CN111011995B

CN111011995B - Vamp grinding device for shoemaking production line

Info

Publication number: CN111011995B
Application number: CN201911384480.5A
Authority: CN
Inventors: 齐立哲; 孙云权
Original assignee: Fudan University
Current assignee: Fudan University
Priority date: 2019-12-28
Filing date: 2019-12-28
Publication date: 2022-04-01
Anticipated expiration: 2039-12-28
Also published as: CN111011995A

Abstract

The invention provides a vamp polishing device for a shoemaking production line, which belongs to the field of shoemaking equipment and comprises a tray bottom plate, six mechanical arms arranged on the tray bottom plate, a reversing table support, a shoe side polishing assembly, a sole polishing assembly, a heel polishing assembly and a laser scanning assembly, wherein the reversing table support is used for being matched with the six mechanical arms to realize the adjustment of the direction and the position of a shoe tree, the shoe side polishing assembly comprises a first polishing wheel for polishing the side surface of a shoe, the sole polishing assembly comprises a second polishing wheel for polishing the bottom of the shoe, the heel polishing assembly comprises a tension wheel, the outer side of the tension wheel is provided with a polishing belt, and the polishing belt swings up and down under the action of a grinding shell to polish the heel. The shoe polisher realizes polishing of different positions of the shoe upper, is high in automation degree, reduces cost and improves labor efficiency.

Description

Vamp grinding device for shoemaking production line

Technical Field

The invention belongs to the field of shoemaking equipment, and relates to a vamp polishing device for a shoemaking production line.

Background

The shoes are a tool for protecting feet from being injured, and the fur shoes are invented for overcoming special conditions and preventing the feet from being difficult to suffer or injured at the earliest, and the shoes are developed to the present, so that the existing shoes with various styles and functions can be formed everywhere.

The shoe shape is mostly determined by a shoe tree, the shoe tree takes a human foot as a prototype, a piece of wood is carved by hand to make a plastic or metal model, the shape of the arch of the foot and how the weight of a human body is distributed on the sole are two things which need to be considered when the shoe tree is made, after the shoe tree is made, in the conventional shoe making process, a vamp is sleeved on the shoe tree, nails are nailed by sharp-nose pliers (called net tongs) to fix the vamp on the shoe tree, then the vamp is pasted and pasted, after the vamp is pasted, small nails are pulled out, then the sole is pasted on the vamp, finally a jacking machine is used for reinforcing and jacking, although the economic development and the operation level are more and more intelligent, the shoe making is also provided with manual operation stations and then is connected into a production line to operate, the production line type of the division work cooperation is adopted, the work efficiency is improved to a certain extent, the operation of skilled work also has certain guarantee to the quality, but workman's intensity of labour is very high, and the linking between each work still is smooth and easy inadequately on the assembly line, mostly depends on the conveyer belt to transmit, and the concrete execution of work still is artifical, and intensity is high, has also restricted work efficiency's further promotion to a certain extent.

In the process of shoemaking, polishing of the vamp is of great importance, the degree of adhesion with the sole is directly influenced, and if polishing quality is poor, the shoes are easy to be glued, so that the method is a key step of shoe quality.

Disclosure of Invention

The invention aims to provide a vamp polishing device for a shoemaking production line, which realizes polishing of vamps at different positions, has high automation degree, reduces cost and improves labor efficiency.

In order to solve the technical problems, the invention adopts the technical scheme that: shoe upper polishing device for shoemaking production line, including the tray bottom plate with establish six manipulators, the platform support of falling the palm, shoes side polishing subassembly, sole polishing subassembly, heel polishing subassembly and laser scanning subassembly on the tray bottom plate, the platform support of falling the palm is used for cooperating the adjustment of six manipulators realization shoe tree direction and position, shoes side polishing subassembly includes the first wheel of polishing to the side of shoes, the sole polishing subassembly includes the second wheel of polishing to the bottom of shoes, the heel polishing subassembly includes the tight wheel that rises, the outside of tight wheel that rises is equipped with grinds the abrasive band, it polishes the heel to grind the abrasive band to swing from top to bottom under the effect of grinding casing.

Further, the hand reversing table support comprises a supporting column, a positioning column is arranged on the supporting column, and the positioning column corresponds to the positioning hole in the side face of the shoe tree.

Furthermore, the first polishing wheel is driven to rotate by a first electric spindle, the first electric spindle is fixedly connected with the tray bottom plate through a support column, the axis of the first polishing wheel is horizontally arranged, and the cross section of the first polishing wheel corresponds to the side face of the shoe.

Further, the second wheel of polishing passes through the second electricity main shaft drive rotation, and the second electricity main shaft sets firmly on the motor board, the side and the hollow frame of motor board are articulated, the hollow frame sets firmly on the tray bottom plate, and one side that the hollow frame set up the second electricity main shaft is equipped with the second cylinder, the lower extreme of motor board is equipped with articulated post, and the output shaft of second cylinder sets up with articulated post is articulated.

Further, the side of motor board is articulated with hollow frame through flexible hinge assembly, flexible hinge assembly includes vertical casing and horizontal casing, inner structure in vertical casing and the horizontal casing is the same and the two sets up perpendicularly, the both ends fixed connection of motor board and vertical casing, the both ends and the hollow frame fixed connection of horizontal casing, the section of horizontal casing and vertical casing is positive quadrilateral structure, the inside of horizontal casing is equipped with the centering post, the axis of centering post sets up with the axis coincidence of horizontal casing, the diagonal of centering post sets up with the diagonal of horizontal casing is perpendicular, be equipped with the elastomer between the four sides of centering post and horizontal casing, the inside of centering post is inlayed and is equipped with two steel columns, the axis line of steel column sets up with the diagonal coincidence of centering post, the both ends of steel column are equipped with the screw thread of being connected usefulness with other parts.

Furthermore, a first air suction opening is formed in the upper end of the hollow frame, a first air suction opening is formed in one side, provided with the second electric spindle, of the hollow frame, the first air suction opening is connected with a dust collector, and the dust collector is fixedly arranged on the tray bottom plate.

Furthermore, the heel grinding component still includes grinding base and rotatory jar, the grinding base sets firmly on the tray bottom plate, the rotatory jar is established in one side of grinding base and is driven the relative grinding base swing of grinding casing, the one end that the rotary steel was kept away from to the grinding casing sets up with grinding base is articulated, be equipped with action wheel and tuningout wheel in the grinding casing, tight pulley stretches out the grinding casing setting, the dull polish area is around at the action wheel, tuningout wheel and the outer lane setting of tight pulley and by action wheel drive rotation, the action wheel is rotatory by the driving motor who sets up outside the grinding casing, tuningout wheel realizes the adjustment to the dull polish area through the flexible of third cylinder.

Furthermore, the tensioning wheel is arranged at one end far away from the rotating cylinder, the axis of the tensioning wheel is horizontally arranged, the tensioning wheel is rotatably connected to the adjusting rod, the adjusting rod is provided with a strip hole for adjusting the front position and the rear position of the tensioning wheel relative to the grinding shell, a second air suction opening is arranged below one end, close to the rotating cylinder, of the grinding shell, and is connected with a dust collector, and the dust collector is fixedly arranged on the bottom plate of the tray.

Furthermore, the laser scanning assembly is a three-dimensional laser scanning assembly, a transparent or semitransparent protective cover is arranged on the tray bottom plate, and the six-axis manipulator, the hand reversing table support, the shoe side polishing assembly, the sole polishing assembly, the heel polishing assembly and the laser scanning assembly are all arranged inside the protective cover.

Furthermore, the six-axis manipulator is matched with the shoes through a clamping component at the front end, the clamping component is fixed on an execution shaft of the six-axis manipulator, the clamping component comprises a connecting seat and a driving cylinder, the connecting seat is fixedly connected with the execution shaft of the six-axis manipulator, the driving cylinder is fixedly arranged on the connecting seat, two sides of the axis of the driving cylinder are of symmetrical structures, one side of the structure comprises a driving rod, a first connecting rod, a second connecting rod, a third connecting rod and a clamping rod, one end of the driving rod is hinged with the output shaft of the driving cylinder, the other end of the driving rod is hinged with one end of the first connecting rod, the other end of the first connecting rod is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged with one end of the clamping rod, one end of the third connecting rod is hinged with the inner side of the middle part of the clamping rod, the other end of the third connecting rod is hinged with the upper fixing plate and the lower fixing plate, one end of the second connecting rod, which is far away from the clamping rod, is hinged with the upper fixing plate and the lower fixing plate, the inner side of the clamping rod is provided with a positioning bulge corresponding to the positioning pin hole on the side surface of the shoe tree.

Compared with the prior art, the invention has the following advantages and positive effects.

1. The six-axis manipulator is provided with the clamping assembly, the clamping assembly is of a symmetrical structure, the clamping force of the two clamping assemblies is consistent, the stability of semi-finished shoes is easy to guarantee, the semi-finished shoes are not prone to stress deformation, the positioning protrusions are arranged on the inner sides of the clamping rods, the repeated positioning precision of each time is guaranteed, the six-axis manipulator is adopted, the direction diversity of change is achieved, and the structure is simplified;

2. after the elastic hinge assembly is arranged between the motor plate and the hollow frame, the second air cylinder drives the second electric spindle to ascend and then polishes the bottom surface of the shoe, after the output shaft of the second air cylinder retracts, the second electric spindle has a certain buffering effect under the action of the flexible hinge assembly, the vibration to the electric spindle is reduced, the service life of the electric spindle is prolonged, the precision of the electric spindle is ensured, the cost of the electric spindle is higher, the structure can reduce the maintenance cost of the electric spindle, and the production cost of the whole device is reduced;

3. the dust collector is arranged on the polishing assembly, the polishing environment cleanliness is guaranteed, the service life of the mechanical structure is prolonged, the failure rate is reduced, the maintenance cost is reduced, and the environment protection is facilitated.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a layout view of a shoe upper polishing device used in a shoe manufacturing line according to the present invention;

FIG. 2 is a schematic view of the upper polishing device for a shoe manufacturing line of the present invention without a protective cover;

FIG. 3 is a detail view of section F of FIG. 2 of the present invention;

FIG. 4 is a schematic view of the clamping assembly of the present invention without the upper retaining plate;

FIG. 5 is a schematic bottom view of the clamp assembly of the present invention;

FIG. 6 is a schematic view of the construction of the sole sanding assembly of the present invention;

FIG. 7 is a schematic structural view of the flexible hinge assembly of the present invention;

figure 8 is a schematic diagram of the construction of the heel sanding assembly of the present invention;

FIG. 9 is a detail view of section A of FIG. 8 of the present invention;

figure 10 is a schematic diagram of the heel sharpening assembly of the present invention after opening a portion of the grinding housing;

FIG. 11 is a schematic view of the gluing station of the present invention without a protective cover;

FIG. 12 is a schematic view of the construction of the glue assembly of the present invention;

FIG. 13 is a detail view of section E of FIG. 12 of the present invention;

FIG. 14 is a schematic structural view of the floor assembly of the present invention;

fig. 15 is a structural view of the footwear last according to the present invention.

Reference numerals:

20. polishing a station; 21. a tray floor; 211. a protective cover; 22. a six-axis manipulator; 221. a clamping assembly; 2211. a connecting seat; 2212. a drive cylinder; 22121. a lower fixing plate; 22122. an upper fixing plate; 2213. a drive rod; 2214. a first link; 2215. a second link; 2216. a third link; 2217. a clamping lever; 2218. positioning the projection; 23. a hand-reversing table bracket; 231. a support pillar; 232. a positioning column; 24. polishing the side surface of the shoe; 241. a first grinding wheel; 241. a first motorized spindle; 25. a sole buffing assembly; 251. a second grinding wheel; 252. a second motorized spindle; 253. a motor plate; 2531. a hinged column; 254. a second cylinder; 255. a flexible hinge assembly; 2551. a horizontal housing; 2552. a vertical housing; 2553. a centering post; 2554. a flexible body; 2555. a steel column; 256. a hollow frame; 2561. a first air suction port; 2562. a first suction opening; 26. a heel grinding assembly; 261. grinding the base; 262. grinding the shell; 2621. a driving wheel; 2622. a deviation adjusting wheel; 2623. a tension wheel; 2624. adjusting a rod; 2625. a second suction opening; 2626. a drive motor; 2627. a third cylinder; 263. a rotating cylinder; 264. a connecting shaft; 27. a laser scanning assembly; 28. a vacuum cleaner; 30. a gluing station; 31. a fork tool; 32. an automatic dispenser; 33. a base plate assembly; 331. a lower base plate; 332. an upper base plate; 3321. positioning a groove; 333. a outsole; 34. a gluing component; 341. a glue spreader; 342. fixing the square tube; 343. fixing a column; 344. an integral rod; 3441. a hollow cylinder; 3442. a set screw; 345. supporting the rollers; 346. a foundation screw; 348. a glue injection nozzle; 10. a lasting station; 40. a baking station; 50. a bottom loading station; 60. a bottom pressing station; 70. a rear hammer massage station; 80. checking a station; 90. a freezing station; 100. a last removal station; 101. a finished product inventory area; 102. a shoe last; 1021. a positioning pin hole.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The following detailed description of specific embodiments of the invention refers to the accompanying drawings.

As shown in fig. 1 to 15, the shoe upper polishing device for the shoe manufacturing production line is applied to a shoe manufacturing production line, the shoe manufacturing production line includes a plurality of stations, the shoe upper polishing device for the shoe manufacturing production line is arranged corresponding to the polishing station 20, the number of each station is at least one, and the stations are arranged independently, and the plurality of stations are arranged in the order of a last covering station 10, a polishing station 20, a gluing station 30, a baking station 40, a bottom covering station 50, a bottom pressing station 60, a freezing station 90 and a last removing station 100;

a lasting station 10 for placing the shoe upper over a last 102;

a polishing station 20 for increasing the roughness of the matching part of the outer part of the vamp and the sole and facilitating the gluing, and the detailed structural description is shown in the following specific description;

a gluing station 30 for applying glue to the area where the upper and the sole are engaged, the detailed structural description being given in the following detailed description;

a baking station 40 for drying the glue; the structure of the baking station 40 can refer to the following patent "CN 201910351737.0 vamp detection and drying system", and can also use the existing baking equipment in the market, all can realize the baking action in the present application, and no specific limitation is made in the application

A sole-loading station 50 for applying the sole to the upper; reference can be made to the combination of the following two patents, "CN 201910351034.8 a sole positioning device", "CN 201811575261.0 a sole processing line intelligent transfer device", and the actions in the present application can be implemented in the existing upper-bottom structure in the market or the upper-bottom structure disclosed in other patents, and the work station is not specifically limited in the present application;

a sole pressing station 60, which presses the shoe upper and the shoe sole together, wherein the structure of the pressing station can refer to the following patent "cn201910351087. x, which is an upper and sole pressing device", and can also use the existing pressing devices in the market, so that sole pressing actions in the application can be realized;

freezing station 90, be used for the sizing of shoes and vamp sticky and after, freezing work is promptly in certain closed box, the flow through gas realizes the quick condensation of gluing, increase gluey refrigerated speed, promote work efficiency, gaseous flow is realized through the fan, blow from the upper end, air-out from the lower extreme, shoes get into from one side of box, derive from the opposite side, in the driven process, through gaseous blowing realize the quick blowing of gluing, reach the frozen effect of cooling, raise the efficiency, this structure is common structure, industry commonly used drying cabinet mechanism can realize, according to different shoes structures, realize the control of different temperatures, do not do specific structure and limit in this application, the structure that realizes the cooling can all realize the cooling function of this application;

a delasting station 100 for separating the upper from the last 102;

in the above stations, the delasting and the lasting can refer to the following patent "CN 201811575252.1 cam-driven delasting and delasting integrated machine", the delasting mechanism can also refer to the following patent "CN 201811575250.2 an automatic delasting machine", and the existing structures of delasting and delasting on the market can also be adopted in the present application, as long as the functions of delasting and delasting are satisfied, and the present application is not specifically limited, and the feeding and discharging of each station are completed by the six-axis manipulator 22 in a matching manner, and the setting is performed by a program, so that manual participation and operation are not needed, manpower is saved, and the work efficiency is improved.

More preferably, the tail end of the material transferring assembly is provided with a finished product stock area 101, so that qualified products can be placed in a concentrated mode, and subsequent uniform packaging and processing are facilitated.

The material transfer component is matched with the assembly line to realize the transfer and transmission of materials between adjacent stations, the material transfer component is preferably an AGV navigation trolley and can also be realized by adopting a common conveyor belt structure, the corresponding station processing time is kept at each station, after the processing is finished, shoes in the processing process are placed into the material transfer component again, the next station is conveyed to carry out the next process, because the processing time of each station is different, the time of the conveyor belt staying at each station is different, different parameters are required to be set by the conveyor belt, the continuous processing requirement of each station is met, the program control is complex, the cost is low, if the structure of the production line is adjusted, the structure of the material transfer component needs to be adjusted accordingly, the AGV navigation trolley structure is adopted, each station is matched with and provided with an AGV navigation trolley, the upper end face of each AGV navigation trolley is provided with a fixing plate matched with the shoe tree 102, the upper end surface of the shoe tree 102 is provided with a positioning plate, the upper end surface of the positioning plate is provided with positioning pin holes 1021, the fixing plate is provided with a conical positioning column 232, the positioning column 232 and the positioning pin holes 1021 are correspondingly arranged, the positioning of the shoe tree 102 on the AGV navigation trolleys is completed, each AGV navigation trolley is used for feeding materials to the corresponding station and receiving and processing the shoes of the station to be transferred to the next process, a plurality of AGV navigation trolleys can be mutually and independently controlled, the structure adjustment is convenient to carry out, the processing time of some stations is longer, the stations can be continuously arranged into two stations, such as the gluing station 30, the corresponding gluing process occupies longer time, in order to avoid the process waiting for the completion of the next process, the two gluing stations 30 can be continuously arranged, the continuous operation of the subsequent stations is ensured, in the application, because each station is mutually independent, so the structure sets up more swiftly, and the quantity of station is also conveniently adjusted, satisfy the demand of every station continuous production, guarantee the utilization ratio of equipment, promote the beat of work, and then promote work efficiency, and can adjust at any time according to the place space, AGV navigation dolly's route is adjusted and is adjusted also production line structure's setting, structure adjustment is convenient, swiftly, move the position of every station through fork truck can, traditional structure has been broken through, the overall arrangement of whole integral type, it is more convenient to dismouting and adjustment, the structure is nimble more diversified.

Preferably, the assembly line is arranged in a U shape, an annular shape or an S shape, the arrangement is set according to the site layout, a traditional linear assembly line structure can be adopted, the structure is not limited by a specific shape, and the arrangement can also be in an irregular shape as long as the space meets the layout of the material transfer assembly and the conversion among a plurality of stations.

Preferably, a rear hammer massage station 70 and an inspection station 80 are sequentially arranged between the sole pressing station 60 and the freezing station 90, the rear hammer massage station 70 is used for increasing the bonding strength between the heel of the vamp and the sole, the inspection station 80 is used for detecting the bonding strength between the vamp and the sole, the structure of the inspection station 80 can refer to the following patent "CN 201910351737.0 vamp detection and drying system", the specific structure is not described in the application, and can also refer to the existing inclined plane detection structure in the market, the difference of the structure of the rear hammer massage station 70 in the grinding work is that only the six-axis manipulator 22, the heel grinding component 26 and the laser scanning component 27 are set, and replace the dull polish area among the heel subassembly 26 of polishing with the belt, one side that the belt is close to the vamp sets up rubber layer or silica gel layer, avoids causing wearing and tearing to the heel of shoes, only plays further fixed effect.

Preferably, the polishing station 20 comprises a tray bottom plate 21 and six manipulators 22 arranged on the tray bottom plate 21, a hand reversing table support 23, a shoe side polishing assembly 24, a sole polishing assembly 25, a heel polishing assembly 26 and a laser scanning assembly 27, wherein semi-finished shoes are clamped by the six mechanical shafts through the hand reversing table support 23, the direction of the shoes is adjusted, then the shoes are clamped by the six manipulators 22 again, the shoes sequentially pass through the shoe side polishing assembly 24, the sole polishing assembly 25 and the heel polishing assembly 26, polishing of the shoe uppers, the shoe soles, the toe parts and the heel parts of the shoes is completed, a certain rough surface is polished at the positions of adhesive corresponding to the shoe uppers, the friction coefficient between the shoe uppers and the adhesive is increased, the adhesive is firmer, after polishing is completed, the shoes are inspected through the laser scanning assembly 27, the polishing quality is checked, if the polishing is qualified, the shoes can be placed on the material transfer assembly through the six manipulators 22, if the shoes are unqualified to polish, the waste material district can be placed to six manipulators 22, and the waste material district can set up on the subassembly is transported to the material, also can set up the one side at the station 20 of polishing.

The tray bottom plate 21 is a carrier of the whole polishing station 20 and is a basis for mounting all other parts of the polishing work station, the tray bottom plate 21 is made of sheet metal or wood and is preferably made of metal, forklift holes for inserting of a forklift are formed in the tray bottom plate 21, the whole polishing station 20 is convenient to carry and transfer integrally, more preferably, a protective cover 211 is arranged at the upper end of the tray bottom plate 21, the protective cover 211 is of a transparent box structure with an automatic door, the protective cover 211 covers all the parts on the tray bottom plate 21 in the tray bottom plate to prevent external dust from entering, the tidiness of a processing environment is ensured, the polishing precision and the polishing effect are favorably improved, the protective cover 211 is provided with the automatic door, the six-axis mechanical arm 22 can be operated at multiple angles through the automatic door when entering and exiting, the six-axis mechanical arm 22 can be operated at multiple angles and is more flexible, the six-axis mechanical arm 22 preferably adopts an ABB mechanical arm, also can adopt the six-axis manipulator 22 of other brands, do not injecing in this application, as long as can realize six motions all can realize in this application, six-axis manipulator 22's control box also sets up the up end at tray bottom plate 21, whole tray bottom plate 21 forms the structure of sled dress formula, it is more convenient and reliable to transport, more preferably, six-axis manipulator 22 specifications on every station are unanimous, make things convenient for the installation or the replacement of a plurality of work piece six-axis manipulator 22, promote the commonality before the part, six-axis manipulator 22's lower terminal surface passes through keysets and tray bottom plate 21 fixed connection.

The reverse hand table support 23 comprises a support column 231, a positioning column 232 consistent with that on the fixing plate is arranged on the support column 231, the positioning column 232 is used for being matched with the shoe tree 102 to fix the shoe tree 102, the six-axis manipulator 22 firstly places the shoe tree 102 downwards on the positioning column 232, then the six-axis manipulator 22 clamps the shoe tree 102 again to enable the shoe tree 102 to be placed towards the positive direction, polishing of each subsequent end face is facilitated, the reverse hand table support 23 achieves changing of the direction of the shoe tree 102, the six-axis manipulator 22 is matched with a shoe through a clamping assembly 221 at the front end, the clamping assembly 221 is fixed on an execution shaft of the six-axis manipulator 22, the clamping assembly 221 comprises a connecting seat 2211 and a driving cylinder 2212, the connecting seat 2211 is fixedly connected with the execution shaft of the six-axis manipulator 22, the driving cylinder 2212 is fixedly arranged on the connecting seat 2211, two sides of the axis of the driving cylinder 2212 are of a symmetrical structure, and the structure at one side comprises a driving rod 2213, A first link 2214, a second link 2215, a third link 2216 and a clamping rod 2217, one end of the driving rod 2213 is hinged with the output shaft of the driving cylinder 2212, the other end is hinged with one end of the first link 2214, the other end of the first link 2214 is hinged with one end of the second link 2215, the other end of the second link 2215 is hinged with one end of the clamping rod 2217, one end of the third link 2216 is hinged with the inner side of the middle of the clamping rod 2217, the other end is hinged with the upper fixing plate 22122 and the lower fixing plate 22121, one end of the second link 2215 far away from the clamping rod 2217 is also hinged with the upper fixing plate 22122 and the lower fixing plate 22121, a positioning bulge 2218 corresponding to a positioning pin hole on the side of the shoe tree 102 is arranged on the inner side of the clamping rod 2217, the vertical clamping precision of the shoe tree 102 is ensured, the precision of each action is further ensured, the clamping assembly adopts a symmetrical structure, the clamping force of two sides is consistent, the stability of the semi-finished shoe is easy to ensure, the deformation under stress is not easy to occur; the lower end of the lower fixing plate 22121 is provided with a limit switch for sensing the position of the rear end of a shoe, the shoe touches the limit switch after being in place, the limit switch sends a signal to a control center to indicate that the shoe is accurately positioned, the control center adopts a PLC program, the program setting is simple, the training cost of workers is reduced, the control center is also arranged on the tray bottom plate 21, and the control center controls the on-off of all electrical elements on the polishing station 20 and receives signals of the electrical elements.

The laser scanning assembly 27 can be a commercially available product, preferably, the laser scanning assembly 27 is a three-dimensional laser scanner, the geometric information in the scenery is extracted by the aid of the geometric information in the illumination light source, the light plane is used for irradiating the surface of the object to generate light stripes, the stripes are detected in the shot image, the shapes and the discontinuity of the stripes form the relative measurement between the visible surfaces of the object and the camera, and the structured light has a plurality of shapes such as point, strip and net from the geometric shape of the light source.

Shoe side face group 24 spare of polishing includes first emery wheel 241, the vertical setting of first emery wheel 241, convenient side contact with shoes is polished, first emery wheel 241 is fixed on first electricity main shaft 241's output shaft, first electricity main shaft 241 passes through support column 231 and tray bottom plate 21 fixed connection, adopt first electricity main shaft 241, the rotational speed is faster, the situation of light load in more being fit for this application, promote the efficiency of polishing, polish the polishing of 24 completion uppers of group spare at the shoe side face, guarantee the side of vamp and the better cooperation of sole.

The sole polishing component 25 comprises a hollow frame 256, a second electric spindle 252, a motor plate 253 and a second air cylinder 254, wherein the hollow frame 256 is made of a hollow square tube, the upper end of the hollow frame 256 is welded by metal plates, the lower end of the motor plate 253 is provided with a hinge column 2531, one end of the second air cylinder 254 is hinged to one side of the hollow frame 256, the other end of the second air cylinder 254 is hinged to the lower end of the hinge column 2531, the second electric spindle 252 is vertically arranged on the motor plate 253, the motor plate 253 is hinged to the hollow frame 256 in the vertical direction through a flexible hinge component 255, the upper end of a force output shaft of the second electric spindle 252 is provided with a second polishing wheel 251, the end face of the second polishing wheel 251 is horizontally arranged, the six-axis manipulator 22 clamps the shoe and places the shoe above the second polishing wheel 251, according to a set program, the second air cylinder 254 can drive the second polishing wheel 251 to repeatedly move up and down and contact with the bottom surface of the shoe, and polish the position of the shoe where glue is needed by the second polishing wheel 251, the glue is convenient to fix; more preferably, the flexible hinge assembly 255 includes a vertical housing 2552 and a horizontal housing 2551, the vertical housing 2552 and the horizontal housing 2551 have the same structure and are vertically disposed, the motor plate 253 is fixedly connected to two ends of the vertical housing 2552, two ends of the horizontal housing 2551 are fixedly connected to the hollow frame 256, the cross sections of the horizontal housing 2551 and the vertical housing 2552 are both of a regular quadrilateral structure, the horizontal housing 2551 is internally provided with a centering column 2553, an axis of the centering column 2553 is overlapped with an axis of the horizontal housing 2551, a diagonal of the centering column 2553 is vertically disposed with a diagonal of the horizontal housing 2551, an elastic body is disposed between the centering column 2553 and four sides of the horizontal housing 2551, the elastic body is made of rubber, polyethylene, silica gel or other elastic material, two steel columns 2555 are embedded inside the centering column 2553, an axis connecting line of the steel column 2555 is overlapped with the diagonal of the centering column 2553, two ends of the steel column 2555 are provided with threads, the shoe is convenient to be connected with other parts, the length of the elastic body is consistent with that of the horizontal shell 2551, the length of the centering column 2553 is greater than that of the horizontal shell 2551, two ends of the centering column 2551 slightly protrude out of the horizontal shell 2551, after the elastic hinge assembly is arranged, the second air cylinder 254 drives the second electric spindle 252 to ascend, the bottom surface of the shoe is polished, after the output shaft of the second air cylinder 254 retracts, under the action of the flexible hinge assembly, a certain buffering effect is achieved on the second electric spindle 252, the vibration to the electric spindle is reduced, the service life of the electric spindle is prolonged, the precision of the electric spindle is guaranteed, the cost of the electric spindle is high, the maintenance cost of the electric spindle can be reduced through the structure, and the production cost of the whole device is reduced; more preferably, the upper end of the hollow frame 256 is provided with a first air suction opening 2561, one side of the hollow frame 256, which is provided with the second electric spindle 252, is provided with a first air suction hole, the first air suction opening 2562 is connected with the dust collector 28 on the tray bottom plate 21, and dust or hair generated in the polishing process enters the hollow frame 256 through the first air suction opening 2561 and then is absorbed by the dust collector 28, so that the cleanliness in the polishing process is ensured.

The heel grinding component 26 comprises a grinding base 261, a grinding shell and a rotating cylinder 263, wherein the grinding base 261 is fixedly arranged on the tray bottom plate 21, one end of the grinding shell is hinged to the grinding base 261, the other end of the grinding shell is hinged to an output shaft of the rotating cylinder 263 through a connecting shaft 264, the rotating cylinder 263 is fixedly arranged on one side of the grinding base 261, the output shaft of the rotating cylinder 263 is hinged to one end of the connecting shaft 264, the other end of the connecting shaft 264 is fixedly connected with the grinding shell, and the rotating cylinder 263 acts to drive the grinding shell to rotate within a certain angle range;

a driving wheel 2621 and a deflection adjusting wheel 2622 are arranged in the grinding housing 262, the tension wheel 2623 extends out of the grinding housing 262, the abrasive belt is wound around the outer rings of the driving wheel 2621, the deflection adjusting wheel 2622 and the tension wheel 2623 and is driven by the driving wheel 2621 to rotate, the driving wheel 2621 is rotated by a driving motor 2626 arranged outside the grinding housing, the deflection adjusting wheel 2622 adjusts the abrasive belt by the extension and retraction of a third cylinder 2627, the tension wheel 2623 is arranged at one end far away from the rotating cylinder 263, the axis of the tension wheel 2623 is horizontally arranged, the tension wheel 2623 is rotatably connected to an adjusting rod 2624, a long hole is arranged on the adjusting rod 2624, so as to conveniently adjust the front and back positions of the tension wheel 2623 relative to the grinding housing 262, ensure the tightness of the abrasive belt, and compensate for a certain processing error, in the actual working process, the output shaft of the rotating cylinder 263 extends out or retracts to drive the grinding housing 262 to swing up and down in a certain angle range relative to the grinding base 261, the tensioning wheel 2623 swings up and down and back and forth within a small range, and the polishing belts on the outer side of the tensioning wheel 2623 polish the shoe heel and the front shoe toe so as to be conveniently adhered to the shoe sole;

more preferentially, a second air suction opening 2625 is arranged below one end, close to the rotating cylinder 263, of the grinding shell 262, the second air suction opening 2625 is also connected with the dust collector 28, the machining tidiness of the grinding position is guaranteed, the grinding precision is prompted, and in addition, because impurities do not enter the machine, the service life of the machine is prolonged, and the failure rate is reduced.

In whole polishing work position, all cylinder structures all can adopt hydro-cylinder or electric putter and other equivalent structures to replace, set for and adjust according to the difference of load and in-service use condition, as long as can be accurate execution predetermine the action can, still be equipped with dust catcher 28 on the tray bottom plate 21, guarantee the clean and tidy degree of processing environment, avoid the course of working, cause the influence to the vamp, be favorable to guaranteeing the machining precision of each part simultaneously, in polishing station 20, the polishing of each angle of vamp has been realized, the side, the bottom surface, the polishing of heel and tip, the preparation of viscose is done for back rubber coating station 30, promote the fastness of viscose.

As shown in fig. 11 to 14, the gluing station 30 includes a tray bottom plate 21 and a protective cover 211 with the same specification as the polishing station 20, which improves the commonality between parts, is mass-produced, and reduces the processing cost, and the six-axis manipulator 22 on the tray bottom plate 21 of the gluing station 30 is different from the six-axis manipulator 22 on the polishing station 20 in that a fork 31 is arranged on a clamping component 221 at the front end of the six-axis manipulator 22 on the gluing station 30, and the fork 31 is a vertically downward door-shaped structure and is used for realizing the limit in the gluing state of the shoe tree 102 and improving the positioning accuracy in the shoe gluing process; more preferably, the lower end of the tray bottom plate 21 of the gluing station 30 is provided with a support roller 345 and a ground screw 346, the support roller 345 facilitates the movement of the gluing station 30, and the ground screw 346 facilitates the adjustment of the levelness of the tray bottom plate 21, so as to prevent glue from flowing, and to facilitate the improvement of gluing precision and gluing quality.

The upper end of the tray bottom plate 21 of the gluing station 30 is provided with a gluing component 34, a glue dispensing component and a laser scanning component 27 which is the same as that of the polishing station 20, the principle of the laser scanning component 27 is the same as that described above, repeated description is not provided here, the glue used in the gluing process is different for different positions of shoes, the glue used in different positions is different, the glue consumption for gluing the sole is larger, the gluing component 34 is adopted to complete the gluing of the heel, the side surface of the shoe and the toe tip, the glue consumption is less, the glue consumption and the coating area are controlled to be excessively large, the glue overflow site is generated, the qualified rate of the shoes is reduced, the glue overflow part needs to be treated, the process is increased, the time is wasted, the unqualified product is directly caused by the serious part, and the gluing process is completed by a glue dispenser, the precision of the dispenser is higher, and the speed is easier to control.

The glue dispensing assembly comprises an automatic glue dispenser 32 and a bottom plate assembly 33, the bottom plate assembly 33 is arranged on a station of the automatic glue dispenser 32, the automatic glue dispenser 32 can directly adopt a glue dispenser purchased in the market, the horizontal movement of a Y axis can be realized, and the glue dispensing requirements of a plurality of shoes can be met, for example, the automatic glue dispenser 32 can realize the function by filling a glue, other brands can be used, the application is not limited, and one side of the automatic glue dispenser 32 close to the bottom plate assembly 33 is provided with a laser scanning assembly 27 for detecting the glue dispensing quality; more preferably, the bottom plate assembly 33 includes a lower bottom plate 331, an upper bottom plate 332 and an outsole 333, which are arranged from bottom to top, the lower bottom plate 331 is fixedly connected to the automatic dispenser 32, the upper bottom plate 332 is arranged on the lower bottom plate 331, a positioning slot 3321 is arranged at a position of the upper bottom plate 332 corresponding to the outsole 333, the outsole 333 is in accordance with the specification of the shoe sole, the specification of the upper bottom plate 332 is changed, dispensing requirements of shoes of different specifications can be met, specification change is more convenient and rapid, the laser scanning assembly 27 is arranged on the dispensing assembly, the dispensing position can be detected, the dispensing quality is ensured, and the stability of the subsequent process is ensured.

The gluing component 34 comprises a gluing machine 341 and a gluing nozzle which are arranged integrally, one side of the gluing machine 341 is provided with a fixed square tube 342, one side of the fixed square tube 342 is provided with a fixed column 343, the fixed column 343 is vertically arranged, the gluing nozzle is arranged at one end of an integrated rod 344, the integrated rod 344 is horizontally arranged, the other end of the integrated rod 344 is provided with a hollow cylinder 3441, the hollow cylinder 3441 is sleeved on the outer ring of the fixed column 343, the hollow cylinder 3441 and the fixed column 343 are fixed through at least two stop screws 3442, the up-and-down position adjustment of the gluing nozzle relative to the gluing machine 341 is conveniently realized, the gluing machine 341 and the gluing nozzle can adopt the existing arrangement on the market, the gluing machine is mature equipment, a direct hundred-degree or online shopping platform can be searched for related manufacturers, and the gluing machine 341 is not specifically limited in the application.

In the actual use process, the shoe tree 102 passes through the following station, namely a shoe tree sleeving station 10 in sequence under the navigation of the AGV navigation trolley, and is used for sleeving the shoe upper on the shoe tree 102; a polishing station 20 for increasing the roughness of the matching part of the outer part of the vamp and the sole and facilitating the gluing; a gluing station 30 for applying glue to the matching area of the vamp and the sole; a baking station 40 for drying the glue; a sole-loading station 50 for applying the sole to the upper; a sole pressing station 60 for pressing the upper and sole together; a rear hammer massage station 70 and a checking station 80, wherein the rear hammer massage station 70 is used for increasing the bonding strength of the heel of the vamp and the sole, the checking station 80 is used for detecting the bonding strength of the vamp and the sole, and the freezing station 90 is used for gluing and shaping the shoe and the vamp; the delasting station 100 is used for separating the shoe upper from the shoe tree 102, the whole process from the lasting covering to the delasting is completed automatically, the feeding and the discharging of each station are completed through the six-axis manipulator 22, the inspection station 80 is arranged, the automatic detection of the shoe is realized, the whole production line does not need manual operation, the labor cost of the whole production line is saved by about 70%, the influence of human factors is reduced, the work efficiency is greatly improved, and the shoe making precision is improved.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. Shoemaking is vamp grinding device for production line, its characterized in that: the shoe heel polishing device comprises a tray bottom plate, and a six-axis manipulator, a hand reversing support, a shoe side polishing assembly, a shoe sole polishing assembly, a shoe heel polishing assembly and a laser scanning assembly which are arranged on the tray bottom plate, wherein the hand reversing support is used for matching with the six-axis manipulator to realize the adjustment of the direction and the position of a shoe tree, the shoe side polishing assembly comprises a first polishing wheel for polishing the side surface of a shoe, the shoe sole polishing assembly comprises a second polishing wheel for polishing the bottom of the shoe, the shoe heel polishing assembly comprises a tension wheel, a polishing belt is arranged on the outer side of the tension wheel, and the polishing belt swings up and down under the action of a grinding shell to polish the shoe heel;

the first sanding wheel is driven to rotate by a first electric spindle, the first electric spindle is fixedly connected with the tray bottom plate through a support column, the axis of the first sanding wheel is horizontally arranged, and the cross section of the first sanding wheel is arranged corresponding to the side surface of the shoe;

the motor plate comprises a motor plate, the side face of the motor plate is hinged with a hollow frame through a flexible hinge assembly, the flexible hinge assembly comprises a vertical shell and a horizontal shell, the internal structures of the vertical shell and the horizontal shell are the same and are arranged vertically, the motor plate is fixedly connected with the two ends of the vertical shell, the two ends of the horizontal shell are fixedly connected with the hollow frame, the sections of the horizontal shell and the vertical shell are both in a regular quadrilateral structure, a centering column is arranged inside the horizontal shell, the axis of the centering column is superposed with the axis of the horizontal shell, the diagonal of the centering column is arranged vertically to the diagonal of the horizontal shell, elastic bodies are arranged between the centering column and the four sides of the horizontal shell, two steel columns are embedded inside the centering column, the axis connecting line of each steel column is superposed with the diagonal of the centering column, and the two ends of each steel column are provided with threads for connecting other parts;

the heel polishing assembly comprises a grinding base, a grinding shell and a rotating cylinder, the grinding base is fixedly arranged on a tray bottom plate, one end of the grinding shell is hinged to the grinding base, the other end of the grinding shell is hinged to an output shaft of the rotating cylinder through a connecting shaft, the rotating cylinder is fixed on one side of the grinding base, the output shaft of the rotating cylinder is hinged to one end of the connecting shaft, the other end of the connecting shaft is fixedly connected with the grinding shell, and the rotating cylinder acts to drive the grinding shell to rotate within a certain angle range;

the grinding shell is internally provided with a driving wheel and a deviation adjusting wheel, the tension wheel extends out of the grinding shell, the abrasive belt is wound on the driving wheel, the deviation adjusting wheel and the outer ring of the tension wheel and is driven to rotate by the driving wheel, the driving wheel is rotated by a driving motor arranged outside the grinding shell, the deviation adjusting wheel realizes adjustment of the abrasive belt through the extension of a third cylinder, the tension wheel is arranged at one end far away from the rotating cylinder, the axis of the tension wheel is horizontally arranged, and the tension wheel is rotatably connected to an adjusting rod.

2. The shoe upper polishing device for a shoe manufacturing line according to claim 1, characterized in that: the hand reversing table support comprises a supporting column, a positioning column is arranged on the supporting column, and the positioning column corresponds to a positioning hole in the side face of the shoe tree.

3. The shoe upper polishing device for a shoe manufacturing line according to claim 1, characterized in that: the second wheel of polishing passes through the second electricity main shaft drive rotation, and the second electricity main shaft sets firmly on the motor board, the side and the hollow frame of motor board are articulated, the hollow frame sets firmly on the tray bottom plate, and one side that the hollow frame set up the second electricity main shaft is equipped with the second cylinder, the lower extreme of motor board is equipped with articulated post, and the output shaft of second cylinder sets up with articulated post is articulated.

4. The shoe upper polishing device for a shoe manufacturing line according to claim 1, characterized in that: the upper end of the hollow frame is provided with a first air suction opening, one side of the hollow frame, which is provided with the second electric spindle, is provided with a first air suction opening, the first air suction opening is connected with a dust collector, and the dust collector is fixedly arranged on the tray bottom plate.

5. The shoe upper polishing device for a shoe manufacturing line according to claim 1, characterized in that: the heel grinding assembly further comprises a grinding base and a rotating cylinder, the grinding base is fixedly arranged on the tray bottom plate, the rotating cylinder is arranged on one side of the grinding base and drives the grinding shell to swing relative to the grinding base, one end, far away from rotating steel, of the grinding shell is hinged to the grinding base, an active wheel and a deflection adjusting wheel are arranged in the grinding shell, the tension adjusting wheel extends out of the grinding shell, the grinding belt is wound on the active wheel, the deflection adjusting wheel and the outer ring of the tension adjusting wheel are arranged and driven to rotate by the active wheel, the active wheel is rotated by a driving motor arranged outside the grinding shell, and the deflection adjusting wheel is used for adjusting the grinding belt through the expansion of a third cylinder.

6. The shoe upper polishing device for the shoe manufacturing line according to claim 5, characterized in that: the device comprises a rotating cylinder, a tension wheel, a grinding shell, a dust collector, a first suction port, a second suction port, a dust collector and a tray bottom plate, wherein the tension wheel is arranged at one end far away from the rotating cylinder, the axis of the tension wheel is horizontally arranged, the tension wheel is rotatably connected to an adjusting rod, the adjusting rod is provided with a long hole for adjusting the front position and the rear position of the tension wheel relative to the grinding shell, the second suction port is arranged below one end, close to the rotating cylinder, of the grinding shell and is connected with the dust collector, and the dust collector is fixedly arranged on the tray bottom plate.

7. The shoe upper polishing device for a shoe manufacturing line according to claim 1, characterized in that: the laser scanning assembly is a three-dimensional laser scanning assembly, a transparent or semitransparent protective cover is arranged on the tray bottom plate, and the six-axis manipulator, the hand reversing table support, the shoe side polishing assembly, the sole polishing assembly, the heel polishing assembly and the laser scanning assembly are all arranged inside the protective cover.

8. The shoe upper polishing device for a shoe manufacturing line according to claim 1, characterized in that: the six-axis manipulator is matched with the shoes through a clamping component at the front end, the clamping component is fixed on an execution shaft of the six-axis manipulator, the clamping component comprises a connecting seat and a driving cylinder, the connecting seat is fixedly connected with the execution shaft of the six-axis manipulator, the driving cylinder is fixedly arranged on the connecting seat, two sides of the axis of the driving cylinder are of symmetrical structures, one side of the structure comprises a driving rod, a first connecting rod, a second connecting rod, a third connecting rod and a clamping rod, one end of the driving rod is hinged with the output shaft of the driving cylinder, the other end of the driving rod is hinged with one end of the first connecting rod, the other end of the first connecting rod is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged with one end of the clamping rod, one end of the third connecting rod is hinged with the inner side of the middle part of the clamping rod, the other end of the third connecting rod is hinged with an upper fixing plate and a lower fixing plate, one end of the second connecting rod, which is far away from the clamping rod, is hinged with the upper fixing plate and the lower fixing plate, the inner side of the clamping rod is provided with a positioning bulge corresponding to the positioning pin hole on the side surface of the shoe tree.