CN108813828B - Automatic shoe production line and control method thereof - Google Patents

Abstract

The invention discloses an automatic shoe production line which comprises a main control system, a main conveying belt and a tool assembly, wherein the tool assembly comprises a shoe tree and a tool plate for supporting the shoe tree, and the tool assembly sequentially flows to a shoe tree entering section, a steaming section, a brushing treatment agent section, a brushing glue section, a bottom buckling section and a pressing section which are positioned on the main conveying belt through the main control system. The invention also discloses a control method of the shoe automation production line. After the invention is used, the units do not need manpower or have little required manpower, the automation degree is high, and a large amount of labor force is saved.

Description

Automatic shoe production line and control method thereof

Technical Field

The invention relates to the field of shoemaking, in particular to an automatic shoe production line and a control method thereof.

Background

The traditional shoe making process is mostly finished by manual work, and has the defects of high labor intensity and uneven quality. The continuous rise of labor cost is not in line with the economic benefit of enterprises due to the fact that shoes are manufactured manually. At present, along with the continuous perfection of mechanical technology, most shoemaking processes can be completed through different machine equipment, but still need the manual work to carry the shoes semi-manufactured goods, especially relate to the manufacturing processes of vamp and outsole of shoes, can produce harmful substance such as dust, gas or glue to the surrounding environment, can cause harm to the human body for a long time.

In view of this, the present inventors have conducted intensive studies on the problems, and have made the present invention.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a shoemaking automatic production line with high automation degree and no need of carrying semi-finished shoes.

The invention also discloses a control method of the shoe automation production line, which has the advantages of small error rate and stable operation.

In order to achieve the purpose, the invention adopts the following technical scheme:

the automatic shoe production line comprises a main control system, a main conveying belt and a tool assembly, wherein the tool assembly comprises a shoe tree and a tool plate for supporting the shoe tree, and the tool assembly sequentially flows to a shoe tree entering section, a steaming section, a brushing treatment agent section, a brushing glue section, a bottom buckling section and a pressing section which are positioned on the main conveying belt through the control of the main conveying belt; the tooling plate is separated from the shoe tree in the pressing section, and the shoe automation production line further comprises a tooling recovery device for conveying the separated tooling plate back to the initial transmission position of the main conveyor belt; the shoe sole conveyer belt is provided with a shoe sole conveyer belt for conveying shoe soles, wherein the shoe sole conveyer belt is controlled by the main control system, the shoe last entering section is provided with a shoe last entering device for enabling shoe uppers to be sleeved into shoe lasts, the steaming section is provided with a steaming machine for steaming shoe uppers on the shoe lasts, the shoe sole conveyer belt is provided with a first spraying manipulator for spraying the shoe uppers with the treating agents, the shoe sole conveyer belt is provided with a second spraying manipulator for spraying the treating agents on the shoe soles at the position corresponding to the shoe sole brushing section, the shoe sole conveyer belt is provided with a first spraying manipulator for brushing shoe uppers, the shoe sole conveyer belt is provided with a second spraying manipulator for brushing shoe uppers at the position corresponding to the shoe upper brushing section, the shoe sole buckling section is provided with a shoe sole buckling machine for completing the buckling with the shoe soles, and the pressing section is provided with a tool plate, the first pressing machine for separating the shoe uppers from the shoe uppers.

The main conveyor belt further comprises a last installation section arranged behind the last loading section with the transmission direction of the tooling assembly on the main conveyor belt as the front and the direction opposite to the transmission direction as the rear.

The invention further comprises a conveyor belt bracket, wherein the conveyor belt bracket is provided with a first conveyor platform, a second conveyor platform and a third conveyor platform, the second conveyor platform is arranged above the first conveyor platform corresponding to the sole conveyor belt, and the third conveyor platform is arranged below the first conveyor platform; the main conveying belt is arranged on the first conveying platform in a penetrating way, and the first conveying platform is provided with a first installation end face which is close to the main conveying belt and is flush with or lower than the conveying plane of the main conveying belt; the last-entering section is provided with a last-entering feeding port positioned at the rear end of the last-entering section and a last-entering discharging port positioned at the front end of the last-entering section, the first installation end face is provided with a last-entering feeding limiting device corresponding to the position of the last-entering feeding port, a plurality of last-entering station sections are arranged between the last-entering feeding port and the last-entering discharging port, each last-entering station section is correspondingly provided with a last-entering register and a last-entering device for recording the position of the tooling assembly during transmission, the last-entering device is provided with a last-entering operation table, the last-entering operation table is arranged at one side of the main conveying belt, the other side of the main conveying belt is also provided with a plurality of pushing devices for pushing the tool components to enter the last-entering operation tables, each pushing device is arranged in one-to-one correspondence with each last-entering operation table, the front end of each first installation end face, which corresponds to each last-entering operation table, is provided with a last-entering limiting device for limiting the transmission of the tool components, each last-entering feeding limiting device and each last-entering limiting device comprise a detector for sensing the positions of the tool components and two limiting push rods for limiting the tool components to positions corresponding to the last-entering operation tables, and the two limiting push rods are symmetrically arranged on two sides of the main conveying belt and are provided with driving devices; the detector of each last-putting limiting device is arranged at the rear end of the limiting push rod, and the detector of each last-putting feeding limiting device is arranged at the front end of the limiting push rod; the last-in register, the detector and the driving device are respectively in communication connection with corresponding ports of the main control system.

The main conveyor belt between the steaming section and the brushing treatment agent section is further provided with a first oven and a first freezer in sequence, and the main conveyor belt passes through the first oven and the first freezer.

The shoe tree is provided with an induction chip for recording the shoe tree information; the brushing agent section is provided with a brushing agent feeding port positioned at the rear end of the brushing agent section and a brushing agent discharging port positioned at the front end of the brushing agent section, and a first reader-writer and a limiting rod used for limiting the transmission of the tool assembly are arranged at the first installation end face at the position corresponding to the brushing agent feeding port; the brushing agent section is provided with a display for displaying left and right foot information of the shoe tree, and the display is in communication connection with the output end of the first reader-writer; the limiting rod is provided with a driving device which is electrically connected with a control switch positioned on the brush treatment agent section; a vamp 3D scanner for scanning the tool assembly entering the brushing agent section is arranged below the sole conveyer belt and corresponds to the brushing agent feeding port, and a sole 3D scanner for scanning soles placed on the sole conveyer belt is arranged above the sole conveyer belt and corresponds to the brushing agent feeding port; a plurality of vamp brushing agent station sections are arranged between the brushing agent feeding port and the brushing agent discharging port, each vamp brushing agent station section is provided with a brushing agent register and a first spraying operation table, the first spraying operation table is arranged on one side of the main conveying belt and is flush with the conveying plane of the main conveying belt, the first spraying manipulator is arranged at the position adjacent to the first spraying operation table, the front end of the first installation end face, corresponding to each first spraying operation table, is also provided with a brushing agent limiting device, and the first spraying operation table is provided with a tool conveying device for conveying the tool assembly into the first spraying operation table; each tool conveying device is arranged in one-to-one correspondence with each first spraying operation table, clamping grooves penetrating through the front end and the rear end of each tool plate are formed in the bottom of each tool plate along the transmission direction of each tool plate, each tool conveying device comprises a pushing cylinder and a conveying rod used for pulling the tool assembly from the main conveying belt to the first spraying operation table, a first end of each conveying rod is fixedly connected with a piston rod of each pushing cylinder, and a clamping block matched with each clamping groove is arranged at a second end of each conveying rod; the limiting push rod of the brush treatment agent limiting device is arranged corresponding to the front end of the first spraying operation table, and the limiting push rod of the brush treatment agent limiting device is arranged in front of the detector of the brush treatment agent limiting device; the shoe sole conveyor belt is provided with a plurality of shoe sole brushing treatment agent station sections which are arranged in one-to-one correspondence with the shoe upper brushing treatment agent station sections, each shoe sole brushing treatment agent station section is provided with a second spraying manipulator and a 2D scanner for scanning the position of the shoe sole on the shoe sole conveyor belt, and the second spraying manipulator is arranged adjacent to the shoe sole conveyor belt; the image signal receiving end of the first spraying manipulator of the brushing agent section and the image signal receiving end of the second spraying manipulator of the brushing agent section are respectively connected with the output end of the 3D scanner in a communication way, the control end of the first spraying manipulator of the brushing agent section and the control end of the second spraying manipulator of the brushing agent section are connected with the output end of the main control system, the detector of the brushing agent limiting device is connected with the input end of the main control system in a communication way, the limiting push rod of the brushing agent limiting device and the pushing cylinder are respectively connected with the output end of the main control system, and the brushing agent register is connected with the corresponding port of the main control system in a communication way; the foremost end of the brush treatment agent section is also provided with a second oven, and the main conveying belt and the sole conveying belt pass through the second oven.

The brushing section is provided with a brushing feeding port positioned at the rear end of the brushing section and a brushing discharging port positioned at the front end of the brushing section, a brushing feeding limiting device is arranged at the position of the first installation end face corresponding to the brushing feeding port, and a limiting push rod of the brushing feeding limiting device is arranged behind a detector of the brushing feeding limiting device; the shoe upper brushing station sections which are the same as the shoe upper brushing station sections in number are arranged between the brushing feeding port and the brushing discharging port, the shoe upper brushing station sections which are in one-to-one correspondence with the shoe upper brushing station sections are arranged on the shoe sole conveying belt, and the distances among the shoe upper brushing agent station sections, among the shoe upper brushing station sections and among the shoe upper brushing station sections are the same; the vamp glue brushing station section is provided with a first glue spraying manipulator, a first glue spraying operation table, a tool conveying device, a glue spraying register and a glue spraying limiting device, the first glue spraying manipulator, the first glue spraying operation table, the tool conveying device, the glue spraying register and the glue spraying limiting device are arranged in the same mode as the vamp glue brushing treatment agent station section, the sole glue brushing station section is provided with a second glue spraying manipulator and a 2D scanner, and the second glue spraying manipulator and the 2D scanner are arranged in the same mode as the sole glue brushing treatment agent station section; the two glue brushing sections are arranged along the main conveying belt, a third oven is arranged between the two glue brushing sections, a fourth oven is arranged in front of the glue brushing sections at the front end, and the main conveying belt and the sole conveying belt penetrate through the third oven and the fourth oven; the utility model provides a brush glues section the graphic signal receiving end of first spouting gluey manipulator with the brush glues section the graphic signal receiving end of second spouting gluey manipulator respectively with vamp 3D scanner with the output communication connection of sole 3D scanner, brush glues section the control end of first spouting gluey manipulator with the control end of second spouting gluey manipulator of brush gluey section with main control system's output is connected, brush gluey stop device's detector with main control system's input communication connection, brush gluey stop device's spacing push rod, push cylinder respectively with main control system's output is connected, brush glue register with main control system's corresponding port communication connection.

The shoe sole conveyer belt is divided into a first conveyer belt, a second conveyer belt, a third conveyer belt, a fourth conveyer belt, a fifth conveyer belt and a sixth conveyer belt which are disconnected, wherein the first conveyer belt corresponds to the brushing agent section, the second conveyer belt corresponds to the second oven, the third conveyer belt corresponds to the rear end and is arranged at the brushing section, the fourth conveyer belt corresponds to the third oven and the fifth conveyer belt corresponds to the front end and is arranged at the brushing section, the sixth conveyer belt corresponds to the fourth oven and the bottom buckling section, all the connected sections are in flush butt joint with each other between the conveyer belts, and the first installation end face is respectively provided with a second oven limiting push rod and a third oven limiting push rod at the position corresponding to the foremost end of the second oven and the foremost end.

The invention also comprises a shoe tree conveyer belt, wherein the shoe tree conveyer belt is positioned at the front end of the pressing section, the pressing section is provided with a pressing feeding port positioned at the rear end of the pressing section and a pressing discharging port positioned at the front end of the pressing section, a plurality of pressing limiting devices are arranged on the first mounting end surface between the pressing feeding port and the pressing discharging port, the distance between the pressing limiting devices is larger than the width of the front end and the rear end of the tooling plate, and the detector of each pressing limiting device is arranged behind a limiting push rod; the pressing section is provided with a first manipulator for grabbing the shoe tree on the main conveyor belt to the pressing machine and a second manipulator for grabbing the shoe tree in the pressing machine to the shoe tree conveyor belt, and the first manipulator, the second manipulator and the pressing machine are arranged on the same side of the main conveyor belt; the detector of the pressing limiting device is in communication connection with the input end of the main control system, and the first manipulator and the second manipulator are respectively in communication connection with the output end of the main control system.

The shoe last conveyor belt is further provided with a cooling working section and a last removing working section in sequence, and the cooling working section is provided with a second freezer.

And a second reader-writer is arranged at the position of the first installation end face corresponding to the pressing feeding port, and the second reader-writer of the pressing section is in communication connection with the input end of the main control system.

The tool recovery device comprises a tool recovery belt, the transmission direction of the tool recovery belt is opposite to that of the main conveying belt, and the main conveying belt and the tool recovery belt are arranged up and down; the tool recovery device further comprises a first lifting transmission unit and a second lifting transmission unit which are respectively arranged at the rear end and the front end of the main conveying belt so that the tool plate can finish circulation on the main conveying belt and the tool recovery belt; the first lifting transmission unit comprises a first horizontal transmission device with a first transmission platform for placing the tooling plate and a first lifting device for controlling the first horizontal transmission device to lift; the second lowering and conveying unit comprises a second horizontal conveying device with a second conveying platform for placing the tooling plate and a second lifting device for controlling the lifting of the second horizontal conveying device.

The tool recovery belt is arranged on the third conveying platform in a penetrating manner, and the two sides of the third conveying platform, corresponding to the tool recovery belt, are respectively provided with a second installation end face which abuts against the tool recovery belt; the first lifting transmission unit further comprises a first limiting device arranged at the position, corresponding to the rear end of the tool recovery belt, of the second mounting end face, and a detector of the first limiting device is arranged at the rear end of a limiting push rod of the first limiting device; the detector of the first limiting device is connected with the corresponding input end of the main control system, and the driving device of the limiting push rod of the first limiting device, the first horizontal transmission device and the first lifting device are respectively connected with the corresponding output end of the main control system.

The first lifting transmission unit further comprises a second limiting device arranged at the position, corresponding to the rear end of the main transmission belt, of the first mounting end face, a detector of the second limiting device is arranged at the rear side of a limiting push rod of the second limiting device, a driving device of the limiting push rod of the second limiting device is connected with a corresponding output end of the main control system, and a detector of the second limiting device is in communication connection with a corresponding input end of the main control system.

The second lifting transmission unit further comprises a third limiting device arranged at a position of the first installation end face corresponding to the front end of the main transmission belt, and a detector of the third limiting device is arranged at the front side of a limiting push rod of the third limiting device; the detector of the third limiting device is in communication connection with the corresponding input end of the main control system, and the limiting push rod of the third limiting device, the second horizontal transmission device and the second lifting device are respectively connected with the corresponding output end of the main control system.

The main control system comprises a main controller, a last-putting control module, a steaming control module, a brushing agent control module, a brushing control module, a sole buckling control module, a pressing control module and a tooling plate recycling control module; the last-putting control module, the steaming control module, the brushing treatment agent control module, the brushing control module, the bottom-buckling control module and the pressing control module are respectively connected with the main controller; under the control of the main controller, the last entering section, the steaming section, the brush treatment agent section, the glue brushing section, the bottom buckling section, the pressing section and the tool recovery device of the shoe automation production line are sequentially controlled to complete corresponding operations on a last, a vamp, a sole and a tool plate which are arranged on a tool plate through the last entering control module, the steaming control module, the brush treatment agent control module, the glue brushing control module, the bottom buckling section, the pressing section and the tool recovery device, and control the tool assembly to be transmitted on a main conveying belt; the last-putting section completes station distribution and circulation of the tooling assembly under the control of the main controller through the last-putting control module, and manually completes the operation of sleeving the vamp into the last; the steaming section carries out steaming operation on the vamp under the control of the main controller through the steaming control module; the brushing agent section brushes the upper and the sole placed in the sole conveying belt under the control of the main controller through the brushing agent control module; the glue brushing section completes the glue brushing operation on the sole and the vamp under the control of the main controller through the glue brushing control module; the sole buckling section completes sole buckling operation on the vamp and the sole under the control of the main controller through the sole buckling control module; the pressing section separates the tooling plate from the shoe tree and presses the sole and the vamp after bottom buckling under the control of the main controller through the pressing control module; and the tool recovery device is controlled by the main controller to complete recovery operation on the separated tool plates through the tool recovery control module.

After the technical scheme of the invention is adopted, the tool assembly flows in the last-putting section, the steaming section, the finishing agent brushing section, the glue brushing section, the bottom buckling section and the pressing section in sequence, and as the working procedure sections are all positioned in the same main conveying belt, manual carrying is not needed between the working procedure sections, and in the pressing section, the tool plate is separated from the shoe last and can be recycled to the main conveying belt through the tool recycling device, so that the whole automation degree is high, a large amount of labor force is saved, and the production efficiency is greatly improved.

Further, through setting up shoe tree installation section at main conveyor belt rear end for frock board and shoe tree detachable transportation to main conveyor belt, avoided carrying the inconvenience of whole frock subassembly.

Further, through setting up last register, last feeding stop device, last stop device and thrust unit in last stage to connect these devices with the corresponding port of main control system, make last stage can accomplish the circulation of frock subassembly under the control of main control system control, degree of automation obtains improving.

Further, through setting up first oven and first freezer between the section of steaming and brushing the treating agent section for the vamp after steaming can be dried and cooled and finalized the design, has improved the quality of follow-up brushing the treating agent.

Further, through setting up vamp 3D scanner, sole 3D scanner, 2D scanner, first spraying manipulator, second spraying manipulator, brush treating agent stop device, frock conveyor, brush treating agent register, gag lever post, control switch, first read write line and display etc. at the brush treating agent section to adopt corresponding mode to connect, the manual work only needs control switch, and place assorted sole in sole conveyer belt relevant position, make vamp accessible first spraying manipulator accomplish the brush treating agent, the brush treating agent is accomplished to the sole accessible second spraying manipulator, brush the degree of automation of treating agent section obtains improving.

Further, the 2D scanner, the first glue spraying mechanical arm, the second glue spraying mechanical arm, the glue brushing feeding limiting device, the glue brushing limiting device, the tool conveying device, the glue brushing register and the like are arranged at the glue brushing section and are connected in a corresponding mode, so that the vamp can be subjected to glue brushing through the first glue spraying mechanical arm, the sole can be subjected to glue brushing through the second glue spraying mechanical arm, manual participation is not needed at the glue brushing section, and labor force is saved; in addition, through setting up two sections of gluing and corresponding each section of gluing that brushes and setting up an oven for vamp and sole can brush twice and glue, sole and vamp after the brush glue pass through the oven, make the glue on vamp and the sole keep bonding state, thereby guaranteed the quality of gluing, follow-up knot end and pressfitting back, sole and vamp combine compacter.

Further, since the sole conveyer belt is divided into the first conveyer belt, the second conveyer belt, the third conveyer belt, the fourth conveyer belt, the fifth conveyer belt and the sixth conveyer belt, when one of the conveyer belts stops, the other conveyer belts are not affected to convey soles, and any one of the brushing agent section, the two brushing glue sections and the bottom buckling section is not affected to the other working procedure sections during working.

Further, in the lamination section, the spacing frock subassembly of spacing push rod of accessible pressfitting stop device makes first manipulator snatch the shoe tree to the pressfitting machine, makes shoe tree and frock board phase separation, and rethread second manipulator snatchs the shoe tree that has vamp and sole of accomplishing the pressfitting to the shoe tree conveyer belt from the pressfitting machine, and whole pressfitting and separation process need not artifical the participation, has saved the labour to make degree of automation obtain improving.

Further, a second freezer and a work section for removing the shoe last are arranged on the shoe last conveyor belt, the shoe last with the pressed vamp and sole is cooled and shaped through the second freezer, the removal of the shoe last is completed in the work section for removing the shoe last, the shoe last obtained by removing the shoe last can be carried to the main conveyor belt again and forms a tool assembly with the tool plate, and the work cycle of the tool assembly is formed, so that the work efficiency is improved.

Further, since the second reader is arranged at the pressing section, the first manipulator, the limiting push rod of the pressing limiting device, the detector of the pressing limiting device and the main control system are connected in a corresponding mode, and the first manipulator can alternately grasp the left foot shoe tree and the right foot shoe tree.

Further, through setting up frock recovery area, first elevating unit and second elevating unit for the frock board that separates from the pressfitting section flows to the frock recovery area through first elevating unit, and the main conveyer belt is got back to through the second elevating unit from the frock recovery area again, accomplishes the circulation of frock board, and whole frock board recovery process need not artifical transport, has saved the labour, has improved production efficiency.

Further, because of the setting of the first limiting device, when the first tooling plate returns to the main conveying belt from the tooling recovery belt through the first lifting unit, if the second tooling plate is transmitted to the first lifting unit, the second tooling plate can be blocked by the limiting push rod of the first limiting device, and when the first tooling plate returns to the main conveying belt, the limiting push rod of the first limiting device descends again to allow the second tooling plate to pass through, so that the recovery accuracy of the tooling plate is ensured, and the sending collision of the tooling plate and the first horizontal conveying device is avoided.

Further, by additionally arranging the second limiting device at the rear end of the main conveying belt, when the tooling plate returns to the main conveying belt, the tooling plate can be sensed by the detector of the second limiting device, so that more accurate position information of the tooling plate is provided for the limiting push rod of the first limiting device, the recycling accuracy of the tooling plate is further improved, and the tooling plate is prevented from being collided with the first horizontal conveying device; meanwhile, when the tooling plate on the main conveying belt is blocked, the tooling plate can be prevented from being continuously recycled.

Further, because of the setting of the third limiting device, when the first tooling plate is transported to the tooling recovery belt from the main conveying belt through the second lifting unit, if the second tooling plate is transported to the second lifting unit, the second tooling plate can be blocked by the limiting push rod of the third limiting device, and when the first tooling plate is transported to the tooling recovery belt, the limiting push rod of the second limiting device descends again, so that the second tooling plate is allowed to pass through, the tooling plate recovery accuracy is ensured, and the tooling plate is prevented from being collided with the second horizontal conveying device.

Further, after the last putting-in section, the steaming section, the brushing treatment agent section, the brushing glue section, the buckling bottom section, the pressing section and the tool recovery device are controlled by the separate modules, the reliability of the main control system is higher, the anti-interference capability is improved, and the command sent by the main controller is more accurate.

Therefore, the invention has high automation degree and less labor force.

Drawings

FIG. 1 is a schematic overall layout of the present invention;

FIG. 2a is a schematic illustration of a slip last station segment of the present invention;

FIG. 2b is a schematic view of a tooling assembly of the present invention;

FIG. 3a is a schematic view of a steaming device according to the present invention;

FIG. 3b is a schematic view of a steam wet station segment of the present invention;

FIG. 3c is a schematic view of a portion of the steaming station segment and pusher of the present invention, wherein the pusher portion is a perspective view;

FIG. 3d is a schematic diagram of a pushing device according to the present invention;

FIG. 4a is a partial view of a brush treatment segment of the present invention wherein the end of the tool conveyor adjacent the main conveyor is a perspective view;

FIG. 4b is a schematic view of a brush treatment station segment of the present invention;

FIG. 4c is a schematic diagram of the tool conveying device and tool plate according to the present invention;

FIG. 5a is a partial view of a brush section of the present invention wherein one end of the tooling conveyor adjacent the main conveyor is a perspective view;

FIG. 5b is a schematic view of a brushing station segment of the present invention;

FIG. 6a is a schematic view of a sole segment of the present invention;

FIG. 6b is a partial schematic view of a sole segment of the present invention;

FIG. 6c is a schematic view of the tooling assembly of the present invention entering the bottom-of-buckle console;

FIG. 6d is a schematic view of an adjusting device of the bottom buckling machine of the present invention;

FIG. 7 is a schematic diagram of a press section according to the present invention;

FIG. 8a is a schematic view of a first lifting unit according to the present invention;

fig. 8b is a schematic view of a second lifting unit according to the present invention.

In the figure:

main conveyor belt-001 sole conveyor belt-002

First conveyor belt-0021 second conveyor belt-0022

Third conveyor belt-0023 fourth conveyor belt-0024

Fifth conveyor belt-0025 sixth conveyor belt-0026

Tool recovery belt-003 shoe tree conveying belt-004

Second freezer-0041 delasting working area-0042

Post-finishing unit-0043 sterilizing device-0044

Packaging unit-0045 conveyor support-005

First mounting end face-0051 and second mounting end face-0052

Third mounting end face-0053 last mounting section-10

Last slip casting section-20 last slip casting section station section-200

Last er-210 last er console-211

Fixed clamping device-212 camera-213

Console angle controller-214 operates display panel-215

Display screen-216 last feeding limiting device-220

Limit push rod-221 photoelectric sensor-222

Last-in limiting device-230 limiting push rod-231

Photoelectric sensor-232 pushing device-240

Steaming section-30 steaming station section-300

Steam wet shaping box-310 steam chamber-311

Steaming and wetting workbench-312 air inlet valve-313

Vacuumizing device-320 vacuum tank-321

Third control valve 323 of vacuum pump-322

Steam generator 330 first automatic valve 331

Steam reclaimer-332 second automatic valve 333

Steam wet feeding limit device-340 limit push rod-341

Photoelectric sensor 342 steaming limiter 350

Limit push rod-351 photoelectric sensor-352

First oven-31 first freezer-32

Push-pull device-360 fixed box-361

First cylinder-362 second cylinder-363

Positioning block-364

Shoe brush treating agent section-40 vamp brush treating agent station section-400

Stop lever-410 control switch-411

Vamp 3D scanner-412 display-413

Sole 3D scanner-420 2D scanner-421

First spraying operation table-430 tool conveying device-431

Conveying rod-4311 clamping block-4312

First spraying manipulator-432 second spraying manipulator-440

Brush treatment agent limiting device-450 limiting push rod-451

Photo-sensor-452 first reader-460

Second oven-41

Brushing section-50 vamp brushing station section-500

2D scanner-510 first glue spray console-520

Tool conveying device-521 first glue spraying manipulator-522

Second glue spraying mechanical arm-530 glue brushing feeding limiting device-540

Limit push rod-541 photoelectric sensor-542

Brushing limit device-550 limit push rod-551

Third oven-51 of photoelectric sensor-552

Fourth oven-52 bottom-fastening section-60

Bottom buckling machine-610 for bottom buckling station section-600

Bottom-buckling operation table-611 bolt hole-6111

Slide slot-6112 bolt-612

Adjusting device-613 rotary supporting platform-6131

Rotating shaft-6132 synchronous pulley-6133

Driving shaft-6134 driven shaft-6135

Control pedal-6136 supporting frame-6137

Bottom-buckling feeding limiting device-630 of indicator lamp-620

Limit push rod-631 photoelectric sensor-632

Sole feeding limiting device-640 limiting push rod-641

Photoelectric sensor 642 bottom-locking and limiting device 650

Limit push rod-651 photoelectric sensor-652

Sole limiting device-660 limiting push rod 661

Photoelectric sensor 662 driving device-663

Pushing device-670

Lamination section-70 lamination machine-700

First manipulator-710 second manipulator-720

Press fit limiting device-730 limiting push rod-731

Photo sensor-732 second reader-740

First lifting unit-810 first horizontal transfer device-811

First transfer platform-812 first lifting device-813

Second lifting unit-820 second horizontal transfer device-821

Second transfer platform-822 second lifting device-823

First limiting device-830 limiting push rod-831

Photoelectric sensor 832 second limiting device 840

Limit push rod-841 photoelectric sensor-842

Third limiting device-850 limiting push rod-851

Photoelectric sensor-852 tool assembly-910

Tooling plate-911 clamping groove-9111

Positioning groove-9112 shoe last-912

Detailed Description

The invention will be further described with reference to the accompanying drawings and specific examples.

It should be noted that in this embodiment, the detector is a photo sensor, and the main conveyor belt 001 is transported at a constant speed. Shoe last 912 sleeved with the vamp is buckled and inserted on tooling plate 911, and various modes exist for buckling and inserting shoe last 912 on tooling plate 911; for example, detachable connectors are provided on the last of last 912, and connectors are provided with inserts, such as pins 612, clips, etc.; in addition, insertion holes, clamping grooves, and the like corresponding to the insertion parts are provided in the tooling plate 911, and the last 912 and the tooling plate 911 may be mounted as described above. In this embodiment, the last feeding limiting device 220, the last feeding limiting device 230, the steaming feeding limiting device 340, the steaming limiting device 350, the brushing agent limiting device 450, the brushing feeding limiting device 540, the brushing limiting device 550, the second oven limiting device, the third oven limiting device, the bottom buckling feeding limiting device 630, the bottom buckling limiting device 650 and the pressing limiting device 730 all have a photoelectric sensor and two limiting push rods symmetrically arranged relative to the main conveyor belt 001, the limiting push rods at the position all control the limiting push rods to move up and down through a driving device correspondingly arranged, and the distance between the two limiting push rods of each limiting device is the same. When the tooling plate 911 is transmitted along the main conveying belt 001, the width of the tooling plate 911 along the two sides of the main conveying belt 001 is larger than the distance between the two symmetrically arranged limiting push rods, namely, when the tooling plate 911 is transmitted, the two symmetrically arranged limiting push rods are protruded from the two sides of the tooling plate 911, so that the tooling plate 911 is blocked when the two symmetrically arranged limiting push rods are lifted, and the tooling plate 911 stays at the position.

1-8, including a main control system, a main conveyor 001, and a plurality of tool assemblies 910 transferred on the main conveyor 001, each tool assembly 910 including a shoe last 912 and a tool plate 911 for supporting the shoe last 912, the tool assemblies 910 sequentially flowing on the main conveyor 001 to a last-in section 20, a steaming section 30, a brushing agent section 40, a brushing agent section 50, a sole-fastening section 60 and a pressing section 70 on the main conveyor 001 by control of the main control system; the tooling plate 911 is separated from the shoe last 912 in the press section 70, and the shoe automation line further includes a tooling recovery device for conveying the separated tooling plate 911 back to the rearmost end of the main conveyor 001; the shoe sole feeding device 210 for feeding shoe soles 912 is correspondingly arranged above the main conveying belt 001 from the brushing agent section 40 to the sole buckling section 60, the shoe last feeding section 20 is provided with a shoe last feeding device 210 for feeding shoe lasts 912, the steaming section 30 is provided with a steaming machine 310 for steaming shoe uppers on the shoe lasts 912, the brushing agent section 40 is provided with a first spraying manipulator 432 for spraying the treating agent on the shoe uppers, the shoe sole conveying belt 002 is provided with a second spraying manipulator 440 for spraying the treating agent on the shoe soles at the position corresponding to the brushing agent section, the rubber brushing section 50 is provided with a first rubber spraying manipulator 522 for brushing rubber on the shoe uppers, the shoe sole conveying belt 002 is provided with a second rubber spraying manipulator 530 for brushing rubber on the shoe soles at the position corresponding to the rubber brushing section, the sole buckling section 60 is provided with a sole buckling machine 610 for completing the buckling of the shoe uppers and the shoe soles, and the pressing section 70 is provided with a first manipulator 710 for separating the tool and the shoe uppers 912 and a pressing machine 700 for pressing the shoe soles and the shoe uppers. Because each working section is on the main conveying belt 001, manual carrying is not needed, and the degree of automation is high. In this embodiment, the master control system adopts a PLC control system.

Preferably, the present invention uses the direction of conveyance of the tooling assembly 910 on the main conveyor 001 as the front and the direction opposite to the direction of conveyance as the back, and the main conveyor 001 further includes a last installation section 10 disposed at the rear end of the last entering section 20 for preparing for the next shoe upper last entering step.

Preferably, the invention further comprises a conveyor belt support 005, the conveyor belt support 005 is provided with a first conveying platform, a second conveying platform and a third conveying platform, the second conveying platform is arranged above the first conveying platform corresponding to the sole conveying belt 002, and the third conveying platform is arranged below the first conveying platform.

The main conveying belt 001 is arranged on a first conveying platform of the conveying belt bracket 005 in a penetrating manner, and the first conveying platform of the conveying belt bracket 005 is provided with a first mounting end face 0051 which is close to the main conveying belt 001 and is flush with or lower than the conveying plane of the main conveying belt 001 on two sides of the main conveying belt 001; the distance between the first mounting end surfaces 0051 on both sides and the corresponding side edges of the main conveyor belt 001 in this embodiment is less than 5mm, and is lower than the conveying plane of the main conveyor belt 001, the lower height is less than 5mm, and the width of the tooling plate 911 is greater than the width of the main conveyor belt 001, so that each limiting push rod on the first mounting end surface 0051 in the following text can prevent the tooling plate 911 from passing. The sole conveyer belt 002 is arranged on the second conveyer platform of the conveyer belt bracket 005 in a penetrating way.

The slip-tree section 20 has a slip-tree feed port at the rear end of the slip-tree section 20 and a slip-tree discharge port at the front end of the slip-tree section 20, and the first mounting end 0051 is provided with a slip-tree feed stop 220 at a location corresponding to the slip-tree feed port. A plurality of last-entering station sections 200 are arranged between the last-entering feed port and the last-entering discharge port, a last-entering register for recording the position of the tooling assembly 910 during transmission and a last-entering device 210 are correspondingly arranged on each last-entering station section 200, each last-entering device 210 is provided with a last-entering operation table 211, each last-entering operation table 211 is arranged on one side of the main conveying belt 001, a plurality of pushing devices 240 for pushing the tooling assembly 910 to enter the last-entering operation table 211 are also arranged on the other side of the main conveying belt 001, and each pushing device 240 is arranged in one-to-one correspondence with each last-entering operation table 211. The pushing device 240 is a conventionally known component, and includes a pushing rod and an electric cylinder, where the electric cylinder is connected to an output end of the PLC control system, and the pushing rod is connected to a piston rod of the electric cylinder in a manner parallel to each other, and the pushing rod is horizontally disposed and perpendicular to a conveying direction of the main conveying belt 001. The first mounting end surface 0051 is provided with a slip-lasting limiting device 230 for limiting the transfer of the tooling assembly 910 corresponding to the front end of each slip-lasting operation table 211. The slip-lasting feeding limiting device 220 and each slip-lasting limiting device 230 comprise a photoelectric sensor for sensing the position of the tooling assembly 910 and two limiting push rods for limiting the tooling assembly 910 to transmit on the main conveyor belt 001, and the two limiting push rods are symmetrically arranged on two sides of the main conveyor belt 001 and are provided with driving devices. The photoelectric sensor 232 of each slip-lasting limiting device 230 is arranged at the rear end of the limiting push rod 231 of each slip-lasting limiting device 230, and the photoelectric sensor 222 of each slip-lasting feeding limiting device 220 is arranged at the front end of the limiting push rod 221 of each slip-lasting feeding limiting device 220. The last-in register is in communication connection with a corresponding port of the PLC control system, the photoelectric sensor 222 and the photoelectric sensor 232 are respectively connected with a corresponding input end of the PLC control system, and the electric cylinder of the limit push rod 221 and the electric cylinder of the limit push rod 231 are respectively connected with a corresponding output end of the PLC control system.

Preferably, a first oven 31 and a first freezer 32 are also arranged on the main conveyor 001 between the steaming section 30 and the brush treatment section 40 in sequence, and the main conveyor 001 passes through the first oven 31 and the first freezer 32; so that the vamp on the shoe last 912 can be dried and shaped after being steamed.

In this embodiment, the steaming section 30 adopts the same arrangement manner as the last-putting section 20, that is, the steaming section 30 has a steaming feeding port at the rear end of the steaming section 30 and a steaming discharging port at the front end of the steaming section 30, the first mounting end face 0051 is provided with a steaming feeding limiting device 340 corresponding to the position of the steaming feeding port, and a limiting push rod 341 of the steaming feeding limiting device 340 is disposed behind the corresponding photoelectric sensor 342. 4 steaming station sections 300 are arranged between the steaming feeding port and the steaming discharging port, and each steaming station section 300 is correspondingly provided with a steaming register for recording the position of the tooling assembly 910 during transmission; the front end of each steaming workbench 312 corresponding to the first mounting end surface 0051 is provided with a steaming limiting device 350 for collecting the position information of the tool assembly 910 and limiting the transmission of the tool assembly 910, and the photoelectric sensor 352 of each steaming limiting device 350 is arranged at the rear end of the limiting push rod 351. The steaming register, the photoelectric sensor 342 and the photoelectric sensor 352 are respectively connected with corresponding input ends of the PLC control system, and the driving device of the limiting push rod 341, the driving device of the limiting push rod 351 and the push-pull device 360 are respectively connected with corresponding output ends of the PLC control system.

Preferably, shoe last 912 is provided with an inductive chip for recording shoe last 912 information; the brush treatment agent section 40 has a brush treatment agent feed port at the rear end of the brush treatment agent section 40 and a brush treatment agent discharge port at the front end of the brush treatment agent section 40, and the first mounting end surface 0051 is provided with a first reader/writer 460 and a stop lever 410 for limiting the conveyance of the tool assembly 910 at a position corresponding to the brush treatment agent feed port. The brush treating agent section 40 is provided with a display 413 for displaying information of left and right feet of the shoe last 912, and the display 413 is connected with an output end of the first reader/writer 460. The stop lever 410 has a drive device electrically connected to a control switch 411 on the brush treatment section 40, and the display 413 and the control switch 411 are mounted on the conveyor support 005 at positions corresponding to the second conveyor platform.

A vamp 3D scanner 412 for scanning the vamp on the tooling assembly 910 entering the brushing agent section 40 is arranged below the sole conveying belt 002 and corresponds to the brushing agent feeding port, and a sole 3D scanner 420 for scanning the sole placed on the sole conveying belt 002 is arranged above the sole conveying belt 002 and corresponds to the brushing agent feeding port; a plurality of vamp brushing agent station sections 400 are arranged between the brushing agent feeding port and the brushing agent discharging port, each vamp brushing agent station section 400 is provided with a brushing agent register and a first spraying operation table 430, the first spraying operation table 430 is arranged on one side of the main conveying belt 001 and is flush with the conveying plane of the main conveying belt 001, and the first spraying mechanical arm 432 is arranged at the position adjacent to the first spraying operation table 430.

The first mounting end surface 0051 is further provided with a brush treatment agent limiting device 450 at a position corresponding to the front end of each first spraying operation table 430, and the brush treatment agent limiting device 450 includes a limiting push rod 451 and a photoelectric sensor 452. The first spraying station 430 is provided with a tool conveyor 431 for feeding the tool assembly 910 from the main conveyor 001 to the first spraying station 430. Each tooling conveying device 431 is arranged in one-to-one correspondence with each first spraying operation table 430. The tooling conveying device 431 and the first spraying operation platform 430 are arranged on the same side of the main conveying belt 001, a clamping groove 9111 penetrating through the front end and the rear end of the tooling plate 911 is formed in the bottom of the tooling plate 911 along the conveying direction of the tooling plate 911, the tooling conveying device 431 comprises a pushing cylinder and a conveying rod 4311 used for pulling the tooling assembly 911 from the main conveying belt 001 to the first spraying operation platform 430, the first end of the conveying rod 4311 is fixedly connected with a piston rod of the pushing cylinder and is positioned on one side, away from the main conveying belt 001, of the first spraying operation platform 430, the second end of the conveying rod 4311 extends onto the main conveying belt 001 and is provided with a clamping block 4312 matched with the clamping groove, and the pushing cylinder can drive the conveying rod 4311 to move in the direction perpendicular to the conveying direction of the tooling assembly 910; when a certain brushing agent station section 400 performs station allocation, the corresponding limit push rod 451 is lifted to prevent the tool assembly 910 from being transmitted forwards, and at the moment, the clamping groove 9111 formed at the bottom of the tool plate 911 along the front-rear direction passes through the clamping block 4312, so that the tool assembly 910 is pulled to the first spraying operation table 430 by the tool conveying device 431 along the direction perpendicular to the transmission direction; when the spraying treatment agent is finished, the tooling conveying device 431 pushes the tooling assembly 911 to the main conveying belt 001, at this time, the corresponding limiting push rod 451 descends without limitation, the tooling assembly 910 is driven by the main conveying belt 001, so that the clamping groove 9111 is separated from the clamping block 4312, and the tooling assembly 910 can continuously circulate on the main conveying belt 001.

The limiting push rod 451 of the brush treatment agent limiting device 450 is arranged corresponding to the front end of the first spraying operation table 430, and the limiting push rod 451 of the brush treatment agent limiting device 450 is arranged in front of the photoelectric sensor 452 of the brush treatment agent limiting device 450; the sole conveyer 002 is provided with a plurality of sole brushing agent station sections which are arranged in one-to-one correspondence with the vamp brushing agent station sections 400, and each sole brushing agent station section is provided with a second spraying manipulator 440 and a 2D scanner 421 for scanning the position of the sole on the sole conveyer 002; the graphic signal receiving end of the first spraying manipulator 432 of the brushing agent section 40 and the graphic signal receiving end of the second spraying manipulator 440 of the brushing agent section 40 are respectively connected with the output ends of the vamp 3D scanner 412 and the sole 3D scanner 420 in a communication way, and the control end of the first spraying manipulator 432 of the brushing agent section 40 and the control end of the second spraying manipulator 440 of the brushing agent section 40 are connected with the output end of the PLC control system; the photoelectric sensor 452 of the brushing agent limiting device 450 is connected with the corresponding input end of the PLC control system, the driving device of the limiting push rod 451 of the brushing agent limiting device 450 and the pushing cylinder of the tool conveying device 431 are respectively connected with the corresponding output end of the PLC control system, and the brushing agent register is in communication connection with the corresponding port of the PLC control system; the foremost end of the brush treatment agent section 40 is also provided with a second oven 41, and the main conveyor belt 001 and the sole conveyor belt 002 pass through the second oven 41, so that the treatment agent on the upper and the sole is dried.

Preferably, the brushing section 50 has a brushing feeding port at the rear end of the brushing section 50 and a brushing discharging port at the front end of the brushing section 50, the position of the first mounting end surface 0051 corresponding to the brushing feeding port is provided with a brushing feeding limiting device 540, and a limiting push rod 541 of the brushing feeding limiting device 540 is arranged behind a photoelectric sensor 542 of the brushing feeding limiting device 540. The vamp brushing station sections 500 which are the same as the vamp brushing station sections 400 in number are arranged between the brushing feeding port and the brushing discharging port, the sole conveyer belt 002 is provided with sole brushing station sections which are in one-to-one correspondence with the vamp brushing station sections 500, and the distances among the vamp brushing agent station sections 400, among the sole brushing agent station sections, among the vamp brushing station sections 500 and among the sole brushing station sections are the same. The vamp brushing station section 500 is provided with a first glue spraying manipulator 522, a first glue spraying operation table 520, a tool conveying device 521, a glue spraying register and a glue spraying limiting device 550, the first glue spraying manipulator 522, the first glue spraying operation table 520, the tool conveying device 521, the glue spraying register and the glue spraying limiting device 550 are arranged in the same mode as the vamp brushing treatment agent station section 400, the sole brushing station section is provided with a second glue spraying manipulator 530 and a 2D scanner 510, and the second glue spraying manipulator 530 and the 2D scanner 510 are arranged in the same mode as the sole brushing treatment agent station section. For the vamp and the sole lock after being firmer, brush twice in this embodiment and glue, consequently, the section 50 is glued to the brush is equipped with two in succession along the direction of transmission of main conveyor 001, be equipped with third oven 51 between two sections 50 are glued to the brush, still be equipped with fourth oven 52 before the section 50 is glued to the brush of front end, and main conveyor 001 and sole conveyer belt 002 pass third oven 51 and fourth oven 52, the setting of third oven 51 and fourth oven 52 makes the glue above sole and the vamp keep viscidity, and then when making to detain the end, vamp and sole bonding are inseparabler. The image signal receiving end of the first glue spraying manipulator 522 of the glue brushing section 50 and the image signal receiving end of the second glue spraying manipulator 530 of the glue brushing section 50 are respectively connected with the corresponding output ends of the vamp 3D scanner 412 and the sole 3D scanner 420; the photoelectric sensor 542 of the brushing feeding limiting device 540 and the photoelectric sensor 552 of the brushing limiting device 550 are respectively connected with corresponding input ends of the PLC control system; the driving device of the limit push rod 541 of the glue brushing feeding limit device 540, the driving device of the limit push rod 551 of the glue brushing limit device 550, the pushing cylinder of the tool conveying device 521, the control end of the first glue spraying manipulator 522 of the glue brushing section 50 and the control end of the second glue spraying manipulator 530 of the glue brushing section 50 are respectively connected with the corresponding output end of the PLC control system, and the glue brushing register is in communication connection with the corresponding port of the PLC control system.

Preferably, the sole conveyer 002 is divided into a first conveyer 0021, a second conveyer 0022, a third conveyer 0023, a fourth conveyer 0024, a fifth conveyer 0025 and a sixth conveyer 0026 which are disconnected, the first conveyer 0021 is arranged corresponding to the brushing agent section 40, the second conveyer 0022 is arranged corresponding to the second oven 41, the third conveyer 0023 is arranged corresponding to the brushing agent section 50 at the rear end, the fourth conveyer 0024 is arranged corresponding to the third oven 51, the fifth conveyer 0025 is arranged corresponding to the brushing agent section 50 at the front end, the sixth conveyer is arranged corresponding to the fourth oven 52 and the buckling bottom section 60, and therefore the brushing agent section 40, the two brushing agent sections 50 and the buckling bottom section 60 cannot be affected by each other due to the fact that whether the sole conveyer is conveyed or not, and the two ends of the first conveyer 0021, the second conveyer 0022, the third conveyer 0023, the fourth conveyer 0024 and the fifth conveyer 0025 and the sixth conveyer 0026 are flush.

The first mounting end surface 0051 is provided with a second oven limiting device and a third oven limiting device at the foremost position corresponding to the second oven 41 and the foremost position of the third oven 51, respectively. The first conveyer belt 0021, the second conveyer belt 0022, the third conveyer belt 0023, the fourth conveyer belt 0024 and the fifth conveyer belt 0025 are respectively connected with corresponding output ends of a PLC control system, and the stopping and the transmission of the conveyer belts are controlled by the PLC control system; when the whole production line works, the sixth conveying belt 0026 is continuously conveyed; the driving device of the limiting push rod of the second oven limiting device and the driving device of the limiting push rod of the third oven limiting device are respectively connected with corresponding output ends of the PLC control system, and the photoelectric sensor of the second oven limiting device and the photoelectric sensor of the third oven limiting device are respectively connected with corresponding input ends of the PLC control system; the photoelectric sensor of the second oven limiting device is arranged behind the limiting push rod of the second oven limiting device, and the photoelectric sensor of the third oven limiting device is arranged behind the limiting push rod of the third oven limiting device. When the previous working procedure is finished and the next working procedure is started to perform station distribution, and the next working procedure is in operation, the PLC control system can delay the station distribution time by controlling the second oven limiting push rod and the third oven limiting push rod, so that errors in station distribution are reduced. In this embodiment, the lengths of the brushing agent section 40, the brushing section 50 at the rear end and the brushing section 50 at the front end are the same; the second oven 41, the third oven 51 and the fourth oven 52 are the same in length; the time for the tool assembly 910 to flow from the brushing section 40 to the brushing section 50 at the rear end and the time for the brushing section 50 at the rear end to flow to the brushing section 50 at the front end are the same, and the station allocation error probability is reduced, so that the limiting time of the limiting push rod of the second oven limiting device and the limiting push rod of the third oven limiting device is reduced, and the overlong residence time of the tool assembly 910 and the sole in the second oven 51 or the third oven 52 is avoided.

The bottom buckling section 60 in the embodiment is provided with a bottom buckling feeding port at the rear end of the bottom buckling section 60 and a bottom buckling discharging port at the front end of the bottom buckling section 60; the first mounting end surface 0051 is provided with a bottom-fastening feed limiting device 630 for limiting the tool assembly 910 from being transmitted into the bottom-fastening section 60 at a position corresponding to the bottom-fastening feed port, and a limiting push rod 631 of the bottom-fastening feed limiting device 630 is arranged behind the photoelectric sensor 632. The bottom buckling feeding port and the bottom buckling discharging port are provided with 6 bottom buckling station sections 600, the bottom buckling station sections 600 are provided with a bottom buckling register and a bottom buckling machine 610, the bottom buckling machine 610 is provided with a bottom buckling operation table 611, the bottom buckling operation table 611 is arranged on one side of the main conveying belt 001 and is flush with a conveying plane of the main conveying belt 001, the bottom buckling station sections 600 are further provided with a pushing device 670 for pushing the tool assembly 910 into the bottom buckling operation table 611, and the pushing device 670 is arranged in a one-to-one correspondence manner with the bottom buckling operation tables 611 and is located on the other side of the main conveying belt 001. The front end of the first mounting end surface 0051 corresponding to each bottom buckling operation platform 611 is provided with a bottom buckling limiting device 650; the limit push rod 651 of each bottom-locking limit device 650 is disposed in front of the corresponding photo-sensor 652.

The second conveyor platform of the conveyor belt bracket 005 has a third mounting end face 0053 disposed against the sixth conveyor belt 0026 at both ends corresponding to the sixth conveyor belt 0026 (i.e., a portion of the sole conveyor belt 002); a sole feeding limiting device 640 which corresponds to the sole buckling feeding limiting device 630 up and down is arranged on the third mounting end surface 0053, and the sole feeding limiting device 640 is used for limiting the sole to be transmitted into the sixth conveyer belt 0026 positioned at the sole buckling section 60; the sole feeding limiting device 640 comprises a photoelectric sensor 642 and two limiting push rods 641 symmetrically arranged at two sides of the sixth conveying belt 0026, wherein the two limiting push rods 641 are provided with limiting parts which can limit the forward conveying of soles on the sixth conveying belt 0026 and are close to each other, a space for the soles to pass through is formed between the two limiting push rods 641, the limiting push rods 641 of the sole feeding limiting device 640 are arranged behind the photoelectric sensor 642, and each limiting push rod is further provided with a driving device 643 for driving the limiting parts of the limiting push rods 641 to be close to or far away from each other; the third mounting end face 0053 is further provided with sole limiting devices 660 corresponding to the bottom buckling limiting devices 650 one by one, the sole limiting devices 660 are used for limiting the soles to be transmitted on the sixth conveying belt 0026, the limiting push rods 661 of the sole limiting devices 660 are arranged in front of the photoelectric sensors 662, the two limiting push rods 661 are provided with limiting parts which can limit the soles to be transmitted forwards on the sixth conveying belt 0026 and are close to each other, a distance for the soles to pass through is formed between the two limiting push rods 661, and each limiting push rod 661 is provided with a driving device 663 for driving the limiting parts of each limiting push rod 661 to be close to or far away from each other. The photo-sensor 642, the photo-sensor 662, the button bottom register, the photo-sensor 632 and the photo-sensor 652 are respectively connected with corresponding input ends of the PLC control system, and the driving device 643, the driving device 663, the driving device of the limiting push rod 631, the driving device of the limiting push rod 651 and the pushing device 670 are respectively connected with corresponding output ends of the PLC control system.

Preferably, the invention further comprises a shoe tree conveyer belt 004, the shoe tree conveyer belt 004 is arranged at the front end position of the pressing section 70, the pressing section 70 is provided with a pressing feeding port positioned at the rear end of the pressing section 70 and a pressing discharging port positioned at the front end of the pressing section 70, 5 pressing limiting devices 730 are arranged on a first mounting end face 0051 between the pressing feeding port and the pressing discharging port, the distance between the pressing limiting devices 730 is larger than the width of the front end and the rear end of the tooling plate 911, and a photoelectric sensor 732 of each pressing limiting device 730 is arranged at the rear end of a corresponding limiting push rod 731; the pressing section 70 is provided with a first manipulator 710 for grabbing the shoe last 912 on the main conveying belt 001 to the pressing machine 700 and a second manipulator 720 for grabbing the shoe last 912 in the pressing machine 700 to the shoe last 912 conveying belt, the first manipulator 710, the second manipulator 720 and the pressing machine 700 are all arranged on the same side of the main conveying belt 001, a photoelectric sensor 732 of the pressing limiting device 730 is connected with the input end of the PLC control system, and the first manipulator 710 and the second manipulator 720 are respectively connected with the output end of the PLC control system. The first manipulator 710 can grasp the shoe tree 912 from the tool assembly 910 and put it on the press 700, and grasp the shoe tree conveyer 004 from the press 700 through the second manipulator 720, so that the steps of manually taking and putting the shoe tree 912 are reduced, and the degree of automation is further improved.

Preferably, last conveyor 004 is further provided with a cooling run and a de-lasting run 0042 in sequence, the cooling run being provided with a second freezer 0041. In the delasting station 0042, the worker can delast the last 912 to obtain the finished shoe, and after the last 912 is collected, the last 912 is reinstalled into the tooling plate 911 above the main conveyor 001. The subsequent work on last conveyor 004 for the finished shoe after de-lasting in this embodiment also includes a conventional finishing unit 0043, sterilizing device 0044 and packaging unit 0045 for the finished shoe.

Preferably, a second reader/writer 740 is disposed at a position of the first mounting end surface 0051 corresponding to the press-fit feeding port, and the second reader/writer 740 is connected to a corresponding input end of the PLC control system. The first manipulator 710 can automatically and alternately grasp the shoe tree 912 with left and right foot information on the pressing section 70 of the main conveying belt 001, the whole process is not required to be completed manually, and the production efficiency is greatly improved. In this embodiment, the distance between the second reader 740 and the limiting push rod 731 at the rearmost end of the pressing section 70 is equal to the width of the front and rear ends of the tooling plate 911; so that when the last 912 on the tooling assembly 910 limited by the limiting push rod 731 at the rearmost end passes through the second reader 740, the information is read, but the last 912 on the tooling assembly 910 that is continuously transmitted cannot be read by the second reader 740, and when the tooling assembly 910 limited by the limiting push rod 731 at the rearmost end is transmitted forward, the tooling assembly 910 that is continuously transmitted can only be read by the second reader 740.

Preferably, the tool recovery device comprises a tool recovery belt 003, wherein the main conveying belt 001 is arranged up and down with the tool recovery belt 003, and the conveying direction of the tool recovery belt 003 is opposite to that of the main conveying belt 001. The tool recovery device further comprises a first lifting transmission unit 810 and a second lowering transmission unit 820 which are respectively arranged at the rear end and the front end of the main conveying belt 001 to enable the tool plate 911 to finish circulating circulation on the main conveying belt 001 and the tool recovery belt 003; the first elevating and transferring unit 810 includes a first horizontal transferring device 811 having a first transferring platform 812 for placing the tooling plate 911 and a first elevating device 813 for controlling the elevation of the first horizontal transferring device 811; the second lowering and transferring unit 820 includes a second horizontal transferring device 821 having a second transferring platform 822 for placing the tooling plate 911 and a second elevating device 823 for controlling the elevation of the second horizontal transferring device 821. When the last 912 of the tool assembly 910 is removed, the tool plate 911 at the front end of the main conveyor 001 may be transferred downward onto the tool recovery belt 003 by the second elevating transfer unit 820; through the transportation of frock recovery area 003, frock board 911 accessible first elevating unit 810 on the frock recovery area 003 retrieves the rearmost end to main conveyer belt 001, accomplishes the circulation of frock board 911, very big transfer has improved efficiency. In this embodiment, the first horizontal transmission device 811 and the second horizontal transmission device 821 are the same type of well-known equipment, and include a driving shaft, a horizontal transmission track wound outside the driving shaft and capable of transmitting the rotation of the driving shaft to the driving shaft, and a motor in transmission connection with the driving shaft, where the motor is in communication connection with the output end of the PLC control system, and the upper surfaces of the horizontal transmission tracks are respectively a first transmission platform 812 and a second transmission platform 822, and the tool plate 911 is horizontally conveyed onto the main conveyor 001 or the tool recovery belt 003 by means of the acting force of the tool plate 911 during the horizontal transmission of the horizontal transmission tracks. The first lifting device 813 and the second lifting device 823 are the same known equipment, and here comprise electric cylinders, the piston rods of the electric cylinders are respectively connected with the first horizontal transmission device 811 and the second horizontal transmission device 821, the cylinder bodies of the electric cylinders are fixedly arranged, and the electric cylinders are also in communication connection with the output end of the PLC control system, so that the PLC control system can control the electric cylinders to work.

Preferably, the tool recovery belt 003 is arranged on a third conveying platform of the conveying belt support 005 in a penetrating manner, and two sides of the conveying belt support 005 corresponding to the tool recovery belt 003 are respectively provided with a second mounting end face 0052 close to the tool recovery belt 003. The first lifting transmission unit 810 further comprises a first limiting device 830 arranged at a position of the second mounting end face 0052 corresponding to the rear end of the tooling recovery belt 003, and the first limiting device 830 is used for limiting transmission of the tooling plate 911; the photoelectric sensor 832 of the first limiting device 830 is disposed at the rear end of the corresponding limiting pushrod 831. The driving device, the first horizontal transmission device 811 and the first lifting device 813 of the limiting pushrod 831 are respectively connected with the corresponding output end of the PLC control system, and the photoelectric sensor 832 is connected with the corresponding input end of the PLC control system.

Preferably, the first lifting transmission unit 810 further includes a second limiting device 840 disposed at a position of the first mounting end surface 0051 corresponding to the rear end of the main transmission belt 001, a photoelectric sensor 842 of the second limiting device 840 is disposed at the rear side of the limiting push rod 841, a driving device of the limiting push rod 841 of the second limiting device 840 is connected with a corresponding output end of the PLC control system, and the photoelectric sensor 842 of the second limiting device 840 is connected with a corresponding input end of the PLC control system. When the tooling plate 911 flows from the tooling recovery belt 003 to the main conveying belt 001, the information of the tooling plate 911 returned to the main conveying belt 001 is fed back to the PLC control system in time, the PLC control system is convenient to control the recovery of the tooling plate 911, the situation that the tooling plate 911 is recovered by the first lifting unit 901 when the rear end of the main conveying belt 001 is blocked is avoided, and the automation degree of the recovery of the tooling plate 911 is improved.

Preferably, the second elevating transmission unit 820 further includes a third limiting device 850 disposed at a position corresponding to the front end of the main conveyor belt 001 on the first mounting end surface 0051, and a photoelectric sensor 852 of the third limiting device 850 is disposed at the front side of the limiting push rod 851. The driving device of the limit push rod 851 of the third limit device 850, the second horizontal transmission device 821 and the second lifting device 823 are respectively connected with the corresponding output end of the PLC control system, and the photoelectric sensor 852 of the third limit device 850 is connected with the corresponding input end of the PLC control system. By means of the arrangement, the tooling plate 911 can automatically flow from the main conveying belt 001 to the tooling recovery belt 003, and the tooling plate 911 can be recovered automatically without manual operation.

The PLC control system comprises a main controller, a last-putting control module, a steaming control module, a brushing agent control module, a brushing control module, a bottom buckling control module, a pressing control module and a tooling plate recycling control module; the last-putting control module, the steaming control module, the brushing treatment agent control module, the brushing control module, the bottom-buckling control module and the pressing control module are respectively connected with the main controller; under the control of the main controller, the last entering section 20, the steaming section 30, the brushing agent section 40, the glue brushing section 50, the bottom buckling section 60, the pressing section 70 and the tool recovery device of the shoe automation production line are sequentially controlled by the last entering control module, the steaming control module, the brushing agent control module, the glue brushing control module, the bottom buckling control module, the pressing control module and the tool plate recovery control module to complete corresponding operations on a shoe last 912, a shoe upper, a shoe sole and a tool plate 911 which are arranged on a tool plate 911, and control the tool assembly 910 to be transmitted on a main conveying belt; specifically:

The last 912 installed on the tooling plate 911 sends the position information of the tooling assembly 910 and the number information of the last feeding ports of the last feeding limit device 220 to the last control module through the photoelectric sensors 232 of the last feeding limit device 230 at the last-entering section 20, the last control module combines with each last register to enable the main controller to control the driving device of the limit push rod 221 of the last feeding limit device 220 of the last-entering section 20, the driving device of the limit push rod 231 of the last-entering limit device 230 and the pushing device 240 to complete station distribution, and after the tooling assembly 910 on the last-entering operating platform 211 is manually pushed onto the main conveyor belt 001 by sleeving the shoe last 912, the photoelectric sensors 232 of the last-entering limit device 230 sense the tooling assembly 910 and send signals to the last control module, the last control module enables the last control module to control the limit push rod 232 of the last-entering limit device 230 not to limit, so that the tooling assembly 910 is transmitted to the next process.

The position information of the tooling assembly 910 is sent to the steaming control module by the tooling assembly 910 of the photoelectric sensor 342 of the steaming feeding limiting device 340 through the photoelectric sensor 352 of each steaming limiting device 350 in the steaming section 30, the steaming control module is combined with each steaming register to enable the main controller to control the driving device of the limiting push rod 341 of the steaming feeding limiting device 340, the driving device of the limiting push rod 351 of the steaming limiting device 350 and the push-pull device 360 to complete station distribution, the shoe last 912 sleeved on the vamp is steamed in the steaming machine 310, after the steaming is completed, the tooling assembly 910 on the steaming workbench 312 is pushed onto the main conveying belt 001 by the push-pull device 360, the tooling assembly 910 is sensed by the photoelectric sensor 352 of the steaming limiting device 350, and a signal is sent to the steaming control module, and the steaming control module enables the main controller to control the limiting push rod 910 of each steaming limiting device 350 not to limit, so that the tooling assembly is transmitted to the next working procedure to complete steaming of the vamp.

The operator presses the control switch 411 to enable the limiting rod 410 to descend in the brushing agent section 40, the tool assembly 910 enters the brushing agent section 40 through the brushing agent feeding port, meanwhile, the first reader-writer 460 at the brushing agent feeding port sends the collected left and right foot information of the shoe tree 912 to the display 413, and the matched soles are placed at the rear end of the first conveyor 0021 according to the left and right foot information displayed by the display 413; when the tool component 910 passes through the vamp 3D scanner 412, the vamp 3D scanner 412 sends the collected contour track information of each vamp sleeved in the shoe last 912 to the first spraying mechanical arm 432 and the first glue spraying mechanical arm 522, and the sole 3D scanner 420 sends the collected sole contour track information to the second spraying mechanical arm 440 and the second glue spraying mechanical arm 530; the 2D scanner 421 transmits the collected two-dimensional position information of the sole to the corresponding second spraying robot 440; after the tooling components 910 with the quantity corresponding to the brushing agent station section 400 are transmitted from the limiting rod 410, the limiting rod 410 is limited by pressing the control switch 411; the photoelectric sensor 452 of each brushing agent limiting device 450 sends the collected position information of the tool assembly 910 to the brushing agent control module, and the brushing agent control module performs data processing by combining with each brushing agent register, so that the main controller controls the tool conveying device 431 on the brushing agent section 40 and the driving device of the limiting push rod 451 of the brushing agent limiting device 450 to complete station distribution. After the station distribution is completed, the main controller stops the first conveyor belt 0021, simultaneously the first spraying manipulator 432 and the second spraying manipulator 440 finish brushing the treatment agent on the vamp and the sole respectively, and after the treatment agent brushing is completed, the main controller enables the tool conveying device 431 to push the tool assembly 910 on the first spraying operation table 430 onto the main conveyor belt 001, and simultaneously enables the first conveyor belt 0021 to restart transmission; the photoelectric sensor 452 of the brushing agent limiting device 450 senses the tool assembly 910 and sends a signal to the brushing agent control module, and the brushing agent control module enables the main controller to control the limiting push rods 451 of the brushing agent limiting devices 450 to be not limited, so that the tool assembly 910 and the sole flow to the next working procedure, and brushing agent on the vamp and the sole is completed. The tooling assembly 910 is transported to the next process through the second oven 51, the finished sole of the finished treating agent flows to the second oven 51, and flows to the next process through the second conveyor 0022 in the second oven 51.

The two glue brushing sections 50 are arranged, the glue brushing control module collects the position information of the tool assembly 910 through the photoelectric sensors 542 and the photoelectric sensors 552, and then combines the glue brushing registers, the glue brushing control module enables the driving device of the main controller for controlling the third conveying belt 0023 to transmit and the limiting push rod 551 and the pushing cylinder of the tool conveying device 521 to work, so that the station distribution of the soles and the tool assembly 910 is completed, after the station distribution is completed, the third conveying belt 0023 stops transmitting, and the 2D scanner 510 scans the two-dimensional position information of the soles on the third conveying belt 0023 and sends the information to the second glue spraying manipulator 530; the glue brushing control module enables the main controller to control the first glue spraying manipulator 522 of the glue brushing section 50 at the rear end and the second glue spraying manipulator 530 adjacent to the third conveyor belt 0023, the first glue spraying manipulator 522 of the glue brushing section 50 at the rear end performs first glue brushing on the vamp after finishing the treatment agent brushing according to the corresponding vamp 3D contour track information received before, and the second glue spraying manipulator 530 adjacent to the third conveyor belt 0023 performs first glue brushing on the sole according to the sole 3D contour track information received before and the two-dimensional position information scanned by the 2D scanner 510; after the shoe sole is brushed, the brush control module enables the main controller to control the third conveyor belt 0023 to transmit, and the shoe sole flows to the next working procedure; meanwhile, the glue brushing control module enables the main controller to control the limiting push rod 541 not to be limited, and the tool assembly 910 continues to be transmitted forwards. After the vamp and the sole after primary brushing are subjected to heat drying through the third drying oven 51, the vamp and the sole enter the brushing section 50 at the front end to carry out secondary brushing, the tooling assembly 910 after secondary brushing keeps a good bonding state through the fourth drying oven 52, the vamp on the sole and the tooling assembly 910 after secondary brushing keeps a good bonding state through the fourth drying oven 52, and the sole and the vamp are subjected to glue flowing to the buckling section 60.

In the bottom buckling section 60, the bottom buckling control module collects the position information of the tool assembly 910 on the main conveying belt 001 through the photoelectric sensor 632 and the photoelectric sensor 652, and also collects the position information of the sole on the sixth conveying belt 0026 through the photoelectric sensor 642 and the photoelectric sensor 662; and then the button bottom register is combined, the button bottom control module is used for analyzing and processing information, and the button bottom control module enables the main controller to control the driving device 663, the driving device 643, the driving device of the limiting push rod 631, the driving device of the limiting push rod 651 and the pushing device 670 to work, so that the station distribution of the tool assembly 910 and the soles is completed. The operator carries out the operation of buckling the allocated soles on the buckling operation table 611 and the vamps on the tool assembly 910, after the operation is completed, the operator pushes the tool assembly 910 to the main conveying belt 001, and the buckling control module enables the main controller to control each limiting push rod 651 not to limit, so that the tool assembly 910 flows to the next procedure.

In the pressing section 70, the second reader 740 sends the collected left and right foot information of the shoe last to the pressing control module, each photoelectric sensor 732 sends the position information of the tooling plate 911 to the pressing control module, the information processing is completed in the pressing control module, the main controller controls the driving device of each limiting push rod 731, the first manipulator 710, the second manipulator 720 and the pressing machine 700, the pressing section 70 completes pressing, the tooling plate 911 is transmitted to the third limiting device 850, and meanwhile, the shoe last 912 is grabbed to the shoe last conveying belt 004.

When the tooling plate 911 passes through the tooling recovery device, the photoelectric sensor 832 of the first limiting device 830, the photoelectric sensor 842 of the second limiting device 840 and the photoelectric sensor 852 of the third limiting device 850 transmit the collected position signals of the tooling plate 911 to the tooling recovery control module, and the master controller controls the limiting push rod 831 of the first limiting device 830, the limiting push rod 841 of the second limiting device 840 and the limiting push rod 851 of the third limiting device 850, the first horizontal transmission device 811, the first lifting device 813, the second horizontal transmission device 821 and the second lifting device 822 through the control of the tooling recovery control module, so that the tooling plate 911 returns to the main conveying belt 001 from the front end of the main conveying belt 001 through the third limiting device 850, the second lifting unit 820, the tooling recovery belt 003, the first limiting device 830 and the first lifting unit 810, and then flows to the shoe last mounting section 10 through the second limiting device 840.

In this embodiment, the main conveyor 001, the sole conveyor 002, the sole buckling machine 610, the first spraying robot 432, the second spraying robot 440, the first glue spraying robot 522, the second glue spraying robot 530, and the pressing machine 700 are all known devices. The first glue spraying manipulator 522, the second glue spraying manipulator 530, the first spraying manipulator 432 and the second spraying manipulator 440 are all the same type of equipment, and are commonly used spraying manipulators for spraying treatment agents and glue in the shoe industry, the spraying manipulators can receive contour track information of the vamp or the sole through communication connection with equipment for scanning contour tracks, and 3 groups of different contour track information can be stored in the spraying manipulators; when the spraying manipulator sprays, the vamp or sole is sprayed with the treating agent or the glue according to the stored contour track information, and the main conveying belt 001, the sole conveying belt 002 and the tool recovery belt 003 are horizontally arranged. The first reader 460 and the second reader 740 are both well known and commonly known RFID readers; the last-in register, the steaming register, the brushing agent register and the bottom-buckling register are all commonly known registers.

In this embodiment, the working procedures of each process section of the shoe automation line are as follows:

1. the slip-lasting segment 20 is controlled by a slip-lasting control module and a master controller, and the specific control process is as follows:

(1) Taking 4 slip-lasting devices 210 as an example, only two slip-lasting registers are shown in fig. 1, and the slip-lasting registers record the position information during the transmission of the tooling assembly 910, and perform position signal sensing through the photoelectric sensor 232 of the slip-lasting limiting device 230 and the photoelectric sensor 222 of the slip-lasting feeding limiting device 220 and send the sensing signals to the slip-lasting control module. Starting from the last feed port of the last-in section 20, in this embodiment, the 4 last-in stations 211 arranged in the direction of conveyance of the main conveyor 001 are respectively numbered 1 to 4, and the last-in registers corresponding to the last-in stations 211 are designated as last-in register 1, last-in register 2, last-in register 3, last-in register 4, and the same initial values are set to 1 to 4. The number of idle last-entering operation tables 211 is recorded as r by the last-entering control module, and is initially 4, namely, 4 last-entering operation tables 211 are in idle states, the last-entering control module records that the last entering section 20 is in idle states, the last-entering control module sends a signal to a main controller, the main controller controls a driving device of a limit push rod 221 of a last-entering feeding limit device 220, so that the limit push rod 221 descends, a tooling assembly 910 is transmitted to the last entering section 20, the tooling assembly 910 is recorded by a photoelectric sensor 222 of the last-entering feed limit device 220, each time one tooling assembly 910 is transmitted, the photoelectric sensor 222 sends a signal to the last-entering control module, r-1 is executed in the last-entering control module until r is 0, the last-entering control module sends a command to the main controller, the main controller commands to the driving device of the limit push rod 221, and the limit push rod 221 ascends to prevent the tooling assembly 910 from continuing to enter;

(2) To ensure that the spraying track of the subsequent shoe upper and sole is stable during brushing of the treating agent or the glue, the tooling assembly 910 is alternately transferred from side to side by the shoe last 912 on the tooling plate 911 during the transfer of the main conveyor 001, i.e. by means of a tooling plate 911 with a left shoe last 912 and a tooling plate 911 with a right shoe last 912, where starting from the last entering section 20, the tooling assembly 910 with a right shoe last 912 is advanced; in the last control module, variables R1, R2, R3, and R4 are used to record the values that the register 1 needs to be rewritten in sequence, and initially, i.e. when the 4 last-in operation tables 211 are idle, R1 to R4 are respectively 1 to 4, and at this time, if 4 tooling components 910 wait to be transmitted into the last-in section 20; when the first tooling assembly 910, i.e., the foremost tooling assembly 910 of the four tooling assemblies 910 is transmitted to the position corresponding to the No. 1 slip-casting operation table 211, the photo sensor 232 corresponding to the No. 1 slip-casting operation table 211 sends the sensing signal to the slip-casting control module, the slip-casting control module assigns the value of R4 to the slip-casting register 1, i.e., the value of the slip-casting register 1 is rewritten to 4, and at the same time, R1 to R3 assign the respective value to the next bit, R1 assigns a new value of 0, i.e., R1 to R4 are converted to 0, 1, 2, 3, and at this time, the new value and the initial value of the slip-casting register 1 are compared in the slip-casting control module, and the tooling assemblies 910 continue to transmit because 1 and 4 are not equal. When the first tooling assembly 910 is transmitted to the position of the No. 2 slip-casting operation table 211, the photoelectric sensor 232 corresponding to the No. 2 slip-casting operation table 211 sends the sensed position signal to the slip-casting control module, the slip-casting control module restores the number of the slip-casting register 1 to 1, the number of the slip-casting register 2 is rewritten to 4, and the new value and the initial value of the slip-casting register 2 are compared in the slip-casting control module, so that the tooling assembly 910 continues to transmit because the numbers 2 and 4 are different. When the new value newly given by the last-entering register is the same as the initial value, the last-entering control module sends a signal to the main controller, the main controller commands the corresponding last-entering limiting device 230 to limit the push rod 232 to be lifted, namely, the corresponding limit push rod 232 of the No. 4 last-entering operation table 211 to be lifted, the main controller sends a command to an electric cylinder of the pushing device 240, the electric cylinder pushes the push rod, the push rod pushes the first tooling assembly 910 into the No. 4 last-entering operation table 211 along a sliding groove on the No. 4 last-entering operation table 211, the last-entering control module sends a signal to the main controller, and the main controller enables the corresponding limit push rod 232 of the No. 4 last-entering operation table 211 to be dropped, so that station allocation of the No. 4 last-entering operation table 211 is completed; when the second tooling assembly 910 is transmitted to the position corresponding to the No. 1 slip-casting operation table 211, the photo sensor 232 corresponding to the No. 1 slip-casting operation table sends the sensed position signal to the slip-casting control module, the slip-casting control module assigns the value of R4 to the slip-casting register 1, that is, the value of the slip-casting register 1 is rewritten to 3, meanwhile, R1 to R3 assign the respective values to the next variable, and R1 assigns 0, that is, R1 to R4 are converted to 0, 1 and 2, at this time, the new value and the initial value of the slip-casting register 1 are compared in the slip-casting control module, and the tooling assembly 910 continues to transmit because 1 and 3 are not equal. When the second tooling assembly 910 is transmitted to the position of the No. 2 slip-lasting operation table 211, the photoelectric sensor 232 corresponding to the No. 2 slip-lasting operation table 211 sends an induction signal to the slip-lasting control module, the slip-lasting control module restores the number of the slip-lasting register 1 to 1, the number of the slip-lasting register 2 is rewritten to 3, the new value and the initial value of the slip-lasting register 2 are compared in the slip-lasting control module, and the tooling assembly 910 continues to transmit because 2 is unequal to 3; thus, when the new value newly given by the last register is the same as the initial value, the photoelectric sensor 232 disposed at the position sends the sensed position signal to the last control module, and the last control module commands the limit push rod 231 corresponding to the No. 3 last-in operation table 211 to lift, the pushing device 240 corresponding to the No. 3 last-in operation table 211 pushes the tooling assembly 910 into the last-in operation table 211, and the last control module makes the limit push rod 231 corresponding to the No. 3 last-in operation table 211 drop, so as to complete the station allocation of the No. 3 last-in operation table 211. The station allocation methods of the rest of the last-entering operation table 211 are the same, and are not repeated herein, when the station allocation is completed by the last-entering operation table No. 1, the last-entering data processing module records that the whole last segment 20 is in a working state, and the values of R1 to R4 are all 0.

(3) After entering the last-in operation table 211, the driving cylinder of the fixed clamping device 212 is controlled to act by the corresponding key of the operation key part on the operation display panel 215 of the electrical control system, and the clamping head of the fixed clamping device 212 clamps the last 912 to the middle. The operator can rotate the last-putting-in operation table 211 at one time by controlling the operation key part on the operation panel 215 of the operation table angle controller 214 or the operation display panel 215 of the electric control system, and can also realize the lifting of the last-putting-in operation table 211 in the vertical direction by the corresponding key of the operation key part on the operation display panel 215 of the electric control system. After the adjustment to the adapted position, the last-putting procedure is formally entered, and when putting the last, the back of the last is shot by aligning the camera 213 which is adjusted in advance with the rear side of the last 912, and the pattern shot by the camera is displayed in the display screen 216, and the last-putting condition is observed through the display screen 216, so that the vamp of the last 912 is adjusted. After the last is put on, the driving cylinder action of the fixed clamping device is controlled by the corresponding key of the operation key part on the operation display panel 215 of the electric control system or the operation table angle controller 214, so that the clamping head of the fixed clamping device 212 moves to both sides to release the last 912, and the worker resets the last putting operation table 211. When all the work pieces 910 on the slip-on table are finished and all the slip-on tables 211 are reset, the slip-on table 211 at the front end is the priority, and the operator controls the work pieces 910 to push out first, because the slip-on section 20 is in the working state in the record of the slip-on control module, when the work pieces 910 are pushed onto the main conveyer 001 by the slip-on table 211 No. 4, the photoelectric sensor 232 corresponding to the slip-on table 211 No. 4 sends a position signal to the slip-on control module, the slip-on control module gives a new value to the register 4, which is the value which is not found on the conveyer belt, and is set to 5 here, and r+1 is executed in the slip-on control module, and r becomes 1. At this time, the tooling assembly 910 is pushed out to the main conveyor 001 on the No. 3 slip-on table 211, when the tooling assembly 910 is sensed by the photoelectric sensor 232 corresponding to the No. 3 slip-on table 211 and a position signal is sent to the slip-on control module, the slip-on control module gives a new value to the register 3, the value is the value which is not found on the conveyor, here set to 5, and r+1 is executed in the slip-on data processing module, and r becomes 2; when the tooling assembly 910 with the last being put on the No. 3 last putting operation table 211 is transferred to the No. 4 last putting operation table 211, the tooling assembly 910 is sensed by the photoelectric sensor 232 corresponding to the No. 4 last putting operation table 211, the value of the last putting register 3 is restored to the initial value, and the last putting register 4 is assigned with a value of 5. Thus, when the tooling assembly 910 on the No. 1 slip-on operation table 211 is pushed out to the main conveying belt 001, the tooling assembly 910 is sensed by the photoelectric sensor 232 corresponding to the No. 1 slip-on operation table 211, the slip-on register 1 is assigned 5, when the tooling assembly 910 on the No. 1 slip-on operation table 211 completes the slip-on operation, after the whole tooling assembly 910 passes through the photoelectric sensor 232 corresponding to the No. 1 slip-on operation table 211, R becomes 4, i.e. all the slip-on operation tables 211 are idle, the slip-on control module records that the whole slip-on section 20 is in an idle state, the values of R1 to R4 are restored to 1 to 4, the slip-on section 20 returns to the step (1) again, and the slip-on operation of the next round starts. It should be noted that, when the last-putting section 20 is in the working state and the photoelectric sensor corresponding to the No. 1 last-putting operation table senses that the tooling assembly 910 is present, the last-putting register 1 may take the value 0 of R4 or take the newly-assigned value 5; the distance between the last feeding port and the photoelectric sensor 232 corresponding to the last 1 operation table 211 is larger than the distance between one last station segment, so that errors are avoided; in addition, in order to reduce errors in assigning the last register caused by the fact that the transferred tooling assembly 910 abuts against the last register when the station of the last operation table 211 is allocated, the last control module may further set a first pre-storing unit with 4 variables corresponding to the last register 1, set a second pre-storing unit with 3 variables corresponding to the last register 2, and set a third pre-storing unit with 2 variables corresponding to the last register 3; when the first tooling component 910 passes through the photoelectric sensor 232 corresponding to the last register 1, the last control module simultaneously assigns the value 4 to the first variable corresponding to the last register 1 and the first pre-storing unit; when the second tooling assembly passes through the photoelectric sensor 232 corresponding to the last register 1, the last control module simultaneously gives a value 3 to a second variable corresponding to the last register 1 and the first pre-storing unit; when the third tooling assembly passes through the photoelectric sensor 232 corresponding to the last register 1, the last control module simultaneously gives a value 2 to a third variable corresponding to the last register 1 and the first pre-storing unit, so that the storage of the first pre-storing unit is completed, the storage modes of the rest pre-storing units are the same, and each pre-storing unit only stores values 1 to 4; when the first tooling assembly 910 passes through the photoelectric sensor 232 corresponding to the last register 2, the tooling assembly 910 is closely adjacent to the last register 1 during transmission, and the numerical value of the last register 1 may be rewritten into other numerical values other than 4, so that the prestored numerical value 4 can be called from the variable corresponding to the first prestored unit, and the station allocation is completed according to the method, and the error in station allocation can be avoided.

2. The steaming section 30 is controlled by a steaming control module and the main controller, and the steaming shaping equipment of the vamp comprises a steaming shaping box 310, a vacuumizing device 320 and a steam generating device 330. The steam generating device 330 communicates with the steam chamber 311 through a first automatic valve 331; a steam recovery machine 332 is also connected between the steam generating device 330 and the steam chamber 311, and a second automatic valve 333 is arranged between the steam recovery machine 332 and the steam chamber 311; the vacuum pumping apparatus 320 includes a vacuum tank 321 and a vacuum pump 322 which are communicated with each other, and the vacuum tank 321 is communicated with the steam chamber 311 through a third control valve 323.

In this embodiment, two steam tables 312 are disposed in the steam chamber 311 of one steam shaping box 310, and two steam shaping boxes 310 and related steam devices are shared on the steam section 30, only one of which is shown in fig. 1. The steaming of vamp is accomplished on steaming workstation 312, a steaming workstation 312 corresponds a steaming workstation section 300, steaming workstation 312 sets up in one side of main conveyer belt 001 and flush with the transmission plane of main conveyer belt 001, be equipped with the guide rail 314 that is used for transmitting frock subassembly 910 between steaming workstation 312 and the main conveyer belt 001, the opposite side of main conveyer belt 001 still is equipped with 4 push-pull device 360 that are used for promoting frock subassembly 910 and get into steaming workstation 312 along guide rail 314, each push-pull device 360 sets up with each steaming workstation 312 one-to-one. The push-pull device 360 comprises a fixed box 361, a first air cylinder 362 arranged on the fixed box 361 and a second air cylinder 363 arranged on a piston rod of the first air cylinder 362, wherein the piston rod of the first air cylinder 362 is arranged in the horizontal direction and is perpendicular to the transmission direction of the main conveying belt 001, the second air cylinder 363 is arranged in the vertical direction, a positioning block 364 is arranged on the piston rod of the second air cylinder 363, and a matched positioning groove 9112 is arranged on the tooling plate 911 corresponding to the positioning block 364. The specific control process of the steaming section 30 is as follows:

1) The vapor humidity register records positional information of the tooling assembly 910. The 4 wet benches 312 arranged along the conveying direction of the main conveying belt 001 are sequentially set as No. 1 wet benches to No. 4 wet benches, the wet registers corresponding to each wet bench 312 are named as wet registers 1 to 4, and the initial numbers of the wet registers 1 to 4 are set as 1 to 4. The steam control module is internally provided with a variable for recording the number of idle steam tables 312, denoted as z, and is initially 4, i.e. 4 steam tables 312 are in idle state. At this time, the steaming control module records that the steaming section 30 is in an idle state, the steaming control module makes the limiting push rod 341 descend, the tool components 910 are transferred into the steaming section 30, the photoelectric sensor 342 of the steaming feed port records that each time one tool component 910 is transmitted, the photoelectric sensor 342 sends a signal to the steaming control module, z-1 is executed once in the steaming control module until z is 0, and the steaming control module makes the main controller control the driving device of the limiting push rod 341, the limiting push rod 341 ascends, and the tool components 910 are prevented from entering the steaming section 30.

2) At the initial transfer of the main conveyor 001, variables Z1, Z2, Z3, and Z4 are set in the steam module of the steam control module to record the numerical value to be rewritten by the steam register 1. Initially, i.e. when the 4 steaming tables 312 are idle, Z1 to Z4 are respectively 1 to 4, when the first tooling component 910 is transmitted to the corresponding position of the steaming table 312 No. 1, the photo sensor 352 corresponding to the steaming table 312 No. 1 senses the tooling component 910 and sends the position signal of the tooling component 910 to the steaming control module, the steaming control module assigns the value of Z4 to the steaming register 1, the numerical value of the steaming register 1 is rewritten to 4, the steaming control module judges that the new value of the steaming register 1 is compared with the initial value, because 1 is not equal to 4, the first tooling component 910 continues to transmit, and at the same time, Z1 to Z3 assign the respective value to the next variable, and Z1 assigns the new value 0, i.e. Z1 to Z4 are converted to 0, 1, 2, 3, when the first tooling component 910 is transmitted to the position of the steaming table 312 No. 2, the photoelectric sensor 352 corresponding to the No. 2 steaming table 312 senses the tooling assembly 910 and sends a sensing signal to the steaming control module, the steaming control module enables the number of the steaming register 1 to be restored to 1, the number of the steaming register 2 to be rewritten to 4, according to the judging method, when the first tooling assembly 910 is transmitted to the corresponding position of the No. 4 steaming table 312, the photoelectric sensor 352 corresponding to the No. 4 steaming table 312 senses the tooling assembly 910 and sends a sensing signal to the steaming control module, the steaming control module enables the number of the steaming register 3 to be restored to 3, the steaming register 4 is assigned with 4, at the moment, the new value newly assigned by the steaming register 4 is the same as the initial value, the steaming control module enables the main controller to control the driving device of the limit push rod 351 corresponding to the No. 4 steaming table 312, enables the limit push rod 351 corresponding to the No. 4 steaming table 312 to be lifted, simultaneously, the first air cylinder 362 and the second air cylinder 363 of the corresponding push-pull device 360 are controlled to enable the positioning block 364 to be clamped with the positioning groove 9112 on the tooling plate 911, and then the first air cylinder 362 is controlled to push the first tooling assembly 910 into the steaming workbench 312, so that the station distribution of the steaming workbench 312 No. 4 is completed; the remaining stations of the steam wet bench 312 are assigned in the same manner. When the fourth tool component 910 is transmitted to the No. 1 steaming table 312, the steaming control module assigns the value of Z4 to the steaming register 1, the value of the steaming register 1 is still 1, and when the new value newly assigned is the same as the initial value, the steaming control module makes the main controller control the driving device of the corresponding limit push rod 351, so that the limit push rod 352 corresponding to the No. 1 steaming table 312 is lifted, the push-pull device 360 pushes the fourth tool component 910 into the No. 1 steaming table 312 in the same manner as described above, the station allocation of the No. 1 steaming table 312 is completed, the steaming control module records that the steaming section 30 is in a working state, and Z, Z1 to Z4 are all 0.

3) After entering the steam-wetting bench 312, the steam-wetting control module makes the main controller control the steam chamber 311 of the steam-shaping box 310 to be closed. Parameters such as steam input time, pressure maintaining time, steam extraction time, vacuumizing time and the like are preset for each steaming device; the steam generating device 330 injects steam into the steam chamber 311, the first automatic valve 331 is opened, and the steam enters the steam chamber 311; after a certain period of time after steaming, the steam recovery machine 332 starts to operate, and the second automatic valve 333 is opened to recover steam to the steam generator 330; the vacuum pump 321 of the vacuumizing device 320 vacuumizes the vacuum tank 322, after the pressure in the vacuum tank 322 is reduced, the third control valve 323 is opened, and the gas in the steam chamber 311 enters the vacuum tank 322, so that the vacuumizing of the steam chamber 311 is realized, and after the steam chamber 311 reaches the vacuum degree required by steaming, the vacuum pump 321 stops vacuumizing, and the third control valve 323 is closed; the steam shaping box 311 is pressurized, after the pressure maintaining time is over, the steaming is completed, the air inlet valve 313 is opened, and air enters the steam chamber 311. The steam chamber 311 is opened, the front end of the steaming workbench 312 is used as a priority, the steaming control module enables the main controller to control the push-pull device 360 to pull out the tooling components 910 in the No. 4 steaming workbench 312 to the photoelectric sensor 352 corresponding to the No. 001,4 steaming workbench 312 of the main conveying belt 001,4 to sense the tooling components 910 and send signals to the steaming control module, the steaming control module gives a new value 5 to the steaming register 4, z+1 and z are converted into 1 in the steaming control module, the tooling components 910 finishing steaming flow out of the steaming section 30, and in this way, the tooling components 910 finishing steaming are pulled to the main conveying belt 001 from the steaming workbench 312 in sequence from front to back. When the tooling assembly 910 in the No. 1 steaming workbench 312 is pulled out, the photoelectric sensor 352 corresponding to the No. 1 steaming workbench 312 senses the tooling assembly 910 and sends a sensing signal to the steaming control module, the steaming control module gives a new value 5 to the No. 1 steaming register, when the tooling assembly 910 pushed out of the No. 1 steaming workbench flows to the photoelectric sensor 352 corresponding to the No. 2 steaming workbench, the photoelectric sensor 352 corresponding to the No. 2 steaming workbench senses the tooling assembly 910 and sends a sensing signal to the steaming control module, the steaming control module enables the value of the steaming register 1 to be restored to an initial value, the steaming register 2 gives a new value 5, and the steaming control module judges that the new value and the initial value of the steaming register 2 are compared, and the tooling assembly 910 continues to flow because of the difference between the values 5 and the 2 until the steaming section 30 flows out. While the photoelectric sensor 352 corresponding to the No. 1 steaming table 312 senses the tooling assembly 910 pulled out from the No. 1 steaming table 312, z+1 is further executed in the steaming control module, Z is converted into 4, the steaming control module assigns 1 to 4 to Z1 to Z4 again, the steaming control module records that the steaming section 30 is in an idle state, and the steaming table starts the next station distribution. It should be noted that, in order to avoid errors in station allocation in the steaming section 30, a pre-storage unit is provided on the steaming control module corresponding to each steaming register in the same manner as in the last-putting section 20.

(4) The steamed tool assembly 910 is continuously transported on the main conveyor belt 001, and sequentially dried through the first thermal oven 31 on the main conveyor belt 001, and cooled and shaped by the first freezer 32.

3. The brush treatment agent section 40 is controlled by the brush treatment agent control module and the main controller, and the specific control process is as follows:

(1) The 4 first spraying operation platforms 430 arranged along the conveying direction of the main conveying belt 001 are respectively provided with a first spraying operation platform 430 from 1 to 4, and each brushing agent register corresponding to each first spraying operation platform 430 is sequentially named as a brushing agent register 1 to a brushing agent register 4; setting variables S1, S2, S3 and S4 in the brushing agent control module to record the numerical value needed to be rewritten by a brushing agent register 1 of the brushing agent section 40, when the brushing agent section 40 is changed from a working state to an idle state, S1, S2, S3 and S4 are respectively 1, 2, 3 and 4, the brushing agent control module enables the main controller to control the first conveyor 0021 and the second conveyor 0022 to start, the vamp and the sole of the brushing agent in the brushing agent section 40 are circulated to a brushing agent section 50 at the rear end through the second oven 41, then an employee turns on a control switch 411, a new tool assembly 910 enters the brushing agent section 30, and when the tool assembly 910 passes through the first reader-writer 460, the first reader-writer 460 sends left and right information of a shoe last 912 to a display 413, and the display 413 displays the left and right information of the corresponding shoe last; when the first tooling assembly 910 transmits the brushing agent segment 40, the staff places soles matched with the last 912 on the first tooling assembly 910 on the rear end of the first conveyor 0021 according to the last 912 information displayed in the display 413, and then places a sole matched with the previous sole at the same time interval, wherein the time interval is the time required by the first conveyor 0021 to transmit the distance of one brushing agent station segment 400, so that each sole after finishing station distribution of the brushing agent segment 40 corresponds to each tooling assembly 910 after finishing station distribution one by one; the vamp 3D scanner 412 below the first conveyor 0021 scans the vamp on the passing tool assembly 910, and the vamp 3D scanner 412 sends the acquired contour track information of the vamp sleeved in the shoe last 912 to the first spraying manipulator 432 and the first glue spraying manipulator 522; when the sole passes through the sole 3D scanner 420, the sole 3D scanner 420 sends the acquired sole contour track information to the corresponding second spraying manipulator 440 and second glue spraying manipulator 530; the tool assembly 910 completes station distribution in the same station distribution mode as the steaming section 30 in the brushing agent section 40, and when the photoelectric sensor 452 corresponding to the first spraying operation table No. 4 senses the distributed tool assembly 910, the brushing agent control module makes the main controller control the first conveyor belt 0021 to stop; each 2D scanner on the first conveyor 0021 scans each corresponding sole and sends two-dimensional position information of each sole to the corresponding second spraying robot 440. When each tool component 910 finishes station distribution, the state of brushing the treating agent section 40 is changed into a working state, and each first spraying manipulator 432 and each second spraying manipulator 433 of the brushing treating agent section 40 start to spray the treating agent at the same time, and the spraying time is the same; after spraying, the brush treatment agent control module enables the main controller to control the tool conveying device 431 to simultaneously push the tool components 910 on each station section to the main conveying belt 001, the brush treatment agent control module enables the main controller to control the first conveying belt 0021 and the second conveying belt 0022 to be started simultaneously, and the main controller controls each sole to keep one-to-one correspondence with the vamp on the matched tool component 910; the state of the brush agent segment 40 transitions to idle. The employee turns on the control switch 411 and the stop lever 410 is lowered to start brushing the treating agent next time.

(2) When the photoelectric sensor of the second oven limiting device senses that the tool component 910 at the forefront end is transmitted to the position and sends a sensing signal to the glue brushing control module, if the glue brushing section 50 at the rear end is in a working state, namely the third conveyor belt 0023 stops transmitting, the glue brushing control module enables the main controller to control the driving device of the limiting push rod of the second oven limiting device, so that the limiting push rod of the second oven limiting device stretches out and limits, and the second conveyor belt 0022 stops transmitting; when the brushing section 50 at the rear end finishes brushing, the brushing control module enables the main controller to control the driving device of the limiting push rod of the second oven limiting device, so that the limiting push rod of the second oven limiting device is retracted, the second conveying belt 0022 is started, and all tool components 910 flow to the brushing section 50 at the rear end.

(3) After the back end brushing section 50 finishes brushing the glue for the first time, the back end brushing section 50 re-distributes the work positions of the tool assembly 910 and the sole in the same way as the brushing treatment agent section 40, and the brushing mode of the sole and the vamp on the tool assembly 910 after the work position distribution is the same as the brushing treatment agent mode of the brushing treatment agent section 40; the difference is that the back end brushing segment 50 uses the brushing feeding limiting device 550 to replace the limiting rod 410 and the control switch 411 to limit the tooling assembly 910 to be transmitted from the second oven 51 to the back end brushing segment 50; the glue brushing feeding limiting device 550 is the same as the control method of the steaming feeding limiting device of the steaming section 30; and are not described in detail herein.

(4) When the first brushing tool assembly 910 and the soles enter the front brushing section 50 after passing through the third oven 51 and pass through the third oven limiting device, the same control method as the second oven limiting device is adopted according to the working state of the front brushing section 50, so that the first brushing tool assembly 910 and the soles flow to the front brushing section 50, and the station distribution mode and the brushing mode of the front brushing section 50 and the rear brushing section 50 are the same, and are not repeated here.

(6) After the secondary brushing, each tooling assembly 910 and each sole pass through the fourth oven 52, each tooling assembly 910 flows to the sole buckling feeding port of the sole buckling section 60, and the sole flows to the sole feeding limiting device to prepare for sole buckling.

4. The bottom buckling section 60 is controlled by the bottom buckling control module and the main controller, and the specific control process is as follows:

(1) In this embodiment, taking 6 bottom-buckling operation platforms 611 as an example, the bottom-buckling register records the position information of the tool assembly 910. In the bottom buckling section 60, the bottom buckling operation tables 611 arranged along the conveying direction of the main conveying belt 001 are respectively named as a number 1 bottom buckling operation table 611 to a number 6 bottom buckling operation table 611 from back to front, the bottom buckling registers corresponding to the bottom buckling operation tables 611 are named as a bottom buckling register 1 to a bottom buckling register 6, and the initial values of the bottom buckling registers corresponding to the bottom buckling operation tables 611 are correspondingly named as 1 to 6. The bottom buckling control module is internally provided with a variable for recording the number of idle bottom buckling operation tables 611, which is denoted as k, and is 6 in the initial stage, namely, the 6 bottom buckling operation tables 611 are all in an idle state. The bottom buckling control module enables the main controller to control the main conveyor 001 to preferentially transmit the idle bottom buckling operation platform 611 at the far end, when the tooling assembly 910 passes through the bottom buckling feeding port, the photoelectric sensor 632 of the bottom buckling feeding limiting device 630 senses the tooling assembly 910 and sends a signal to the bottom buckling control module, each time one tooling assembly 910 is transmitted, a signal is sent to the bottom buckling control module, k-1 is executed in the bottom buckling control module until k is 0, and the bottom buckling control module enables the main controller to control the driving device of the limiting push rod 631 so that the limiting push rod 631 rises.

(2) At the same time as the start of the transfer, the last 912 on the tooling plate 911 is transferred alternately left and right, i.e. by means of a tooling assembly 910 with a left last 912 and a tooling assembly 910 with a right last 912; the sixth conveyor 0026 is simultaneously transported, and the soles are transported in a one-to-one correspondence with the tooling assemblies 910. Variables K1 to K6 are set in the bottom locking control module to record the numerical value needed to be rewritten by the bottom locking register 1, namely, record an idle station; initially, 6 bottom buckling operation tables 611 are idle, K1 to K6 are respectively 1 to 6, when a first tooling assembly 910 is transmitted to a photoelectric sensor 652 corresponding to the bottom buckling operation table 611 No. 1, the bottom buckling control module assigns a value of K6 to the bottom buckling register 1, the numerical value of the bottom buckling register 1 is rewritten to 6, simultaneously, K1 to K5 assign respective values to the next variable, K1 is assigned a new value 0, that is, K1 to K6 are converted to 0, 1, 2, 3, 4, 5, when the first tooling assembly 910 is transmitted to the position of the bottom buckling operation table 611 No. 2, the numerical value of the bottom buckling register 1 is restored to 1, and the numerical value of the bottom buckling register 2 is rewritten to 6; thus, when the new value newly given by a certain bottom buckling register is the same as the initial value, the bottom buckling control module enables the main controller to control the driving device of the corresponding limiting push rod 651, so that the corresponding limiting push rod 651 is lifted, namely, the corresponding limiting push rod 651 of the bottom buckling operation table 611 is lifted, and the corresponding pushing device 670 pushes the tool assembly 910 into the bottom buckling operation table 611 to complete station distribution of the bottom buckling operation table 611 No. 6; when the second tool component 910 is transmitted to the position corresponding to the bottom-locking operation table 611 No. 1, the bottom-locking control module assigns the value of K6 to the bottom-locking register 1, that is, the numerical value of the bottom-locking register 1 is rewritten to 5, while K1 to K5 assign the respective values to the next variable, K1 assigns 0, that is, K1 to K6 are converted to 0, 1, 2, 3, 4, when the tool component 910 is transmitted to the position of the bottom-locking operation table 611 No. 2, the numerical value of the bottom-locking register 1 is restored to 1, and the numerical value of the bottom-locking register 2 is rewritten to 5; thus, when the photoelectric sensor 652 corresponding to the bottom buckling operation table 611 of No. 5 senses the second tooling assembly 910, the photoelectric sensor 652 corresponding to the bottom buckling operation table 611 of No. 5 sends a position signal to the bottom buckling control module, the bottom buckling control module enables the main controller to control the driving device of the limiting push rod 651 corresponding to the bottom buckling operation table 611 of No. 5, so that the corresponding limiting push rod 651 is lifted, and then the pushing device 670 corresponding to the bottom buckling operation table 611 of No. 5 is controlled to push the second tooling assembly 910 into the bottom buckling operation table 611 of No. 5, so that station allocation of the bottom buckling operation table 611 of No. 5 is completed; the station allocation methods of the rest of the bottom buckling operation tables 611 are the same and are not described in detail herein;

(3) The adjusting device 613 is used for adjusting the bottom buckling operation table 611, so that the tooling assembly 910 on the bottom buckling operation table 611 is suitable in position, and a worker can conveniently buckle the bottom. In this embodiment, the adjusting device 613 includes a rotating shaft 6132, a rotating support platform 6131, a driven rotating shaft 6135, a driving rotating shaft 6134, a synchronous pulley 6133, a supporting frame 6137, a motor, and a control pedal 6136. The bottom buckling operation platform 611 is rotatably connected with the rotary support platform 6131 through a rotary shaft 6132, so that the bottom buckling operation platform 611 can horizontally rotate around the rotary support platform 6131; the bottom of the rotary supporting platform 6131 is fixed with a driven rotating shaft 6135, and the driven rotating shaft 6135 is arranged on a supporting frame 6137 through a bearing seat, so that the driven rotating shaft 6135 can rotate around the axis of the driven rotating shaft 6135; the driving rotating shaft 6134 is also arranged on the supporting frame 6137 through a bearing seat, so that the driving rotating shaft 6134 can rotate around the axis of the driving rotating shaft 6134, the driving rotating shaft 6134 is arranged right below the transmission rotating shaft 6135, the driving rotating shaft 6134 is in transmission connection with the driven rotating shaft 6135 through a synchronous pulley 6133, the driving rotating shaft 6134 is in transmission connection with an output shaft of a motor, and the motor is electrically connected with a control pedal 6136; the control pedal 6136 is provided with two pedals for controlling the motor to rotate forward and backward respectively. When an operator controls the pedal 6136 to drive the motor to rotate forward, the driving rotating shaft 6134 drives the driven rotating shaft 6135 to rotate, so that forward overturning of the supporting platform 6131 on a vertical surface is realized, and when the operator controls the pedal 6136 to drive the motor to rotate reversely, the driving rotating shaft 6134 drives the driven rotating shaft 6135 to rotate, so that reverse overturning of the supporting platform 6131 on the vertical surface is realized.

The inner side walls of the front side and the rear side of the buckling bottom operation platform 611 are provided with sliding grooves 6112, the tooling plate 911 enters the buckling bottom operation platform 611 along the sliding grooves 6112 under the pushing of the pushing device 670, the buckling bottom operation platform 611 is provided with bolt holes 6111, a stop device is arranged below each buckling bottom operation platform 611, the stop device comprises stop pins 612 which can penetrate through the bolt holes 6111 on the corresponding buckling bottom operation platform 611 and electric cylinders which drive the stop pins 612 to extend or retract from the buckling bottom operation platform 611, and piston rods of the electric cylinders are fixedly connected with the stop pins 612, so that when the piston rods move, the stop pins 612 can do telescopic movement on the buckling bottom operation platform 611.

After the bottom buckling is completed, the worker resets the bottom buckling operation table 611, and the bottom buckling operation table 611 returns to the position flush-abutted with the main conveying belt 001; when the indicator lamp 620 corresponding to the station is on; in this embodiment, the indication lamp 620 is turned on in the following manner, the bottom-locking control module is further configured with variables C1 to C6 to record the values of the bottom-locking registers 1 to 6, the initial values of C1 to C6 are 1, 2, 3, 4, 5, and 6, respectively, when the worker completes bottom locking by the tooling assembly 910 on a bottom-locking console 611 and resets the bottom-locking console 611, if the bottom-locking console 611 and the bottom-locking registers connected thereto have the initial values, the indication lamp 620 is turned on, i.e. no tooling assembly 910 is provided on the main conveyor 001 corresponding to the bottom-locking console 611 connected to the bottom-locking console 611, and the bottom-locking control module makes the stop pin of the main controller not pushed out. The pushing tool assembly 910 does not collide at this time; for example, when the bottom is completed on the bottom-fastening operation table 611 No. 4, if the indicator 620 on the bottom-fastening operation table 611 No. 4 is turned on at this time, it is indicated that no tooling component 910,4 on the bottom-fastening operation table 611 can be pushed out on the main conveyor 001 between the bottom-fastening operation tables 611 No. 3 and 611 No. 5; in particular, for the indicator 620 on the bottom-of-1 console 611, when the bottom-of-1 register 2 is an initial value and K6 is 0, the indicator 620 on the bottom-of-1 console 611 is turned on. At this time, the worker may push the tooling plate 911 out of the bottom-buckling operation table 611 to the main conveyor belt 001, and the corresponding bottom-buckling register sends a signal to the bottom-buckling control module, when the bottom-buckling operation table 611 is changed from the working state to the idle state, the variable K6 is determined, if K6 is not 0, the variable K5 is determined, until a certain variable is 0, and the initial value of the bottom-buckling register is given to the variable; setting the bottom buckling operation table 611 in the idle state to be 4, and sending a signal to the bottom buckling control module by the bottom buckling register 4 when the rest bottom buckling operation tables 611 are in the working state, wherein the bottom buckling control module gives a new value to the bottom buckling register 4, the value is a value which is not available on a transmission belt, the value is set to be 10, when the tooling assembly 910 for completing bottom buckling is transmitted to the bottom buckling operation table 611 in number 5, the bottom buckling register 5 is given a new value and is rewritten to be 10, and the value of the bottom buckling register 4 is restored to be the initial value 4, and the tooling assembly 910 for completing bottom buckling is transmitted in the same manner; when the bottom locking register 4 sends a signal to the main control system, the bottom locking control module records that the bottom locking operation table 611 with the number 4 is idle, that is, at this time, the number K1 to the number K6 are respectively 0, 0 and 4, the bottom locking control module executes k+1 and K becomes 1, the bottom locking control module makes the main controller control the driving device of the limiting push rod 631 of the bottom locking feeding limiting device 630, when the tooling component 910 passes through the photoelectric sensor 632 of the bottom locking feeding limiting device 630, the bottom locking control module executes K-1 and K in the bottom locking feeding limiting device 630 to become 0, the bottom locking control module makes the main controller control the driving device of the limiting push rod 631 of the bottom locking feeding limiting device 630, makes the limiting push rod 631 ascend, prevents the tooling component 910 from continuously transmitting, and carries out position sensing on the tooling component 910 transmitted by the photoelectric sensor 652 of each bottom locking limiting device 650, when the tooling component 910 reaches the corresponding position of the bottom locking operation table with the number 1, the bottom locking control module executes K-1 and K-1 in the bottom locking control module is changed to 0, and the bottom locking control module is continuously transmitted to the numerical values of the number 1, and K is not equal to 0 and 0 is continuously equal to the initial values and 0 are continuously transmitted; when the tool component 910 is transmitted to the position of the bottom buckling operation platform 611 No. 2, the number of the bottom buckling register 1 is restored to 1, the number of the bottom buckling register 2 is rewritten to 4, the bottom buckling control module assigns a new value 4 to the bottom buckling register 2, which is different from the initial value 2, the tool component 910 continues to be transmitted until the tool component 910 is transmitted to the bottom buckling operation platform 611 No. 4, the initial value and the reassigned value of the bottom buckling register 4 are both 4, and the reassignment of the idle stations is completed in the control manner described above. As above, when the bottom-buckling operation table 611 is idle, the rest bottom-buckling operation tables 611 are all in the working state, K1 to K6 are respectively 0, 0 and 4, and when the tooling assembly 910 to be transmitted to the bottom-buckling operation table 611 is not transmitted to the position corresponding to the bottom-buckling operation table 611 No. 1, if the bottom-buckling operation table 611 No. 2 completes bottom buckling, the rest bottom-buckling operation tables 611 are all in the working state except the bottom-buckling operation tables 611 No. 2 and the bottom-buckling operation table 611 No. 4, the staff pushes the tooling assembly 910 on the bottom-buckling operation table 611 No. 2, and the photoelectric sensor 652 corresponding to the bottom-buckling operation table 611 No. 2 sends a signal to the bottom-buckling control module, and because K6 is 4 and K5 is 0 at this moment, the bottom-buckling control module gives a new value of K5, namely, at this moment, K1 to K6 are 0, 2 and 4; the bottom locking control module and the main controller allocate the tooling assembly 910 to the bottom locking operation platform 611 and the bottom locking operation platform 611 No. 2 and No. 4 according to the method. In addition, in order to avoid error when assigning the bottom-locking registers caused by the fact that the plurality of tool components 910 are closely adjacent to each other when assigning the stations of the bottom-locking operation tables 611, a pre-storage unit can be set in each bottom-locking register, and 6 variables are set in the pre-storage unit in each bottom-locking register; the bottom buckling control module assigns a value to each register, assigns a value to each corresponding variable in a prestored unit corresponding to each bottom buckling register when the assigned new value is 1 to 6, and ensures that when the tool assembly 910 with incomplete bottom buckling is transmitted from a photoelectric sensor 652 corresponding to one bottom buckling operation table 611 to a photoelectric sensor 652 corresponding to the next bottom buckling operation table 611, the bottom buckling control module can select the value of the strain quantity from the prestored unit of the bottom buckling register corresponding to the last bottom buckling operation table 611 to assign the corresponding variable in the bottom buckling register corresponding to the next bottom buckling operation table 611 and the prestored unit of the bottom buckling register; therefore, the problem that the numerical value of the bottom buckling register is covered because the corresponding photoelectric sensor 652 passes by the next tool component 910 when the tool component 910 does not transmit the distance of one bottom buckling station section 600 due to the fact that the tool component 910 does not complete bottom buckling is tightly transmitted is avoided.

During transmission, each time a tooling component 910 is input into the bottom buckling section 60, the bottom buckling control module enables the main controller to control the limiting push rod 641 to descend, and a corresponding sole is input on the sixth conveying belt 0026, namely, a left shoe last 912 corresponds to a left shoe sole, and a right shoe last 912 corresponds to a right shoe sole; the station allocation manner of each sole of the sixth conveyor 0026 is the same as and synchronous with the allocation manner of each tooling assembly 910 of the bottom fastening section, and will not be described in detail here. The difference is that after the station distribution is completed, the sole is manually grasped, after the staff grasps the sole, the photoelectric sensor 642 senses that the sole is separated and sends a signal to the sole buckling control module, and the sole buckling control module enables the main controller to control the corresponding driving device 643, so that the corresponding limiting push rod 641 retracts towards two sides.

5. The pressing section is controlled by the pressing control module and the main controller, and the specific control process is as follows:

(1) The pressing machine 700 used in this embodiment is a rotary three-in-one pressing machine 700, which has four stations, the pressing limiting devices 730 are provided with 5 pressing limiting devices, from back to front, the left foot information and the right foot information of the last 912 limited by the first to fifth pressing limiting devices 730 are numbered 1 to 5,5 pressing limiting devices 730 are sequentially recorded in the pressing control module by using variables Y1, Y2, Y3, Y4 and Y5, in this embodiment, the distance between the limiting pushers 731 of the second reader 740 to 1 pressing limiting devices 730 is equal to 1 time of the front-back width of the tooling plate 911, initially, the limiting pushers 731 of the 5 pressing limiting devices 730 are raised, no tooling assembly 910 is arranged after each pressing limiting device 730, Y1 to Y5 are all 0, when the first tooling assembly 910 is transmitted through the second reader 740, the second reader 740 reads the sensing chip of the last on the first tooling assembly 910, and gives a signal to the pressing control module, if the last 912 is left, the pressing control module gives a value of Y5, and if the value of Y1 is equal to the right last, the value of Y5 is not assigned to Y2, here, and the value of Y1 is not assigned to Y2. When first frock subassembly 910 is transmitted to behind No. 5 pressfitting stop device 730, no. 5 pressfitting stop device 730's photoelectric sensor 732 senses frock subassembly 910 and sends the signal for pressfitting control module, pressfitting control module makes main control unit control No. 5 pressfitting stop device 730's spacing push rod 731 rises, so go on, when Y1 through Y5 all are not 0, pressfitting control module makes main control unit control first manipulator 710 begins work, still be equipped with in the pressfitting control module and be used for the record first manipulator 710 to snatch the variable J of shoe tree 912. At this time, the first manipulator 710 grabs the last 912 on the 5 # press-fit limiting device 730, if Y5 is 1 at this time, that is, the last 912 is left, the press-fit control module gives a new value of J2, that is, the first manipulator 710 grabs the last 912 of the right foot next time, after grabbing the last 912 limited on the 5 # press-fit limiting device 730, the press-fit control module makes the main controller control the driving device of each limiting push 731 so that each limiting push rod 731 descends at the same time, and the tooling plate 911 limited by the original 5 # press-fit limiting device 730 flows to the next process; when the photoelectric sensor 732 of the No. 5 press-fit limiting device 730 senses the tooling assembly 910 that is turned from the position of the No. 4 press-fit limiting device 730, the limiting push rod 731 of the No. 5 press-fit limiting device 730 is raised, and the remaining press-fit limiting devices 730 redistribute the tooling assembly 910 in the same manner, and after each press-fit limiting device 730 distributes the tooling assembly 910, the press-fit control module assigns a value of Y4 to Y5, a value of Y3 to Y4, a value of Y2 to Y3, a value of Y1 to Y2, and a corresponding value of the last 912 passing through the second reader/writer 740 to Y1. After reassigning, when the first manipulator 710 starts to grasp the next time, the press control module compares J with Y5 to Y1 in sequence until the value equal to the value of J is found, where the first manipulator 710 grasps the last 912 limited on the press limiting device 730, for example, Y5 is 1 and Y4 is 2, and then the press control module makes the main controller control the first manipulator 710 to grasp the last 912 on the press limiting device 730 No. 4, and after grasping, makes Y4 be 0 and J be 1. When the first manipulator 710 grabs again, at this time, since Y5 is 1, the first manipulator 710 grabs the last 912 on the No. 1 press-fit limiting device 730, the press-fit control module makes Y5 be 0, since Y5 is 0 at this time, the limiting push rod 731 of each press-fit limiting device 730 descends, the tooling plate 911 on the No. 5 press-fit limiting device 730 is transferred, and meanwhile, the values from Y1 to Y5 are transferred as above, since the value of Y4 is also 0 at this time, so that the values from Y1 to Y5 are transferred for the second time until Y5 is not 0, and the press-fit control module makes the main controller control each press-fit limiting device 730 to perform the station allocation of the tooling assembly 910 as above.

(2) When the first robot 710 grabs the last 912 with upper and sole to the stitching station, the stitching machine 700 is stitching at that station, the stitching machine 700 rotates after stitching, realigns the empty void to the main conveyor 001, and the station after stitching aligns to the last conveyor 004.

(3) The second manipulator 720 grabs the pressed shoe tree 912 and places the shoe tree 912 on the shoe tree conveyer 004, when the second manipulator 720 grabs the shoe tree 912 to the shoe tree 912 conveyer belt, the shoe tree 912 circulates on the shoe tree 912 conveyer belt, firstly passes through the second freezer 0041 to be cooled, then enters the delaminating working section, the manufactured shoes are delaminated from the shoe tree 912 in the delaminating working section, and the manufactured shoes are placed in pairs.

6. The tool recovery device is controlled by the tool recovery control module and the main controller, and the specific control process is as follows:

(1) In the tool recovery device, the initial position of the second transmission platform 822 is set to be flush with the transmission plane of the main conveyor belt 001, when the tool plate 911 is delivered out of the pressing section 70 and the second lifting unit 820 is used for sending a signal to the tool recovery control module when the photoelectric sensor 852 of the third limiting device 850 on the main conveyor belt 001 is used, the tool recovery control module enables the main controller to control the driving device of the limiting push rod 851 of the third limiting device 850, so that the limiting push rod 851 is lifted, the tool recovery control module calculates the time for the tool plate 911 to enter the second transmission platform 822 according to the transmission speed of the main conveyor belt 001, and after at least 2 seconds according to the time delay, the tool recovery control module enables the main controller to control the second lifting device 823 to pull the second horizontal transmission device 821 to descend until the second transmission platform 822 is flush with the transmission plane of the tool recovery belt 003, the tool recovery control module enables the main controller to control the second horizontal transmission device to control the tool plate 911 to be transmitted to the tool recovery control plane 003, the second horizontal transmission device is preset, and the tool recovery control module enables the tool recovery control module to continue to recover the position of the limiting push rod 851 according to the transmission speed. The initial position of the second transport platform 822 of the second lifting unit 820 here is flush-docked with the transport plane of the main conveyor 001.

(2) The first transport platform 812 of the first lifting unit 810 is initially flush with the transport plane of the tool recovery zone 003. On the tooling recovery belt 003, when the tooling plate 911 is transported, the limiting pushrod 831 of the first limiting device 830 on the tooling recovery belt 003 is lifted and blocked by the first lifting unit 810. At this time, if the photoelectric sensor 842 of the second limiting device 840 on the main conveyor belt 001 of the first lifting unit 810 senses that the tooling plate 911 passes, the sensing signal is transmitted to the tooling recovery control module, and the number of vacancies at the rear end of the tooling recovery belt 003 recorded by the tooling recovery control module is increased by one each time the tooling recovery control module receives the sensing signal; if the number of the empty spaces recorded by the tool recovery control module is greater than zero, the tool recovery control module controls the driving device of the limiting push rod 831 by the main controller, so that the limiting push rod 831 descends to allow one tool plate 911 to flow in, and when the tool plate 911 passes through the photoelectric sensor 832 of the first limiting device 830, the number of the empty spaces at the rear end of the tool recovery belt 003 recorded by the tool recovery control module is reduced by one; meanwhile, the tool recovery control module enables the main controller to control the driving device of the limiting push rod 831, so that the limiting push rod 831 ascends, after the tool plate 911 enters the first transmission platform 812, the tool recovery control module enables the main controller to control the first lifting device 813 to drive the first transmission platform 812 to ascend until the tool recovery control module is flush with the transmission plane of the main conveyor belt 001, the tool recovery control module enables the main controller to control the first horizontal transmission device 811 to convey the tool plate 911 to the main conveyor belt 001, and after transmission is completed, the tool recovery control module enables the main controller to control the first transmission platform 812 to return to an initial position and wait for next transmission. Here, the number of vacancies is 1 at the beginning of the first lifting unit 810, and the initial position of the first transmission platform 812 is flush-abutted with the tool recovery belt 003.

The examples and drawings are not intended to limit the product form or style of the present invention, and any appropriate changes or modifications thereof by those skilled in the art should be construed as not departing from the scope of the present invention.

Claims (12)

1. An automatic production line of shoes, its characterized in that: the device comprises a main control system, a main conveying belt and a tool assembly, wherein the tool assembly comprises a shoe tree and a tool plate for supporting the shoe tree, and the tool assembly sequentially flows to a shoe tree putting-in section, a steaming section, a brushing agent section, a brushing adhesive section, a buckling bottom section and a pressing section which are positioned on the main conveying belt through the control of the main control system on the main conveying belt; the tooling plate is separated from the shoe tree in the pressing section, and the shoe automation production line further comprises a tooling recovery device for conveying the separated tooling plate back to the initial transmission position of the main conveyor belt; a sole conveying belt which is controlled by the main control system and used for conveying soles is correspondingly arranged above the main conveying belt from the brushing agent section to the bottom buckling section, a last putting-in section is provided with a last putting-in device which is used for sleeving the shoe upper into the shoe last, a steaming section is provided with a steaming machine which is used for steaming the shoe upper on the shoe last, the brushing agent section is provided with a first spraying manipulator which is used for spraying the brushing agent on the shoe upper, the sole conveying belt is provided with a second spraying manipulator which is used for spraying the brushing agent on the sole at a position corresponding to the brushing agent section, the brushing agent section is provided with a first spraying manipulator which is used for brushing the shoe upper, the sole conveying belt is provided with a second spraying manipulator which is used for brushing the shoe upper at a position corresponding to the brushing agent section, the bottom buckling section is provided with a bottom buckling machine which is used for completing the buckling with the shoe upper, and the pressing section is provided with a pressing manipulator which is used for separating the tool plate and the first shoe upper and the shoe upper;

The conveying belt support is provided with a first conveying platform, a second conveying platform and a third conveying platform, wherein the second conveying platform is arranged above the first conveying platform corresponding to the sole conveying belt, and the third conveying platform is arranged below the first conveying platform; the main conveying belt is arranged on the first conveying platform in a penetrating way, and the first conveying platform is provided with a first installation end face which is close to the main conveying belt and is flush with or lower than the conveying plane of the main conveying belt; the last-entering section is provided with a last-entering feeding port positioned at the rear end of the last-entering section and a last-entering discharging port positioned at the front end of the last-entering section, the first installation end face is provided with a last-entering feeding limiting device corresponding to the position of the last-entering feeding port, a plurality of last-entering station sections are arranged between the last-entering feeding port and the last-entering discharging port, each last-entering station section is correspondingly provided with a last-entering register and a last-entering device for recording the position of the tooling assembly during transmission, the last-entering device is provided with a last-entering operation table, the last-entering operation table is arranged at one side of the main conveying belt, the other side of the main conveying belt is also provided with a plurality of pushing devices for pushing the tool components to enter the last-entering operation tables, each pushing device is arranged in one-to-one correspondence with each last-entering operation table, the front end of each first installation end face, which corresponds to each last-entering operation table, is provided with a last-entering limiting device for limiting the transmission of the tool components, each last-entering feeding limiting device and each last-entering limiting device comprise a detector for sensing the positions of the tool components and two limiting push rods for limiting the tool components to positions corresponding to the last-entering operation tables, and the two limiting push rods are symmetrically arranged at two sides of the main conveying belt and are provided with driving devices; the detector of each last-putting limiting device is arranged at the rear end of the limiting push rod, and the detector of each last-putting feeding limiting device is arranged at the front end of the limiting push rod; the last-in register, the detector and the driving device are respectively in communication connection with corresponding ports of the main control system;

The shoe tree is provided with an induction chip for recording the shoe tree information; the brushing agent section is provided with a brushing agent feeding port positioned at the rear end of the brushing agent section and a brushing agent discharging port positioned at the front end of the brushing agent section, and a first reader-writer and a limiting rod used for limiting the transmission of the tool assembly are arranged at the first installation end face at the position corresponding to the brushing agent feeding port; the brushing agent section is provided with a display for displaying left and right foot information of the shoe tree, and the display is in communication connection with the output end of the first reader-writer; the limiting rod is provided with a driving device which is electrically connected with a control switch positioned on the brush treatment agent section; a vamp 3D scanner for scanning the tool assembly entering the brushing agent section is arranged below the sole conveyer belt and corresponds to the brushing agent feeding port, and a sole 3D scanner for scanning soles placed on the sole conveyer belt is arranged above the sole conveyer belt and corresponds to the brushing agent feeding port; a plurality of vamp brushing agent station sections are arranged between the brushing agent feeding port and the brushing agent discharging port, each vamp brushing agent station section is provided with a brushing agent register and a first spraying operation table, the first spraying operation table is arranged on one side of the main conveying belt and is flush with the conveying plane of the main conveying belt, the first spraying manipulator is arranged at the position adjacent to the first spraying operation table, the front end of the first installation end face, corresponding to each first spraying operation table, is also provided with a brushing agent limiting device, and the first spraying operation table is provided with a tool conveying device for conveying the tool assembly into the first spraying operation table; each tool conveying device is arranged in one-to-one correspondence with each first spraying operation table, clamping grooves penetrating through the front end and the rear end of each tool plate are formed in the bottom of each tool plate along the transmission direction of each tool plate, each tool conveying device comprises a pushing cylinder and a conveying rod used for pulling the tool assembly from the main conveying belt to the first spraying operation table, a first end of each conveying rod is fixedly connected with a piston rod of each pushing cylinder, and a clamping block matched with each clamping groove is arranged at a second end of each conveying rod; the limiting push rod of the brush treatment agent limiting device is arranged corresponding to the front end of the first spraying operation table, and the limiting push rod of the brush treatment agent limiting device is arranged in front of the detector of the brush treatment agent limiting device; the shoe sole conveyor belt is provided with a plurality of shoe sole brushing treatment agent station sections which are arranged in one-to-one correspondence with the shoe upper brushing treatment agent station sections, each shoe sole brushing treatment agent station section is provided with a second spraying manipulator and a 2D scanner for scanning the position of the shoe sole on the shoe sole conveyor belt, and the second spraying manipulator is arranged adjacent to the shoe sole conveyor belt; the image signal receiving end of the first spraying manipulator of the brushing agent section and the image signal receiving end of the second spraying manipulator of the brushing agent section are respectively connected with the output end of the 3D scanner in a communication way, the control end of the first spraying manipulator of the brushing agent section and the control end of the second spraying manipulator of the brushing agent section are connected with the output end of the main control system, the detector of the brushing agent limiting device is connected with the input end of the main control system in a communication way, the limiting push rod of the brushing agent limiting device and the pushing cylinder are respectively connected with the output end of the main control system, and the brushing agent register is connected with the corresponding port of the main control system in a communication way; the foremost end of the brushing agent section is also provided with a second oven, and the main conveying belt and the sole conveying belt pass through the second oven;

The brushing section is provided with a brushing feeding port positioned at the rear end of the brushing section and a brushing discharging port positioned at the front end of the brushing section, a brushing feeding limiting device is arranged at the position of the first installation end face corresponding to the brushing feeding port, and a limiting push rod of the brushing feeding limiting device is arranged behind a detector of the brushing feeding limiting device; the shoe upper brushing station sections which are the same as the shoe upper brushing station sections in number are arranged between the brushing feeding port and the brushing discharging port, the shoe upper brushing station sections which are in one-to-one correspondence with the shoe upper brushing station sections are arranged on the shoe sole conveying belt, and the distances among the shoe upper brushing agent station sections, among the shoe upper brushing station sections and among the shoe upper brushing station sections are the same; the vamp glue brushing station section is provided with the first glue spraying manipulator, the first glue spraying operation table, the tooling conveying device, the glue spraying register and the glue brushing limiting device, the first glue spraying manipulator, the first glue spraying operation table, the tooling conveying device, the glue spraying register and the glue brushing limiting device are arranged in the same mode as those on the vamp glue brushing treatment agent station section, the sole glue brushing station section is provided with the second glue spraying manipulator and the 2D scanner, and the second glue spraying manipulator and the 2D scanner are arranged in the same mode as those on the sole glue brushing treatment agent station section; the two glue brushing sections are arranged along the main conveying belt, a third oven is arranged between the two glue brushing sections, a fourth oven is arranged in front of the glue brushing sections at the front end, and the main conveying belt and the sole conveying belt penetrate through the third oven and the fourth oven; the utility model provides a brush glues section the graphic signal receiving end of first spouting gluey manipulator with the brush glues section the graphic signal receiving end of second spouting gluey manipulator respectively with vamp 3D scanner with the output communication connection of sole 3D scanner, brush glues section the control end of first spouting gluey manipulator with the control end of second spouting gluey manipulator of brush gluey section with main control system's output is connected, brush gluey stop device's detector with main control system's input communication connection, brush gluey stop device's spacing push rod, push cylinder respectively with main control system's output is connected, brush glue register with main control system's corresponding port communication connection.

2. An automated shoe production line according to claim 1, wherein: the main conveyor belt further includes a last installation section disposed after the lasting section.

3. An automated shoe production line according to claim 1, wherein: the main conveyor belt between the steaming section and the brushing treatment agent section is further provided with a first oven and a first freezer in sequence, and the main conveyor belt passes through the first oven and the first freezer.

4. An automated shoe production line according to claim 1, wherein: the shoe sole conveyer belt is divided into a first conveyer belt, a second conveyer belt, a third conveyer belt, a fourth conveyer belt, a fifth conveyer belt and a sixth conveyer belt which are disconnected, wherein the first conveyer belt corresponds to the brushing agent section, the second conveyer belt corresponds to the second oven, the third conveyer belt corresponds to the rear end and is arranged at the brushing section, the fourth conveyer belt corresponds to the third oven and the fifth conveyer belt corresponds to the front end and is arranged at the brushing section, the sixth conveyer belt corresponds to the fourth oven and the bottom buckling section, all the connected sections are in flush butt joint with each other between the conveyer belts, and the first installation end face is respectively provided with a second oven limiting push rod and a third oven limiting push rod at the position corresponding to the foremost end of the second oven and the foremost end.

5. An automated shoe production line according to claim 1, wherein: the shoe tree conveying belt is positioned at the front end of the pressing section, the pressing section is provided with a pressing feeding port positioned at the rear end of the pressing section and a pressing discharging port positioned at the front end of the pressing section, a plurality of pressing limiting devices are arranged on the first mounting end face between the pressing feeding port and the pressing discharging port, the distance between the pressing limiting devices is larger than the width of the front end and the rear end of the tooling plate, and the detector of each pressing limiting device is arranged behind the limiting push rod; the pressing section is provided with a first manipulator for grabbing the shoe tree on the main conveyor belt to the pressing machine and a second manipulator for grabbing the shoe tree in the pressing machine to the shoe tree conveyor belt, and the first manipulator, the second manipulator and the pressing machine are arranged on the same side of the main conveyor belt; the detector of the pressing limiting device is in communication connection with the input end of the main control system, and the first manipulator and the second manipulator are respectively in communication connection with the output end of the main control system.

6. An automated shoe production line according to claim 5, wherein: the shoe last conveyor belt is further provided with a cooling working section and a last removing working section in sequence, and the cooling working section is provided with a second freezer.

7. An automated shoe production line according to claim 5, wherein: and a second reader-writer is arranged at the position of the first installation end face corresponding to the pressing feeding port, and the second reader-writer of the pressing section is in communication connection with the input end of the main control system.

8. An automated shoe production line as set forth in claim 7, wherein: the tool recovery device comprises a tool recovery belt, the transmission direction of the tool recovery belt is opposite to that of the main conveying belt, and the main conveying belt and the tool recovery belt are arranged up and down; the tool recovery device further comprises a first lifting transmission unit and a second lifting transmission unit which are respectively arranged at the rear end and the front end of the main conveying belt so that the tool plate can finish circulation on the main conveying belt and the tool recovery belt; the first lifting transmission unit comprises a first horizontal transmission device with a first transmission platform for placing the tooling plate and a first lifting device for controlling the first horizontal transmission device to lift; the second elevation transport unit includes a second horizontal transport device having a second transport platform for placing the tooling plate and a second elevation device for controlling elevation of the second horizontal transport device.

9. An automated shoe production line as set forth in claim 8, wherein: the tool recovery belt is arranged on the third conveying platform in a penetrating manner, and the two sides of the third conveying platform, corresponding to the tool recovery belt, are respectively provided with a second installation end face which abuts against the tool recovery belt; the first lifting transmission unit further comprises a first limiting device arranged at the position, corresponding to the rear end of the tool recovery belt, of the second mounting end face, and a detector of the first limiting device is arranged at the rear end of a limiting push rod of the first limiting device; the detector of the first limiting device is connected with the corresponding input end of the main control system, and the driving device of the limiting push rod of the first limiting device, the first horizontal transmission device and the first lifting device are respectively connected with the corresponding output end of the main control system.

10. An automated shoe production line as set forth in claim 9, wherein: the first lifting transmission unit further comprises a second limiting device arranged at the position, corresponding to the rear end of the main conveying belt, of the first mounting end face, a detector of the second limiting device is arranged at the rear side of a limiting push rod of the second limiting device, a driving device of the limiting push rod of the second limiting device is connected with a corresponding output end of the main control system, and a detector of the second limiting device is connected with a corresponding input end of the main control system in a communication mode.

11. An automated shoe production line as set forth in claim 8, wherein: the second lifting transmission unit further comprises a third limiting device arranged at a position of the first installation end face corresponding to the front end of the main conveying belt, and a detector of the third limiting device is arranged at the front side of a limiting push rod of the third limiting device; the detector of the third limiting device is in communication connection with the corresponding input end of the main control system, and the limiting push rod of the third limiting device, the second horizontal transmission device and the second lifting device are respectively connected with the corresponding output end of the main control system.

12. The control method applied to the shoe automation production line according to claim 1, wherein the main control system comprises a main controller, a last putting control module, a steaming control module, a brushing agent control module, a brushing control module, a sole buckling control module, a pressing control module and a tooling plate recycling control module; the last-putting control module, the steaming control module, the brushing treatment agent control module, the brushing control module, the bottom-buckling control module and the pressing control module are respectively connected with the main controller; under the control of the main controller, the last entering section, the steaming section, the brush treatment agent section, the glue brushing section, the bottom buckling section, the pressing section and the tool recovery device of the shoe automation production line are sequentially controlled to complete corresponding operations on a last, a vamp, a sole and a tool plate which are arranged on a tool plate through the last entering control module, the steaming control module, the brush treatment agent control module, the glue brushing control module, the bottom buckling section, the pressing section and the tool recovery device, and control the tool assembly to be transmitted on a main conveying belt; the last-putting section completes station distribution and circulation of the tooling assembly under the control of the main controller through the last-putting control module, and manually completes the operation of sleeving the vamp into the last; the steaming section carries out steaming operation on the vamp under the control of the main controller through the steaming control module; the brushing agent section brushes the upper and the sole placed in the sole conveying belt under the control of the main controller through the brushing agent control module; the glue brushing section completes the glue brushing operation on the sole and the vamp under the control of the main controller through the glue brushing control module; the sole buckling section completes sole buckling operation on the vamp and the sole under the control of the main controller through the sole buckling control module; the pressing section separates the tooling plate from the shoe tree and presses the sole and the vamp after bottom buckling under the control of the main controller through the pressing control module; and the tool recovery device is controlled by the main controller to complete recovery operation on the separated tool plates through the tool recovery control module.