CN110253829A - A kind of mold shaping method and robot of polychrome sole - Google Patents
A kind of mold shaping method and robot of polychrome sole Download PDFInfo
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- CN110253829A CN110253829A CN201910380388.5A CN201910380388A CN110253829A CN 110253829 A CN110253829 A CN 110253829A CN 201910380388 A CN201910380388 A CN 201910380388A CN 110253829 A CN110253829 A CN 110253829A
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- color
- mold
- product
- robot
- color material
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/16—Making multilayered or multicoloured articles
- B29C45/1615—The materials being injected at different moulding stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/1759—Removing sprues from sprue-channels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/48—Wearing apparel
- B29L2031/50—Footwear, e.g. shoes or parts thereof
- B29L2031/504—Soles
Abstract
The present invention provides a kind of mold shaping methods of polychrome sole, clear up double-color mold, and the first color mould is molded；The first color material that first color material is heated, and is melted to the intracavitary injection molding of the type of double-color mold；To being formed by overlap or clout is cleared up after the first color material of injection molding；First color mould is opened, is tested to the first color material in the intracavitary first color product that is formed by of type；Second color mould is molded；The second color material that second color material is heated, and is melted to the intracavitary injection molding of the type of double-color mold；Mold by the first color material of injection molding and the second color material is kept the temperature, pressure maintaining and cooling treatment；To being formed by overlap or clout is cleared up after the second color material of injection molding；Second color mould is demoulded, is tested to the second color material in the intracavitary second color product that is formed by of type；Double-colored product is taken out, and carries out final inspection.The present invention also provides can once be made with the robot of mechanical automation turnover mould with double-color sole and the construction that is integrally connected with vamp, manufacturing cost is reduced, and automatic operation is convenient is easy.
Description
Technical field
The present invention relates to automation moulding technology technical field, in particular to a kind of molded new processes of polychrome sole
And its realize the robot of this new process.
Background technique
It is made currently, the sole of many shoes is all made of molding methods.In moulding process, for monochromatic sole, institute's recruitment
The main technologies of skill are usual are as follows:
Sole mould prepares (molding)；Material (rubber or plastics) heat treatment；Injection molding；Heat-insulation pressure keeping；It is cooling；Mold exterior
Cleaning；Demoulding；Take product；Product inspection.
Wherein, sole mould prepare (molding), mold exterior clear up, demould, take product and product inspection and etc. by artificial
It completes, large labor intensity, productivity are low, product yield rate is lower.In addition, with the continuous improvement of salary and conditions, manually at
Originally it significantly improves.If molding the sole of double-colored or more color, not only mold deadweight is obviously increased, up to 50 kilograms or more；And
It needs to be layered, be molded stage by stage, technical process is further complicated, and molding, die sinking need repeatedly manual operations, labor intensity further
It increases；Product yield rate can further decline.
Summary of the invention
In order to solve the above technical problems, the invention discloses a kind of molded new process of polychrome sole and realizing this new work
The operation robot of skill main technique link.
The embodiment of the present invention provides a kind of mold shaping method of polychrome sole comprising double-color mold cleared up,
First color mould is molded；
The first color material that first color material is heated, and is melted to the intracavitary injection molding of the type of double-color mold；It is right
Overlap is formed by after being molded the first color material or clout is cleared up；
First color mould is opened, is tested to the first color material in the intracavitary first color product that is formed by of type；
Second color mould is molded；Second color material is heated, and to the of the intracavitary injection molding melting of the type of double-color mold
Two color materials；Mold by the first color material of injection molding and the second color material is kept the temperature, pressure maintaining and cooling treatment；
To being formed by overlap or clout is cleared up after the second color material of injection molding；Second color mould is demoulded, to
Two color materials are tested in the intracavitary second color product that is formed by of type；
Double-colored product is taken out, and carries out final inspection.
Preferably, the double-color mold includes middle upper mold, middle upper mold hinge, bed die, middle lower die hinge, middle lower die and upper
Mould, the upper mold, middle upper mold longitudinal direction overturning 0-120 degree, the middle lower die lateral turnover 0-180 degree, the bed die of the double-color mold,
Middle lower die, middle upper mold and upper mold are respectively articulated with and are integrated by middle lower die hinge and middle upper mold hinge two sides so that middle upper mold, in
Lower die and upper mold may be reversed.
Preferably, the first color for the first color material being heated, and being melted to the intracavitary injection molding of the type of double-color mold
Material further comprises being molded the first color material to type chamber by injection hole.
Preferably, be formed by overlap after described pair of the first color material of injection molding or clout to carry out cleaning further comprise using
Crocodile eight is installed to refer on robot arm, robot arm drives crocodile eight to refer to and is purged overlap, clout, using robot
Refer to, grab overlap clout, with two to grasping movement three times, finger grip pressure reaches setting value, then starts drawing, and will draw
Pull out object removing.
Preferably, the first color mould is opened, is tested to the first color material in the intracavitary first color product that is formed by of type
It further comprise lower die in opening, lower die to 0-180 degree, i.e., middle lower die fully opens in overturning to the left；Middle lower die is opened, and first
Color product part appears；Using the integrality of machine vision inspection product, that is, judge whether work type chamber is filled.
Preferably, the second color material for the second color material being heated, and being melted to the intracavitary injection molding of the type of double-color mold
Further comprise closing middle upper mold and upper mold 6 from open position, carries out the second color injection molding, by the structure composition of die for shoe-sole, in
Lower die is opened, and upper mold and middle Ccope closing machine, bed die keep original position motionless, and upper mold, middle upper mold and bed die pass through the first color product
Work type chamber is formd, is ready for second layer injection molding.
Preferably, double-colored product is taken out, and the step of carrying out final inspection further comprises that product area and mold area are closed on
Product in a mold, referring specifically to figure, is removed from the mold by setting, product with special robot palm and arm, is turned
Mobile robot body makes product that robot palm and arm be followed to synchronously arrive at product area in certain angle；Decontrol product, product
It falls into collection part case, home position is replied by robot.
A kind of robot, apply above-mentioned polychrome sole mold shaping method, the robot include pulling part bar,
Crocodile, combined hinge, maxilla and lower jaw when pickup, separate blanking from mold；It clamps product and feeds intake after moving to the area Ji Jian.
Preferably, from mold separate blanking include with CCD obtain product form, calculate product center of gravity, determine product from
The position transferred in mold；Robot arm dials lower product in the position of centre of gravity for formulating product.
Preferably, it the clamping product and moves to behind the area Ji Jian to feed intake and is acted including fitting crocodile, according to product center of gravity information,
It moves to immediately below product；Product falls and contacts with fitting crocodile lower jaw, and maxilla movement clamps product together with lower jaw；Robot
The crocodile of trunk connection gripping member turns over certain angle, into the area Ji Jian；Overturning jaw certain angle simultaneously opens jaw, and product is put into collection part slot
In, robot resets, to realize the automatic part picking of robot.
Technical solution of the present invention substitution is artificial, realizes the automation of injection moulding process；Using robot technology, guarantee production
Rate and parts quality stability and qualification rate.
Detailed description of the invention
The step of Fig. 1 is a kind of mold shaping method of polychrome sole of the invention is schemed；
Fig. 2 is the double-color mold structural schematic diagram of Fig. 1；
Set of molds state diagram when Fig. 3 is the first material injection of the double-color mold of Fig. 2；
Procedure chart when Fig. 4 is the first material injection of Fig. 3；
The procedure chart on the first safi side and clout is removed after the first material injection that Fig. 5 is Fig. 4；
Set of molds state diagram when Fig. 6 is second of material injection of the double-color mold of Fig. 2；
Procedure chart when Fig. 7 is second of material injection of Fig. 6；
The procedure chart on the second safi side and clout is removed after second of material injection that Fig. 8 is Fig. 7；
The procedure chart that product demoulds after second of material injection that Fig. 9 is Fig. 8；
The procedure chart of robot pickup after second of material injection that Figure 10 is Fig. 8.
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit below and is wanted
The scope of the present invention of protection is sought, but is merely representative of selected embodiment of the invention.Based on the embodiment in the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts belongs to this
Invent the range of protection.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as a limitation of the invention.
Referring to Fig. 1, the invention discloses a kind of mold shaping methods 100 of polychrome sole, it is mainly double to prepare below
It is illustrated for the double-color mold structure of color sole, is combined together with two groups of monochromatic shaping dies, form set of molds, point
It is not placed on two endpoints of workbench diameter, a kind of once-forming color carries out double-colored to shape in two times.This programme with
For the molding of double-color sole, Principle Method is suitable for the manufacture of polychrome sole.Injection molding sequence: get on, get off suitable for it is double-colored, point
Layer；Injection molding sequence: under first, upwards in turn, it is finally upper suitable for polychrome, layering again.
This method comprises the following steps: step 1 clears up double-color mold, and the first chromatograph is molded and is molded；
Specifically, Fig. 2 is please referred to, double-color mold includes middle upper mold 1, middle upper mold hinge 2, bed die 3, middle lower die hinge
4, middle lower die 5 and upper mold 6, for the molded of double-color sole, it is desirable that the longitudinal overturning 0-120 degree of upper mold, middle upper mold, referring to figure
2a, and middle lower die lateral turnover 0-180 degree, referring to fig. 2 b.Wherein, the double-color mold group mainly by bed die 3, middle lower die 5, in
Upper mold 1 and upper mold 6 are constituted, they are respectively articulated with and are integrated by middle lower die hinge 4 and middle 2 two sides of upper mold hinge, and middle upper mold
1, middle lower die 5 and upper mold 6 may be reversed, and Fig. 2 c is the top view of double-color mold.
The upper mold 6 and middle upper mold 1 are opened, and middle lower die 5 and bed die 3 mold, and are ready for first layer injection molding.
Step 2 heats the first color material, and the first color melted to the intracavitary injection molding of the type of double-color mold
Material；
Referring specifically to Fig. 3, in use, shape object is melted in the heated formation of styrene pellets, and with the raw material of the first color
Form first layer sole.At this point, the state of the double-color mold is middle lower die 5 and bed die 3 at working position (Fig. 3 a)；6 He of upper mold
For middle upper mold 1 at open position (Fig. 3 b), it spins upside down θ=0-120 degree relative to die-closed position.The robot that the present invention passes through
Manipulator shoulder joint can be returned around own axes and be turn 90 degrees after executing completion overturning 0-120 degree；It then proceedes to execute to overturn and refer to
It enables, realizes the overturning of 0-180 degree.This not only meets the overturning of upper mold, middle upper mold and middle lower die well, but also saves space,
Cost is relatively low.
First color material injection process is molded the first color material, robot body to type chamber 54 referring to fig. 4, by injection hole 7
Mounting robot arm 55 on body 56.In this step, injection mould and injection molding machine location matches, the material flow of heating is in a level pressure
Power effect under, by inlet be connected to the channel of work type chamber by injection mold bottom type chamber.
Step 3, to being formed by overlap or clout is cleared up after the first color material of injection molding；
Specifically, after the first color injection molding of sole, the cured materials and parts institute of double-color mold appearance and injection hole road 7 is cleared up
The overlap of spilling.This movement should at least decomposite the extraction and removing of cured material in middle 5 upper surface of lower die cleaning and injection orifice.
The process of the first safi side clout is removed referring to Fig. 5, installation crocodile eight refers to 53 on the robot arm 55, robot
Arm 55 drives crocodile eight to refer to that 53 pairs of overlaps, clout 52 are purged.Using robot finger, overlap clout is grabbed, is arrived with two
Grasping movement three times, finger grip pressure reaches setting value, then starts drawing, and drawing object is removed.
Further, it wins, fetter and grabs eight antennas that object (biology) relies on itself over by any means referring to octopus, imitate this function
Feature, the present invention design flexibility eight and refer to palm, grab and go deburring, complementary angle.Accurate and reliable to guarantee, eight fingers and palms are to be molded
Centered on hole, each finger is gathered with certain speed, it is in the process, each to refer under the action of built-in spring, with certain
Pressure forms certain flexibility, with by clear mould upper surface joint to adapt to fluctuating details thereon.With eight refer to it is further
It collapses, the possible overlap of mold injection mouth near zone, complementary angle material are extruded into cylindrical shape by it, form 8 mouths pincers, and diameter is small
To setting value, stops gathering, pull up；Mechanical arm drives eight finger palm connection drawing objects to turn over one after the completion of this movement
Angle, then object will be removed and put into corner hopper.
First color mould is opened, tests to the first color material in the intracavitary first color product that is formed by of type by step 4；
Lower die 5 in opening, lower die 5 to Q=0-180 degree, i.e., middle lower die 5 fully opens in overturning to the left；Middle lower die 5 is beaten
It opens, the first color product part appears；
It tests to the first color product: using the integrality of machine vision inspection product, that is, whether judging work type chamber
It is filled, is occupied by product, examine product edge whole；If meeting the requirements, continue to examine.
Using tactile, the concrete condition for examining product to be full of is examined representational finite point, is set in present embodiment
Seven point representativeness finite points are set, can suitably increase or reduce finite point according to actual needs, this case is with no restrictions.If meeting
It is required that carrying out in next step；Otherwise do-nothing operation next step.
Double-color sole is subregion from material, is layering in terms of sole angles.Assuming that having bis- color of AB, theoretically
It says, is first molded A and is molded B again, or first injection molding B is molded A again and is possible, be also feasible on technological layer.But consider
To the convenience of habit and subsequent survey, with the first injection moulded shoes bottom bottom, then it is molded the second layer and is advisable.
In terms of technological angle, at least there is molding twice and be opened twice, clear up mold twice.
For whole technological process, according to the requirement of automation, each master operation work step must be examined automatically,
To guarantee quality and unnecessary loss.
Pickup after especially complicated and important two process procedures cleaning mold and secondary demoulding, intelligentized degree
It is very high, the manual action of simulated operator is answered, is realized in the multiple circulation of inspection-judgement-movement.It says to be regarded using machine
Feel the method combined with tactile.
Step 5 molds the second color mould；
Specifically, incorporated by reference to referring to Fig. 6, from open position, (Fig. 6 a) closes middle upper mold 1 and upper mold 6 (Fig. 6 b), carries out the
The injection molding of two colors.By the structure composition of die for shoe-sole, middle lower die 5 is opened, and upper mold 1 and middle upper mold 6 mold, and bed die 3 keeps original position
It is motionless.In this way, upper mold 1, middle upper mold 6 and bed die 3, new work type chamber is formd by the first color product, it is molded for the second layer
It is ready.
Step 6 heats the second color material, and the second color material melted to the intracavitary injection molding of the type of double-color mold；
Specifically, injection mould and injection molding machine location matches, the second color material flow of heating lead under certain pressure effect
Cross inlet 7 be connected to the channel of work type chamber by stratotype chamber on injection mold.
Second color material injection process is molded the second color material, machine to new work type chamber referring to Fig. 7, by injection hole 7
Mounting robot arm 55 on device people body 56.
Step 7 keeps the temperature the mold by the first color material of injection molding and the second color material, pressure maintaining and cooling treatment；
After the second color material injection, together with the first color material, heat-insulation pressure keeping to setting time, cooling makes type in a mold
Intracavitary product solidification.It using method for air-cooling, can not only achieve the desired results, and realize and be easy, safety and environmental protection.
Step 8, to being formed by overlap or clout is cleared up after the second color material of injection molding；
Referring to Fig. 8, referring to 71 using robot finger, that is, crocodile eight, 8 clout of overlap is grabbed, it is dynamic to crawl three times with two
Make, finger grip pressure reaches setting value, then starts drawing, and drawing object is removed.
Step 9 demoulds the second color mould, carries out to the second color material in the intracavitary second color product that is formed by of type
It examines；
Upper mold 6 and middle upper mold 1 are opened, the second color product part appears；
It tests to the second color product: using the integrality of machine vision inspection product, that is, whether judging work type chamber
It is filled, is occupied by product, examine product edge whole；If meeting the requirements, continue to examine；Otherwise, by rejected product depanning.
Using tactile, the concrete condition for examining product to be full of is examined representational finite point, is set in present embodiment
Seven point representativeness finite points are set, can suitably increase or reduce finite point according to actual needs, this case is with no restrictions.If meeting
It is required that carrying out in next step；Otherwise, by rejected product depanning.
Step 10 takes out double-colored product, and carries out final inspection；
Refer to Fig. 9, wherein setting is closed in product area 10 and mold area 11, product 9 in a mold, with special machine
Product 9 is removed from the mold by the manpower palm and arm, and rotary machine people body 56 makes product 9 follow robot in certain angle
Palm and arm synchronously arrive at product area 10；Product 9 is decontroled, product 9 is fallen into collection part case.Home position is replied by robot.
One working cycles is completed, and next working cycles are started.
Specifically, it is the most complicated to take out product link, it requires oliquely downward to apply on product 9 in the process of die sinking
Power makes product 9 be detached from upper mold and middle upper mold；Upper mold and middle upper mold continue to open to final position, and product should be removed in side
Mold area 11, into product collecting region.
Figure 10 is please referred to, the robot includes pulling part bar 83；Crocodile 84；Combined hinge 85；Maxilla 86；Lower jaw 87.Pickup
When, it needs two stages: (a) separating blanking from mold；(b) it accommodates product 9 and feeds intake after moving to the area Ji Jian 93.
First stage: 9 form of product is obtained with CCD, 9 center of gravity of product is calculated, determines the position that product 9 is transferred to from mold
It sets；Robot arm dials lower product 9 in the position of centre of gravity for formulating product 9；
Second stage: fitting crocodile acts at the same time, according to product center of gravity information, moves to immediately below product 9；Under product 9
It falls and is contacted with fitting crocodile lower jaw 87, maxilla 86 acts, and clamps product 9 together with lower jaw 87；Robot trunk connection gripping member it
Crocodile turns over certain angle, into the area Ji Jian；Overturning jaw certain angle simultaneously opens jaw, and product is put into collection part slot 91.Robot is multiple
Position, to realize the automatic part picking of robot.
Wherein, any movement of mold, the detection in entire circulation, the demoulding etc. of product should all be by robot mechanical arm
It completes.Therefore, the difficult point of robot logical action just concentrates on examining, in cleaning and product demoulding in addition to overturning and molding.
The upper mold 180 degree is started and overturn again, and another upper mould cover with die cavity is reinjected into the original of another color together in lower die
Material forms second layer sole, after suitably cooling down, starts the upper mold, that is, can be taken off molded double-color sole, finally again will
This double-color sole smears sticker and be bonded with a vamp forms a shoe body；Wherein the grade molds are placed on workbench with artificial
The movement for starting and overturning of two upper molds is operated, one carrys out the mold with suitable weight, and manual operation is time-consuming and laborious, and
It being bonded between sole and vamp with sticker, the speed of production is even more not get up fastly, for producer, cost of labor is higher,
Speed of production is again slow, its opposite manufacturing cost can not reduce, and two must have overturning space appropriate to be limited to two upper molds, and overturn
Space potential must be fed arm by table core and be influenced and limitation, to design the process in automation, then workbench upper mold
The placement location of tool and quantity are more necessary to be considered clear together, and will be wasted time if the stroke of mold is longer, if wishing
Really have for the reduction of the increase of yield and manufacturing cost and significantly benefit, and progress and upgrading in order to accelerate industry,
Above-mentioned disadvantage is that must solve as early as possible and improved target for one.
Inventive die overturning and pickup robot are turned manually-operated compound action and process using logical algorithm
It is acted for the intelligent logical of robot, realizes the automatic operation of two-coloured shoe bed die on the whole.The quality of product further increases,
Productivity improves, and consistency is good.The robot is controlled by PLC and realizes system function.
The present invention also provides a kind of molding machines of molding machine double-color sole, with a circular board, on board and set
There is array die for shoe-sole, be 24 in the present embodiment, and set up 2-3 platform injection molding machine separately across workbench, each group of mold is penetrated
The movement of material feeding out.
Several tracks for having preset width and protruding at dovetail shape wherein are set around board in the circumference of the board,
On track and all equipped with the emptying aperture of predefined size, on the inside of board and oil pressure is respectively equipped at the position of the corresponding array mold and is stretched
Contracting roofbolt, roofbolt center simultaneously have the oil pressure arm that can be stretched above and below, a jacking block are set in oil pressure arm upper end, wherein wearing pivot joint one
Rotary shaft, the outwardly directed outer end of the rotary shaft is across support on a support column, and the inner end reversely stretched out connects and sets a gear,
The first oil hydraulic cylinder is arranged in the jacking block side.
This law is bright can be with mechanical automation turnover mould, and is once made with double-color sole and is integrally connected with vamp
Construction reduces manufacturing cost, and automatic operation is convenient easy.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.
Claims (10)
1. a kind of mold shaping method of polychrome sole, it is characterised in that: described method includes following steps: to double-color mold into
Row cleaning, the first color mould is molded；
The first color material that first color material is heated, and is melted to the intracavitary injection molding of the type of double-color mold；To injection molding
Overlap is formed by after first color material or clout is cleared up；
First color mould is opened, is tested to the first color material in the intracavitary first color product that is formed by of type；
Second color mould is molded；The second color that second color material is heated, and is melted to the intracavitary injection molding of the type of double-color mold
Material；Mold by the first color material of injection molding and the second color material is kept the temperature, pressure maintaining and cooling treatment；
To being formed by overlap or clout is cleared up after the second color material of injection molding；Second color mould is demoulded, to the second color
Material is tested in the intracavitary second color product that is formed by of type；
Double-colored product is taken out, and carries out final inspection.
2. the mold shaping method of polychrome sole according to claim 1, it is characterised in that: during the double-color mold includes
Upper mold, middle upper mold hinge, bed die, middle lower die hinge, middle lower die and upper mold, the upper mold, middle upper mold longitudinally overturn 0-120 degree,
The middle lower die lateral turnover 0-180 degree, the bed die of the double-color mold, middle lower die, middle upper mold and upper mold pass through middle lower die hinge
It is respectively articulated with and is integrated with middle upper mold hinge two sides, so that middle upper mold, middle lower die and upper mold may be reversed.
3. the mold shaping method of polychrome sole according to claim 2, it is characterised in that: add to the first color material
Heat treatment, and to the type of double-color mold it is intracavitary injection molding melting the first color material further comprise by injection hole to type chamber be molded
First color material.
4. the mold shaping method of polychrome sole according to claim 1, it is characterised in that: described pair of the first color material of injection molding
Be formed by overlap after material or clout to carry out cleaning further comprise being referred to using installation crocodile eight on robot arm, robot arm
It drives crocodile eight to refer to be purged overlap, clout, using robot finger, grabs overlap clout, it is dynamic to crawl three times with two
Make, finger grip pressure reaches setting value, then starts drawing, and drawing object is removed.
5. the mold shaping method of polychrome sole according to claim 1, it is characterised in that: the first color mould is opened, it is right
First color material type it is intracavitary be formed by the first color product and test further comprise open in lower die, to the left in overturning under
Mould to 0-180 degree, i.e., middle lower die fully opens；Middle lower die is opened, and the first color product part appears；Using machine vision inspection system
The integrality of part, that is, judge whether work type chamber is filled.
6. the mold shaping method of polychrome sole according to claim 1, it is characterised in that: add to the second color material
Heat, and to the second color material of the intracavitary injection molding melting of the type of double-color mold further comprise that middle upper mold and upper is closed from open position
Mould 6 carries out the second color injection molding, and by the structure composition of die for shoe-sole, middle lower die is opened, and upper mold and middle Ccope closing machine, bed die are kept
Original position is motionless, upper mold, middle upper mold and bed die, forms work type chamber by the first color product, carries out standard for second layer injection molding
It is standby.
7. the mold shaping method of polychrome sole according to claim 1, it is characterised in that: take out double-colored product, go forward side by side
The step of row final inspection further comprises product area and setting is closed in mold area, and product in a mold, referring specifically to figure, uses
Product is removed from the mold by special robot palm and arm, and rotary machine people body follows product in certain angle
Robot palm and arm synchronously arrive at product area；Product is decontroled, product is fallen into collection part case, and home position is replied by robot.
8. a kind of robot, using the mold shaping method of polychrome sole described in above-mentioned 1-7 any one, feature exists
Include pulling part bar, crocodile, combined hinge, maxilla and lower jaw in: the robot, when pickup, blanking is separated from mold；Clamping system
Part simultaneously feeds intake after moving to the area Ji Jian.
9. robot according to claim 8, it is characterised in that: separating blanking from mold includes obtaining product with CCD
Form calculates product center of gravity, determines the position that product is transferred to from mold；Robot arm is dialled in the position of centre of gravity for formulating product
Lower product.
10. robot according to claim 9, it is characterised in that: the clamping product simultaneously moves to behind the area Ji Jian the packet that feeds intake
The movement of fitting crocodile is included, according to product center of gravity information, is moved to immediately below product；Product falls and contacts with fitting crocodile lower jaw, maxilla
Movement, clamps product together with lower jaw；The crocodile of robot trunk connection gripping member turns over certain angle, into the area Ji Jian；Overturn jaw
Certain angle simultaneously opens jaw, product is put into collection part slot, robot resets, to realize the automatic part picking of robot.
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