generated in step s 13 The track of mirror image for applying track refers to, by the coating track 110 shown in Fig. 9 C is made to be inverted using Xs axis as reversing shaft and Obtained track.And then the coating track that control device 70 generates in this way according to the elevation information generation generated in step S14 On each point at elevation information.

After step S17 is performed, control device 70 will control data A ' to be registered in storage part 76 (S18).Such as it registers Following data are as control data A '.

The coating track generated in step S17

The elevation information generated in step S17

Application width (value set in the application width column 88 for automatically generating picture 80)

In step S18, and in the footwear type column 81, footwear size column 82, unit type column 83 for automatically generating picture 80 The foot of the opposite side of footwear type, footwear size, unit type and the foot specified in left and right column 84 specified correspondingly is registered Control data A '.In addition, in step S18, the outline data of footwear component parts A ' is also registered together with control data A '.Example Such as, the outline data of the profile of the mirror image of the profile of footwear component parts A that generation represents to identify in step s 12 is as footwear structure Into components A ' outline data registered.That is, generate the profile of footwear component parts A by that will identify in step s 12 Outline data obtained from the reversion of left and right (in other words, by the profile of footwear component parts A that makes to identify in step s 12 with Outline data obtained from Xs axis is inverted as reversing shaft) it is registered as the outline data of footwear component parts A '.

In addition, registration picture 120 includes conclusion button 123 and return push-button 124.Return push-button 124 is for giving birth to again Into the button of the control data (coating track and elevation information) in adhesive applicating portion 55.When return push-button 124 is chosen, Display automatically generates picture 80 on display unit.On the other hand, conclusion button 123 is the control for terminating adhesive applicating portion 55 The button of the registration of data.When conclusion button 123 is chosen, the 1st setting table 10 for being provided with footwear component parts A returns to people Operate place PA.

It automatically generates and registers as described above for the adhesive applicating portion 55 to footwear component parts A coating bonding agents Control data (control data A).In addition, for example when by footwear component parts A and footwear component parts B bondings, with footwear component parts A Similarly, it is also desirable to automatically generate and register in advance for the adhesive applicating portion 55 to footwear component parts B coating bonding agents Control data.

In addition, the flow of registration process is not limited to example shown in Fig. 7.For example, in the example depicted in fig. 7, when automatic The generation button 92 of generation picture 80 performs a step S11~S14, however, it can be when being chosen, whenever performing this During a little each steps, the implementing result of step is prompted to operator.It is then possible to it is performed when having carried out confirmation operation by operator Next step.

Next, coating implementation pattern is illustrated.As described above, coating implementation pattern is that footwear component parts is implemented The operation mode of the coating of bonding agent.In addition, in the following contents, for convenience it is assumed that footwear component parts A and and footwear The footwear component parts B both sides of (following) bonding in bottom of component parts A apply the situation of bonding agent, and coating implementation pattern is said It is bright.In addition, for example, footwear component parts A is the upper of a shoe of footwear type and footwear size for the left foot of the footwear of " SH1 " and " 23.0cm ", Footwear component parts B is the sole of footwear type and footwear size for the left foot of the footwear of " SH1 " and " 23.0cm ".In addition, set footwear composition Components A, B adhesive applicating portion 55 control data storage part 76 registration finish.

In order to footwear component parts A, B implement bonding agent coating, first, operator by using control device 70 behaviour Make portion to carry out predetermined operation and start coating implementation pattern.When applying implementation pattern startup, perform for footwear component parts Apply the processing (following to describe as " coating implementation processing ") of bonding agent.

Figure 12 is to show that the flow chart of an example of processing is implemented in coating.Implement the content and figure of processing to coating with reference to Figure 12 Each functional block shown in 6 illustrates.

As shown in figure 12, first, control device 70 shows real for implementing the coating of the coating of bonding agent on display unit Apply picture (S20).Figure 13 shows that an example of picture is implemented in coating.As shown in figure 13, coating implementation picture 130 includes footwear type column 131st, the 1st setting table column 132 and the 2nd setting table column 133.

Footwear type column 131 is for accepting the column specified that footwear component parts A, B are the component parts of which footwear.In footwear In type column 131, any one in the multiple footwear types registered in storage part 76 can be specified.

1st setting table column 132 is the column specified for accepting the footwear component parts being arranged in the 1st setting table 10.Separately On the one hand, the 2nd setting table column 133 is the column specified for accepting the footwear component parts being arranged in the 2nd setting table 15.Example Such as, when footwear component parts A, B are separately positioned in the 1st setting table 10 and the 2nd setting table 15, operator is in the 1st setting table Column respectively specifies that " upper of a shoe " and " sole " in 132 and the 2nd setting table column 133.

In addition, picture 130 is implemented in coating includes executive button 134 and cancel button 135.Executive button 134 is for holding The button of the coating of row bonding agent.On the other hand, cancel button 135 is the button for stopping the coating of bonding agent.

When executive button 134 is chosen, control device 70 becomes standby mode.At this moment, the 1st setting table 10 and the 2nd is set It puts platform 15 and is located at people operation place PA, control device 70 waits for the 1st setting table 10 for being provided with footwear component parts A or is provided with footwear The 2nd setting table 15 of component parts B is transported to robot manipulation place PB.

In this case, footwear component parts A is arranged in the 1st setting table 10 by operator, footwear component parts B is arranged on In 2 setting tables 15.Then, operator presses the conveying button being arranged near people's operation place PA.When conveying button is pressed When, the 1st setting table 10 and the 2nd setting table 15 operate place PA from people respectively and are transported to robot manipulation place PB.

Robot manipulation place PB is transported to when the 1st setting table 10 and the 2nd setting table 15 operate place PA from people respectively When, such as adhesive applicating (S21) is implemented to the bonding plane for being arranged on the footwear component parts A in the 1st setting table 10.Then, it is right The bonding plane for being arranged on the footwear component parts B in the 2nd setting table 15 implements adhesive applicating (S22).

Sequence is performed alternatively, it is also possible to exchange step S21, S22, step S21 is performed after step S22 is performed.Alternatively, It can also parallel execution of steps S21, S22.

Here, the processing performed in step S21, S22 is described in detail.Figure 14 be show step S21, The flow chart of an example of the processing performed in S22.In addition, in the following contents, with reference to Figure 14 to the place that performs in the step s 21 Reason illustrates, and still, the processing performed in step S22 is also the same.

As shown in figure 14, first, the footwear component parts A being arranged on by the shooting of the 1st the ministry of photography 40 in the 1st setting table 10 (S30).That is, according to the control of control device 70, the 1st the ministry of photography 40 shoots the footwear component parts A's that is irradiated by the 1st backlight 30 Shadow.The photographs of the 1st the ministry of photography 40 is provided to control device 70.

After step S30 is performed, outline identification portion 72 identifies the profile of the bonding plane of the footwear component parts A in photographs (S31).The processing is similary with the step S12 of Fig. 7.

After step S31 is performed, judegment part 77 differentiates footwear component parts A's according to the profile identified in step S31 Left and right and size (S32).

As described above, in storage part 76, the combination with footwear type, unit type, footwear size, left and right correspondingly stores There is outline data (with reference to Figure 11).Therefore, control device 70 accesses storage part 76, reads the footwear with implementing picture 130 in coating The footwear type (SH1) specified in type column 131 and the combination phase of unit type (upper of a shoe) specified in the 1st setting table column 132 The multiple outline datas accordingly stored.In this case, the mutually different multiple outline datas of footwear size and left and right are read.

In addition, control device 70 by the profile identified in step S31 and read-out multiple outline datas respectively into Row compares.For example, Xs axis of the control device 70 in the outer Guo identified in making step S31 and the outer Guo represented by outer Guo's data And Ys axis it is consistent in the state of they are compared, judge that they are similar to which kind of degree as a result,.Then, control device 70 specify the highest outline data of the similarity of profile in above-mentioned multiple outline datas, with being identified in step S31.This Outside, in this case, control device 70 is judged as that footwear size corresponding with the outline data and left and right are footwear component parts A Footwear size and left and right.

After step S32 is performed, coating track configuration part 78 sets coating rail when bonding agent is applied to footwear component parts A Mark, elevation information and application width (S33).Coating track configuration part 78 is set according to the profile identified in step S31 Coating track, elevation information and the application width during bonding agent are applied to footwear component parts A.

For example, control device 70 applies track, height from the differentiation result in the acquirement of storage part 76 and step S32 is corresponding Spend information, application width.That is, control device 70 reads the adhesive applicating portion 55 that correspondingly stores with above-mentioned differentiation result Control data.Specifically, control device 70 reads the footwear with being specified in the footwear type column 131 of coating implementation picture 130 Type, the unit type specified in the 1st setting table column 132 and the footwear size determined in step s 32 and the group of left and right Close the control data correspondingly stored.

Then, control device 70 according to read-out control data come set to footwear component parts A apply bonding agent when Apply track, elevation information and application width.As noted previously, as it is included in above-mentioned control data and coating track, height The relevant data of information, application width, therefore, these coating track, elevation information and application widths are set to form footwear Components A applies coating track, elevation information and the application width during bonding agent.

After step S33 is performed, control unit 79 is according to coating track, elevation information and painting set in step S33 Width is applied, implements the coating (S34) of bonding agent to footwear component parts A.

That is, control unit 79 controls robot 50 so that adhesive applicating portion 55 is along the coating rail set in step S33 Mark moves, and controls into the coating that adhesive applicating portion 55 carries out the bonding plane of footwear component parts bonding agent as a result,.In addition, such as It is upper described, it is represented due to applying track using XsYs coordinate systems, set coating track and step S31 in step S33 In the XsYs coordinate systems of profile that identify be mapped and applied.

In addition, control unit 79 controls robot 50 as follows：So that adhesive applicating portion 55 is along in step S33 The height in the adhesive applicating portion 55 when set coating track is moved becomes and set elevation information in step S33 Corresponding height.

In addition, the application width that adhesive applicating portion 55 is applied bonding agent by control unit 79 is set as the institute in step S33 The application width of setting.

At the end of step S34, the processing shown in Figure 14 is completed.As described above, in the step s 21, the 1st will be arranged on and set The footwear component parts A put on platform 10 performs the processing shown in Figure 14 as the object of adhesive applicating, will in step S22 The footwear component parts B being arranged in the 2nd setting table 15 performs the processing shown in Figure 14 as the object of adhesive applicating.

When step S21, S22 is completed, the 1st setting table 10 and the 2nd setting table 15 are returned respectively from robot operation place PB It returns to people and operates place PA.In this case, operator is respectively from the 1st setting table 10 and the 2nd setting table 15 recycling footwear component parts A、B.Then, the bonding plane of footwear component parts A, B are bonded to each other by operator.In this way, by by footwear component parts A, B bond and Produce footwear.

In addition, new footwear component parts A, B are separately positioned in the 1st setting table 10 and the 2nd setting table 15 simultaneously by operator Press conveying button.Implement the coating of bonding agent to new footwear component parts A, B as a result,.In this way, one by one to footwear component parts A, B carries out the coating of bonding agent.

In addition, coating implementation processing is not limited to the example shown in Figure 12, Figure 14.

For example, it can be in the step S33 performed in the step S22 of Figure 12, apply according to footwear component parts A Coating track (set coating track in the step S33 performed in step S21) during bonding agent is formed footwear to set Part B applies coating track during bonding agent.

In this case, the rail of the mirror image of coating track during for example, it is also possible to by footwear component parts A coating bonding agents Mark is set as applying footwear component parts B coating track during bonding agent.In such manner, it is possible to mitigate to set to footwear component parts B applies the processing load for applying track during bonding agent.Alternatively, can also by footwear component parts A apply bonding agent when painting The track for the non-mirror image for applying track is set as applying footwear component parts B coating track during bonding agent.In such manner, it is possible to inhibit to produce The situation in the raw insufficient region of adhesive applicating.

In addition, if having exchanged the situation of the execution sequence of step S21, S22, then it can also be according to footwear component parts Coating track when B applies bonding agent applies footwear component parts A to set coating track during bonding agent.

In addition, for example, it can be, in the step S32 of Figure 14, the footwear size of automatic discrimination footwear component parts A, B and Left and right, and go back automatic discrimination unit type.It in this case, can not also be by the 1st setting table column 132 and the 2nd setting table column 133 Coating is arranged on to implement in picture 130.

In addition, for example, it can be, in the step S32 of Figure 14, the footwear size of automatic discrimination footwear component parts A, B, a left side Right and unit type, and go back automatic discrimination footwear type.In this case, footwear type column 131 can not also be arranged on coating Implement in picture 130.

Or or, by the way that the column specified for being used to accept footwear size is arranged in coating implementation picture 130, So that the not footwear size of automatic discrimination footwear component parts A, B in the step S32 of Figure 14.It is equally possible that it is to pass through It will be arranged in coating implementation picture 130 for accepting the column specified of left and right, so that in the step S32 of Figure 14 not certainly The dynamic left and right for differentiating footwear component parts A, B.

In shoes adhesion agent application system 1 described above, automatically generate by maintaining part 11 so that footwear component parts (example Such as upper of a shoe) bottom surface state upward keep footwear component parts, applied in addition, automatically generating in the bottom surface of footwear component parts Coating track during bonding agent implements the adhesive applicating to the bottom surface of footwear component parts according to the coating track automatically generated. According to shoes adhesion agent application system 1, the trouble for specifying above-mentioned coating track can be reduced.

In addition, according to shoes adhesion agent application system 1, automatically generate and represent to apply bonding agent to the bottom surface of footwear component parts When adhesive applicating portion 55 height elevation information, set according to the elevation information automatically generated to footwear component parts The height in the adhesive applicating portion 55 during the coating bonding agent of bottom surface.Therefore, it is possible to reduce the fiber crops for specifying above-mentioned elevation information It is tired.

In addition, according to shoes adhesion agent application system 1, pass through the arm in the robot 50 for having at least six axis degree of freedom End setting adhesive applicating portion 55, increases height and inclined freedom of the adhesive applicating portion 55 relative to footwear component parts Degree, additionally it is possible to carry out the complex control in adhesive applicating portion 55, it is thus possible to it is enough to footwear component parts with complex shape into Row adhesive applicating.Further, it is also possible to as needed, adhesive applicating portion is made to be tilted relative to footwear component parts and apply and be bonded Agent.

In addition, according to shoes adhesion agent application system 1, by the way that elevation measurement portion 56 and adhesive applicating portion 55 are set together It puts in the arm end of robot 50, can be carried out and the relevant elevation measurement of footwear component parts using the action of robot.Example Such as, even if in the case where applying track complexity, the elevation measurement on coating track can also be carried out.

In addition, in shoes adhesion agent application system 1, the coating track 110 shown in generation Fig. 9 C, Fig. 9 D.That is, coating rail The starting point P1 and terminal P4 of mark 110 are set at path portion (the 2nd path portion more corresponding than with the profile of footwear component parts 112) position in the inner part.As a result, the influence of so-called " accumulation " can be inhibited, bonding agent can be inhibited from footwear constituting portion The situation that the bonding plane of part overflows.

In addition, in shoes adhesion agent application system 1, can once be bonded to footwear component parts A and with footwear component parts A Footwear component parts B both sides apply bonding agent.

In addition, in shoes adhesion agent application system 1, automatically generated according to the profile of footwear component parts to footwear component parts Bottom surface coating bonding agent when coating track.About this respect, in shoes adhesion agent application system 1, shoot by backlight The shadow of the footwear component parts of irradiation identifies the profile of the shadow.Thereby, it is possible to not by the color and decorative pattern of footwear component parts Deng influence in the case of identify footwear component parts profile.

In addition, in shoes adhesion agent application system 1, by showing that automatically generating picture 80 allows the operator to specify Periphery deviate (from the distance of the coated portion of the outer thoughtful bonding agent of the bottom surface of footwear component parts), the application width of bonding agent or The coating interval of bonding agent.

The present invention is not limited to embodiments described above.

[1] for example, as shown in figure 15, as the functional block for implementing pattern association with coating, combination judgement can also be added Portion 140 and output section 141.In this case, realized for example, combining determination unit 140 by microprocessor of control device 70 etc., It is realized by display unit or voice output portion etc. output section 141.In addition, in this case, as coating implementation processing, figure is performed Processing shown in 16 replaces the processing shown in Figure 12.

In the coating implementation processing shown in Figure 16, first, control device 70 shows that picture is implemented in coating on display unit 130(S40).The processing is similary with the step S20 of Figure 12.

When the executive button 134 that picture 130 is implemented in coating is chosen, control device 70 becomes standby mode.The situation Under, footwear component parts A is arranged in the 1st setting table 10 by operator, and footwear component parts B is arranged in the 2nd setting table 15.So Afterwards, operator presses the conveying button being arranged near people's operation place PA.When conveying button is pressed, the 1st setting table 10 Place PA is operated from people be transported to robot manipulation place PB respectively with the 2nd setting table 15.

Robot manipulation place PB is transported to when the 1st setting table 10 and the 2nd setting table 15 operate place PA from people respectively When, the shooting of the 1st the ministry of photography 40 is arranged on the footwear component parts A (S41) in the 1st setting table 10.In addition, the 2nd the ministry of photography 45 is shot The footwear component parts B (S42) being arranged in the 2nd setting table 15.These processing are similary with the step S30 of Figure 14.

After step S41, S42 is performed, outline identification portion 72 identifies the footwear structure in the photographs obtained in step S41 Into the profile of the bonding plane of components A, and identify the bonding plane of the footwear component parts B in the photographs obtained in step S42 Profile (S43).The processing is similary with the step S31 of Figure 14.

After step S43 is performed, combination determination unit 140 judges the footwear component parts A being arranged in the 1st setting table 10 and sets Whether the combination for putting the footwear component parts B in the 2nd setting table 15 is the combination (S44) that should be bonded to each other.According in step S43 In the profile that identifies carry out the judgement.

For example, combination determination unit 140 differentiates the left and right of footwear component parts A and the footwear size being arranged in the 1st setting table 10. In addition, combination determination unit 140 differentiates the left and right for being arranged on the footwear component parts B in the 2nd setting table 15 and size.At these differentiations Reason is similary with the step S32 of Figure 14.

Then, combination determination unit 140 is formed by comparing the differentiation result (left and right and footwear size) and footwear of footwear component parts A The differentiation result (left and right and footwear size) of part B judges whether the combination of footwear component parts A, B are the combinations that should be bonded to each other. For example, when at least one party's difference in the left and right of footwear component parts A, B and footwear size, it is determined as footwear component parts A, B Combination be not the combination that should be bonded to each other.On the other hand, when consistent in the left and right of footwear component parts A, B and footwear size both sides When, the combination for being determined as footwear component parts A, B is the combination that should be bonded to each other.

Control device 70 controls output section 141 to carry out output corresponding with the differentiation result of step S44.For example, when judgement When combination for footwear component parts A, B is not the combination that should be bonded to each other, control device 70 is shown on output section 141 (display unit) Show error message (S45).After step S45 is performed, stop coating implementation processing.It in addition, can also be from output in step S45 (voice output portion of portion 141：Loud speaker etc.) output error sound.

On the other hand, when the combination for being determined as footwear component parts A, B is the combination that should be bonded to each other, to being arranged on the 1st The bonding plane of footwear component parts A in setting table 10 implements adhesive applicating (S46).In addition, to being arranged in the 2nd setting table 15 Footwear component parts B bonding plane implement adhesive applicating (S47).These processing are similary with step S21, S22 of Figure 12.But It is that in this case, due to step S30~32 with Figure 14, similarly processing has performed (step S41~S44), no Need these processing.

Operator will appreciate that the combination of footwear component parts A, B are not the situations of regulation combination that should be bonded to each other as a result,. In addition, when the combination of footwear component parts A, B are not the regulation combinations that should be bonded to each other, the reality of adhesive applicating can be stopped It applies.

In addition, in the processing shown in Figure 16, when the combination for being determined as footwear component parts A, B in step S44 is not to answer During the combination being bonded to each other, alert message can also be exported to replace error message.Then, if operator agrees to, also may be used To perform step S46, S47, do not stop to apply implementation processing.

[2] in addition, for example, when register picture 120 mirror image register button 122 be chosen when, can also generate for pair The control data in the adhesive applicating portion 55 of footwear component parts B coating bonding agents bonded with footwear component parts A.For example, If footwear component parts A is the upper of a shoe of footwear type and footwear size for the left foot of the footwear of " SH1 " and " 23.0cm ", when mirror image is stepped on When note button 122 is chosen, it can also generate to use footwear type and footwear size for the left foot of the footwear of " SH1 " and " 23.0cm " Sole (footwear component parts B) coating bonding agent adhesive applicating portion 55 control data.

[3] in addition, for example, the mirror image register button 122 of registration picture 120 or step S17, S18 of Fig. 7 are not required , accordingly it is also possible to omit these steps.

[4] in addition, for example, in the embodiment described above, shoes adhesion agent application system 1 have enrollment mode and The two operation modes of coating implementation pattern, still, shoes adhesion agent application system 1 can also only have coating implementation pattern. That is, in implementation pattern is applied, the adhesive applicating portion 55 to footwear component parts coating bonding agent can also be automatically generated for Control data, implement the adhesive applicating to footwear component parts according to the control data automatically generated.That is, shown in Figure 14 Processing in, step S13, S14 of Fig. 7 can also be performed to replace step S32, S33.

[5] in addition, for example, when being configured with shoes adhesion agent application system 1 at multiple strong points or, it is only special The shoes adhesion agent application system 1 for determining strong point has enrollment mode.And or the shoes adhesion agent at other strong points applies It applies system 1 and only has coating implementation pattern, do not have enrollment mode.As long as in this case, by being bonded by the footwear at specific strong point The control data that agent application system 1 generates are supplied to (publication etc.) other strong points.

[6] in addition, for example, under enrollment mode, using only the either side in the 1st setting table 10 and the 2nd setting table 15, But it is also possible to use both sides.It can also once generate as a result, and the relevant adhesive applicating portion 55 of two footwear component parts Control data.

[7] in addition, for example, in the above description, shoes adhesion agent application system 1 has two setting tables, conveyor tracks The combination in road, backlight and the ministry of photography, but it is also possible to only have a said combination.That is, the 2nd setting can not also be set Platform 15, the 2nd delivery track 25, the 2nd backlight 35 and the 2nd the ministry of photography 45.In addition, shoes adhesion agent application system 1 can also have Said combination three or more standby.

[8] in addition, for example, the 1st backlight 30 and the 2nd backlight 35 are not essential, these backlights can not also be set Source.It, can be not by the color of footwear component parts but as described above, by setting the 1st backlight 30 and the 2nd backlight 35 And the profile of footwear component parts is clearly identified in the case of the influence of decorative pattern etc..

[9] in addition, for example, control device can also be realized by multiple computers.For example, enrollment mode (control number According to automatically generate and register) and coating implementation pattern (implementation of adhesive applicating) can also be held by different computers Row.

[10] in addition, for example, it is also possible to using multiple robots 50.For example, shoes adhesion agent application system 1 can also wrap Containing to be arranged in the 1st setting table 10 footwear component parts coating bonding agent the 1st robot and to being arranged on the 2nd setting table 15 On footwear component parts coating bonding agent the 2nd robot.

[11] in addition, for example, in the embodiment described above, having used robot 50 as mobile adhesive applicating The mobile mechanism in portion 55, but it is also possible to using other structures as mobile mechanism.

Claims (17)

1. a kind of shoes adhesion agent application system, has：

Maintaining part, so that the state of the bottom surface of footwear component parts upward keeps the footwear component parts；

Outline identification portion identifies the profile of the bottom surface；

Track configuration part is applied, according to the profile come coating track when setting to bottom surface coating bonding agent；

Adhesive applicating portion；

Mobile mechanism moves the adhesive applicating portion；And

Control unit carries out control as follows：The mobile mechanism is controlled so that the adhesive applicating portion is along the coating rail Mark moves, so as to which the adhesive applicating portion be made to apply bonding agent to the bottom surface.

2. shoes adhesion agent application system according to claim 1, wherein, which also has：

Elevation measurement portion measures the height at the point on the coating track of the bottom surface；With

Elevation information generating unit generates elevation information, the elevation information table according to the measurement result in the elevation measurement portion Show the height in the adhesive applicating portion when adhesive applicating portion is moved along the coating track,

The control unit controls the mobile mechanism so that the institute when adhesive applicating portion is moved along the coating track Stating the height in adhesive applicating portion becomes height corresponding with the elevation information.

3. shoes adhesion agent application system according to claim 2, wherein,

The mobile mechanism is the robot for the degree of freedom at least having 6 axis,

The elevation measurement portion is all disposed within the arm end of the robot with the adhesive applicating portion.

4. the shoes adhesion agent application system described in any one in claims 1 to 3, wherein,

The coating track includes periphery corresponding with the periphery of bottom surface path portion,

The beginning and end of the coating track is set at the position than the periphery path portion in the inner part.

5. shoes adhesion agent application system according to claim 4, wherein,

The periphery path portion is set at the position of the periphery predetermined distance in the inner part than the bottom surface,

Also there is the shoes adhesion agent application system distance specified for accepting the predetermined distance to specify receiving unit.

6. the shoes adhesion agent application system described in any one in claim 1 to 5, it includes：

1st setting unit has the maintaining part, and the maintaining part is so that the bottom surface shape upward of the 1st footwear component parts State keeps the 1st footwear component parts；With

2nd setting unit, the 2nd footwear component parts bonded with the bottom surface of the 1st footwear component parts is with upper surface towards upper The state of side is set to the 2nd setting unit,

The outline identification portion at least identifies the profile of the bottom surface of the 1st footwear component parts,

The coating track configuration part is set according to the profile of the bottom surface of the 1st footwear component parts to the 1st footwear The 1st coating track during the bottom surface coating bonding agent of component parts, sets the upper table to the 2nd footwear component parts Face applies the 2nd coating track during bonding agent,

The control unit proceeds as follows control：The mobile mechanism is controlled so that the adhesive applicating portion is along described 1st coating track movement, so as to which the adhesive applicating portion be made to apply bonding to the bottom surface of the 1st footwear component parts Agent, and proceed as follows control：The mobile mechanism is controlled so that the adhesive applicating portion is along the described 2nd coating Track is moved, so as to which the adhesive applicating portion be made to apply bonding agent to the upper surface of the 2nd footwear component parts.

7. shoes adhesion agent application system according to claim 6, wherein,

The outline identification portion identifies the profile of the bottom surface of the 1st footwear component parts and the 2nd footwear component parts The profile of the upper surface,

The shoes adhesion agent application system also has：

Determination unit, according to the profile of the bottom surface of the 1st footwear component parts and the 2nd footwear component parts it is described on The profile on surface judges whether the combination of the 1st footwear component parts and the 2nd footwear component parts should be bonded to each other Regulation combination；And

Output section carries out output corresponding with the judgement result of the determination unit.

8. the shoes adhesion agent application system described according to claim 6 or 7, wherein,

The track of the mirror image of described 1st coating track is set as the 2nd coating track by the coating track configuration part.

9. the shoes adhesion agent application system described according to claim 6 or 7, wherein,

The track of the non-mirror image of described 1st coating track is set as the 2nd coating track by the coating track configuration part.

10. the shoes adhesion agent application system described in any one in claim 1 to 9, wherein,

The shoes adhesion agent application system also there is application width to specify receiving unit, which specifies receiving unit to accept institute State the specified of the application width of the bonding agent in adhesive applicating portion.

11. the shoes adhesion agent application system described in any one in claims 1 to 10, wherein,

The shoes adhesion agent application system also has the specified receiving unit in coating interval, which specifies receiving unit to accept institute State the specified of the coating interval of the bonding agent in adhesive applicating portion.

12. the shoes adhesion agent application system described in any one in claim 1 to 11, wherein,

The shoes adhesion agent application system also has backlight, and the backlight is to the footwear component parts that is kept by the maintaining part It is irradiated,

The profile of the shadow of the footwear component parts that the outline identification portion identification is irradiated by the backlight.

13. the shoes adhesion agent application system described in any one in claim 1 to 12, wherein,

The shoes adhesion agent application system also has：

Storage part correspondingly stores painting with the relevant information of at least one party in the classification and size with footwear component parts Apply track；With

Judegment part according to the profile, is differentiated in the classification and size of the footwear component parts kept by the maintaining part At least one party,

The coating track configuration part obtains the corresponding coating track of differentiation result with the judegment part from the storage part.

14. shoes adhesion agent application system according to claim 13, wherein,

The shoes adhesion agent application system also has：

Track Pick-up portion is applied, the coating track is generated according to the profile；With

Track register is applied, it will be by the coating track of coating Track Pick-up portion generation and and by the maintaining part The relevant information of at least one party in the classification and size of the footwear component parts kept is correspondingly stored in described deposit Storage portion.

15. the shoes adhesion agent application system described in any one in claim 1 to 12, wherein,

The coating track configuration part generates the coating track according to the profile.

16. a kind of coating Track Pick-up device, has：

Maintaining part, so that the state of the bottom surface of footwear component parts upward keeps the footwear component parts；

Outline identification portion identifies the profile of the bottom surface；And

Track Pick-up portion is applied, applies coating track during bonding agent to the bottom surface according to profile generation.

17. a kind of footwear manufacturing method, comprising：

Outline identification step is identified so that the bottom surface state upward of footwear component parts keeps the guarantor of the footwear component parts Hold the profile of the bottom surface of the footwear component parts of portion's holding；

Track setting procedure is applied, according to the profile come coating track when setting to bottom surface coating bonding agent；And

Applying step proceeds as follows control：The mobile mechanism in the mobile adhesive applicating portion of control is so that the bonding agent Coated portion is moved along the coating track, so as to which the adhesive applicating portion be made to apply bonding agent to the bottom surface.