CN111449370B

CN111449370B - Automatic change shoemaking production line

Info

Publication number: CN111449370B
Application number: CN202010463662.8A
Authority: CN
Inventors: 陈鹏; 张吉; 高文超; 阮春晖
Original assignee: Zhejiang Heshengrong Intelligent Technology Co ltd
Current assignee: Zhejiang Heshengrong Intelligent Technology Co ltd
Priority date: 2020-05-27
Filing date: 2020-05-27
Publication date: 2020-12-29
Anticipated expiration: 2040-05-27
Also published as: WO2021237981A1; CN111449370A

Abstract

The invention discloses an automatic shoemaking production line, which comprises: the sole conveying belt sequentially passes through a sole material taking station, a sole treating agent spraying station, a sole pre-baking station, a sole glue spraying station and a sole post-baking station; the shoe upper conveying device comprises a support plate conveying belt, wherein the support plate conveying belt is used for conveying a support plate provided with a shoe tree, an upper is sleeved on the shoe tree, and the support plate conveying belt sequentially passes through an upper surface pretreatment station, an upper surface treatment agent spraying and polishing station, an upper surface front baking station, an upper surface glue spraying station, an upper surface rear baking station, a sole attaching station, a sole pressing station and a post treatment station to form an annular conveying belt. The sole and the upper work synchronously, the production efficiency is high, the shoemaking operation is finished by the gluing of the sole pasting station and the sole pressing station after the sole and the upper are processed, and the automation degree is high; the support plate is transmitted all the time through the support plate conveyer belt, and the support plate and the like do not need to be carried manually, so that the labor cost is effectively reduced, the occupied space is small, and the space utilization rate is high.

Description

Automatic change shoemaking production line

Technical Field

The invention relates to the technical field of automatic shoemaking, in particular to an automatic shoemaking production line.

Background

The traditional shoemaking process is mostly finished by manual operation, which is a highly-intensive labor industry, the manual operation causes uneven product quality, and the shoemaking efficiency is low. With the continuous rising of the labor cost, the dependence on manual shoe making is not in line with the economic benefits of enterprises and is not beneficial to the development of the enterprises.

With the continuous improvement of mechanical equipment technology, mechanical equipment auxiliary manual shoemaking aiming at a specific shoemaking procedure appears, such as a sole press, a shoe upper sleeving machine and other equipment, but at present, a full-automatic shoemaking production process cannot be realized, manual operation is needed for taking, placing, transporting and operating equipment, particularly, pretreatment operation of vamps and soles is involved, and full-automatic operation cannot be realized. This results in the current general production efficiency of shoemaking production line lower, can't satisfy market demand.

Disclosure of Invention

The invention aims to provide an automatic shoemaking production line, and aims to solve the technical problems that the shoemaking production line in the prior art cannot realize automatic production, is low in production efficiency and cannot meet market requirements.

In order to achieve the purpose, the technical scheme of the invention is as follows:

an automated shoemaking production line, comprising:

the sole conveying belt sequentially passes through a sole material taking station, a sole treating agent spraying station, a sole pre-baking station, a sole glue spraying station and a sole post-baking station;

the shoe upper conveying belt sequentially passes through an upper surface pretreatment station, an upper surface treatment agent spraying and polishing station, an upper surface front baking station, an upper surface glue spraying station, an upper surface rear baking station, a bottom pasting station, a bottom pressing station and a post-treatment station to form an annular conveying belt;

the shoe upper pre-processing station is used for carrying out upper covering or upper lasting operation on a shoe tree, the sole attaching station is used for attaching an upper passing through the upper post-baking station to a sole passing through the sole post-baking station, the sole pressing station is used for tightly attaching the upper and the sole passing through the sole attaching station, and the post-processing station is used for carrying out cooling, last removing and packaging operations.

Compared with the prior art, the invention has the beneficial effects that:

1. the sole and the upper work synchronously, the production efficiency is high, the shoemaking operation is finished by the gluing of the sole pasting station and the sole pressing station after the sole and the upper are processed, and the automation degree is high;

2. the carrier plate conveying belt is an annular circulating conveying belt, the carrier plates are always conveyed through the carrier plate conveying belt, manual carrying of the carrier plates and the like is not needed, labor cost is effectively reduced, occupied space is small, and space utilization rate is high.

On the basis of the technical scheme, the invention can be further improved as follows:

furthermore, the sole material taking station is provided with a sole three-dimensional bin, the sole three-dimensional bin comprises a bin frame, the bin frame is divided into a plurality of rows of object placing areas, bin position plates are uniformly arranged in the object placing areas from top to bottom, and object taking notches are formed in the bin position plates; limiting columns which slide transversely along a bin frame are arranged on two sides of the object placing area, limiting plates which correspond to the bin position plates one by one and are used for limiting soles are mounted on the limiting columns, a plurality of rows of limiting columns on the left side of the object placing area are connected through left connecting rods, a plurality of rows of limiting columns on the right side of the object placing area are connected through right connecting rods, fixing seats are symmetrically fixed on two side surfaces of the bin frame, adjusting screw rods are mounted on the surfaces of the fixing seats through bearing mounting seats, adjusting hand wheels are arranged at the outer ends of the adjusting screw rods, adjusting blocks are connected to the inner ends of the adjusting screw rods through thread structures, and the inner ends of the adjusting blocks are;

the sole on the three-dimensional sole bin is transferred to the sole conveyer belt through the sole transfer device, the sole transfer device comprises a material taking frame matched with the bin frame, the material taking frame is provided with a rotatable material taking paw capable of moving along X, Y, Z three directions, the material taking paw comprises a vertically arranged paw mounting plate, one side surface of the paw mounting plate is provided with a pair of vertical main guide rails, the main guide rails are controlled to slide through a jaw driving cylinder and are provided with a sliding plate, the sliding plate is uniformly provided with a plurality of vertical upper jaw guide rails from top to bottom, the upper jaw guide rails are provided with upper jaws in a sliding manner, the sliding plate is provided with vertical guide rods in one-to-one correspondence with the upper jaws, the upper ends of the guide rods are fixed with the sliding plate, the lower ends of the guide rods are inserted into the mounting ends of the upper jaws, the guide rods are sleeved with buffer springs, and the lower jaws, the lower clamping jaw is matched with the fetching notch, and the upper clamping jaw and the lower clamping jaw are matched to clamp the sole.

Through adopting above-mentioned scheme, feed bin frame lateral sliding can be followed to spacing post, and it forms wholly to put through left spliced pole between the spacing post in left side in thing region, form wholly through having the spliced pole between the spacing post in right side, can adjust the adjusting block position through the rotatory adjusting screw of adjusting hand wheel, thereby control the position of the spacing post in left side or the spacing post in right side, thereby adjust the position of limiting plate on the position board of storehouse, the size of position is placed to the sole on the adjustment storehouse position board, with the sole of adaptation variation in size, guarantee that the sole is in when placing and put the regional center of thing, take place to press from both sides not to arrive or press from both sides inclined to one side phenomenon when avoiding getting when.

When the scheme is specifically arranged, the fixing seat can be further provided with the label, and the adjusting block is provided with an index corresponding to the label so as to mark the size of the sole placing area corresponding to the position of the adjusting block; in addition, a locking screw of the adjusting block can be arranged to realize locking operation after adjustment is finished.

The material taking paw can rotate in the three directions of X, Y, Z, so that a material bin frame can clamp and convey soles to a sole conveyor belt, and the material taking paw can be realized by adopting a mode that X, Y, Z three guide rails are matched with a rotating seat during specific arrangement; get the last clamping jaw of material hand claw and can follow the slip of last clamping jaw guide rail, and the cover is equipped with buffer spring on the guide arm, when last clamping jaw contacts the sole, clamping jaw drive cylinder continued control slide this moment and moved down, can shift up for last clamping jaw guide rail behind the last clamping jaw, buffer spring pressurized this moment, spring force acts on compresses tightly the sole on last clamping jaw, get when putting the sole of different thickness all can guarantee the sole through buffer spring's elasticity and press from both sides tightly, simultaneously when getting the sole of thickness difference around, also can guarantee because buffer spring and guide arm exist, guarantee that both ends are all pressed from both sides tightly.

Further, a first sole 3D scanning camera and a sole treating agent spraying mechanical arm are arranged at the sole treating agent spraying station, a second sole 3D scanning camera and a sole glue spraying mechanical arm are arranged at the sole glue spraying station, posture adjusting devices are arranged on the sole conveying belt in front of the sole treating agent spraying station and the sole glue spraying station, each posture adjusting device comprises a sole blocking cylinder fixed below the sole conveying belt, the output end of the sole blocking cylinder is vertically upwards linked with a stop lever, the stop lever penetrates through the sole conveying belt and is used for blocking the sole, correcting cylinders are symmetrically arranged on two sides of the sole conveying belt, the correcting cylinders face the sole blocked by the stop levers, a correcting plate is fixed at the output end of each correcting cylinder, a sole sensor is arranged below the sole conveying belt and is used for detecting the blocked sole, and the sole sensor is electrically connected with the correcting cylinder.

Through adopting above-mentioned scheme, first sole 3D scanning camera and second sole 3D scanning camera real-time scanning record sole profile to control sole treating agent spraying manipulator and sole respectively and spout the gluey manipulator and carry out treating agent spraying and spout gluey operation to the sole edge. Because the visual field of the scanning camera is fixed, the sole is easy to deviate from the center of the conveying belt during transportation, so that the visual field of the camera deviates during scanning, and the scanning structure is influenced, the posture adjustment is required before entering a sole treating agent spraying station and a sole glue spraying station;

the sole blocks cylinder control pin and keeps stretching out the block state, when the sole transported by the position that blocks, the sole sensor detects sole control and corrects cylinder work, and a pair of correction board is corrected the sole, guarantees that it is in the conveyer belt center, and later the sole blocks cylinder control pin and dodges the sole, continues later to stretch out the realization and correct the gesture of sole.

Furthermore, the shoe tree tip is equipped with the shoe tree connecting block, support plate surface bilateral symmetry is inserted and is established and be fixed with the shoe tree connecting block, and support plate surface middle part is provided with the locating lever, and the support plate bottom surface is equipped with the jack, and the support plate four corners is equipped with the leading wheel, the shoe tree connecting block side is equipped with the locating hole, and tip both sides face symmetry is equipped with the draw-in groove.

Further, shoe tree off-line separating devices are arranged on the upper treating agent spraying and polishing station and the upper glue spraying station, each shoe tree off-line separating device comprises a support plate transfer mechanism and a clamping and distance adjusting mechanism, the support plate transfer mechanism comprises a transfer support, the transfer support is arranged on one side of the support plate conveying belt, a transfer trolley is controlled to slide on the transfer support through a transfer driving cylinder, a support plate clamping cylinder is arranged on the transfer trolley, and the support plate clamping cylinder is used for clamping the positioning rod;

the clamping distance-adjusting mechanism comprises first lifting supports symmetrically arranged on two sides of the transfer support, a distance-adjusting guide rail is arranged on the surface of each first lifting support, a distance-adjusting trolley is controlled to slide on the distance-adjusting guide rail through a distance-adjusting driving cylinder, a shoe tree clamping mechanism is arranged on the distance-adjusting trolley, the shoe tree clamping mechanism comprises a pair of clamping jaws and a distance-adjusting clamping cylinder used for controlling the clamping jaws to move relatively, and positioning pins matched with the positioning holes are arranged on the inner side surfaces of the clamping jaws;

the clamping distance-adjusting mechanism further comprises a second lifting support, the second lifting support is located below the distance-adjusting clamping cylinder, a machining clamping piece matched with the bottom of the shoe tree connecting block is arranged on the top surface of the second lifting support, the machining clamping piece comprises a clamping guide rail parallel to the distance-adjusting guide rail, a pair of clamping vertical plates are controlled to slide on the clamping guide rail through a clamping driving cylinder, a pair of L-shaped clamping blocks are arranged on the inner side surfaces of the clamping vertical plates, clamping surfaces corresponding to corners of the bottom of the shoe tree connecting block are arranged on the inner side surfaces of the clamping blocks, and clamping blocks matched with the clamping grooves are arranged on the clamping surfaces; both sides it holds tightly to press from both sides and be equipped with buckle mechanism between the tight piece, and the tight piece cooperation of both sides clamp holds the shoe tree connecting block, buckle mechanism is including seting up in one side press from both sides the recess of tight piece tip and set up the lug at the tight piece tip of opposite side clamp, recess and lug phase-match set up.

By adopting the scheme, due to the cost limitation and the storage capacity requirement limitation of the carrier plate, the width of the carrier plate cannot be made larger, the distance between the pair of shoe trees on the carrier plate is forced to be smaller, and when the upper surfaces on the shoe trees are subjected to the operations of treating agent spraying, glue spraying and polishing, the distance between the shoe trees is too small, so that the interference on a mechanical structure is caused, and the automatic production cannot be realized, so that a distance separating device is required to be arranged to adjust the distance between the pair of shoe trees;

after the carrier plate reaches the position, the transfer driving cylinder drives the transfer trolley to slide until the carrier plate clamping cylinder reaches the position of the carrier plate, the carrier plate clamping cylinder works to clamp a positioning rod of the carrier plate, then the transfer trolley resets to pull the carrier plate onto the transfer support, and the shoe tree enters between a pair of clamping jaws of the distance-adjusting clamping cylinder;

at the moment, the distance-adjusting clamping cylinder works to clamp the shoe tree, then the first lifting support lifts the height of the distance-adjusting clamping cylinder to enable the shoe tree to be separated from the support plate, and then the distance-adjusting driving cylinder controls the distance-adjusting trolley to slide to realize the adjustment of the distance between a pair of shoe trees;

because the automatic glue spraying operation of the upper has higher requirement on the fixing stability of the upper, the processing clamping piece and the distance adjusting clamping piece are arranged to be matched with the clamping shoe tree connecting block to clamp the shoe tree, so that the fixing stability of the shoe tree during processing is ensured; at the moment, the second lifting support is lifted until the shoe tree is located between the pair of clamping blocks, the clamping driving cylinder controls the pair of clamping blocks to tightly hold the shoe tree, a clamping block on the inner side surface of each clamping block is matched with the clamping groove to ensure accurate positioning of the shoe tree and limit the freedom degree of the shoe tree at the same time, the clamping stability is improved, the section of the clamping groove is square during specific setting, the clamping block is a cylindrical clamping block, the cylindrical clamping block is in line contact with the square clamping groove, and the line contact restraint positioning of the shoe tree connecting; four L-shaped clamping blocks on the inner side surfaces of the pair of clamping vertical plates tightly hold the shoe tree connecting block, and the clamping surfaces on the inner side surfaces of the clamping blocks are in surface contact with the shoe tree connecting block for positioning; the clamping blocks on the clamping vertical plate at one side are connected with the clamping blocks on the clamping vertical plate at the other side through the buckle mechanism, so that the clamping blocks at two sides are limited and positioned, and the clamping stability of the shoe tree connecting block is improved.

Further, a support plate positioning and lifting device is arranged at the upper surface pretreatment station, the upper surface treatment agent spraying and polishing station, the upper surface glue spraying station, the bottom pasting station and the bottom pressing station, the support plate positioning and lifting device comprises a top plate, a bottom plate, a lifting cylinder and a lifting guide rod, the lifting cylinder and the lifting guide rod are arranged between the top plate and the bottom plate, the top plate is arranged below the support plate conveyor belt, and an inserting rod matched with the inserting hole is arranged on the surface of the top plate; a carrier plate blocking cylinder is fixed on the bottom surface of one end, facing the advancing direction of the carrier plate, of the top plate, a blocking rod is vertically arranged at the output end of the carrier plate blocking cylinder in a linkage mode, and the blocking rod penetrates through the top plate from bottom to block the carrier plate; the surface of the top plate is provided with a strip-shaped through hole along the advancing direction of the carrier plate, a carrier plate sensor is fixed in the strip-shaped through hole and used for detecting the position of the carrier plate, and the carrier plate sensor is electrically connected with the carrier plate blocking cylinder.

By adopting the scheme, a support plate positioning and lifting device is required to be arranged at the upper surface pretreatment station, the upper surface treating agent spraying and polishing station, the upper surface glue spraying station, the bottom pasting station and the bottom pressing station in order to ensure that the support plate stays and is positioned accurately at the stations; when the carrier plate is conveyed to the station, the carrier plate sensor detects the carrier plate and controls the carrier plate blocking cylinder to work, the blocking rod extends out of the blocking carrier plate, the jacking cylinder controls the top plate to lift, and the inserting rod is inserted into the inserting hole of the carrier plate to achieve positioning and fixing of the carrier plate.

Furthermore, the bottom attaching station is provided with a plurality of operation tables arranged along the conveying direction of the carrier plate conveying belt, the carrier plate on the carrier plate conveying belt is transferred to the side of the operation tables, and the soles on the sole conveying belt are distributed to the corresponding operation tables through an automatic sole sorting device; the automatic sole sorting device comprises a sorting frame, a plurality of sole guide plates which are in one-to-one correspondence with the operating platform are mounted on the sorting frame, the sole guide plates are used for receiving soles and guiding the soles to the operating platform, a sorting paw which is positioned above the end part of each sole guide plate is arranged on the sorting frame, the sorting paw can move along the conveying direction and the vertical direction of the carrier plate conveying belt, and the sorting paw conveys the soles on the sole conveying belt to the position above the end part of each sole guide plate for discharging; the sorting paw comprises a clamping jaw cylinder, a first output end and a second output end are arranged on the outer side face of the clamping jaw cylinder, the clamping jaw cylinder controls the opening and closing angle between the first output end and the second output end, a clamping block is installed at the first output end, the end portion of the clamping block is provided with a pressing rod, a clamping block is installed at the second output end and clamped down, the clamping block is clamped down with the end portion of the pressing rod in a matched mode, the pressing rod penetrates through the end portion of the clamping block, a linear bearing is arranged between the pressing rod and the upper clamping block, the pressing rod is far away from one end of the clamping block is provided with a retaining ring, the pressing rod faces one end of the clamping block is provided with a pressing block, and a.

By adopting the scheme, the support plates are directly arranged beside the plurality of operation platforms one by one through the support plate conveying belts, the soles are distributed to the corresponding operation platforms through the automatic sole sorting device, and operators of the operation platforms manually attach the soles to the uppers on the corresponding shoe trees;

the sorting device clamps soles from the tail ends of the sole conveying belts through the clamping jaw air cylinders to control the pressure rods and the lower clamping blocks, the sorting claws are adjusted to be above the corresponding sole guide plates through controlling the positions of the sorting claws, then the clamping jaw air cylinders are loosened, and the soles fall onto the sole guide plates and are guided to the operation table;

because sole thickness differs, and the stroke of clamping jaw cylinder is fixed, consequently, in order to avoid crushing thicker sole and avoid pressing from both sides thinner sole, set up the depression bar into portable mode, the depression bar overcoat is equipped with pressure spring, the length of control depression bar can satisfy the centre gripping requirement of thinner sole, when the sole that the centre gripping is thicker, the depression bar can slide towards keeping away from sole one side under the reaction force effect, avoid crushing the sole, pressure spring's effort effect guarantees that the sole is compressed tightly on the sole simultaneously.

Further, the sole pressing station is provided with a transferring mechanical arm, a shoe tree taking and placing device, a shoe tree fixing device and a sole pressing machine, the transferring mechanical arm transfers shoe trees on a support plate on the support plate conveyor belt to the shoe tree taking and placing device, the shoe tree fixing device comprises a mounting plate fixedly arranged on the acting end of the sole pressing machine in a sleeved mode, a fixing plate is connected to the lower portion of the mounting plate through a connecting column, the bottom end of the connecting column is fixed to the fixing plate, a stop block is arranged after the top end of the connecting column penetrates through the mounting plate, a spring is sleeved on the connecting column, a sliding groove matched with a clamping groove in a shoe tree connecting block is formed in the fixing plate, a shoe tree sensor used for sensing the shoe trees is arranged on the fixing plate, the shoe tree sensor is electrically connected with the sole pressing machine; the shoe tree is got and is put material device is including setting up the base of sole pressing machine both sides, install the shoe tree blowing cylinder that can follow X, Y, Z three-dimensional removal on the base, shoe tree blowing cylinder moves the shoe tree centre gripping extremely in the spout of fixed plate.

By adopting the scheme, the bottom pressing station adopts full-automatic operation, when the support plate reaches the station, the transfer manipulator transfers the shoe tree on the support plate to the shoe tree discharging cylinder, the shoe tree discharging cylinder moves along the X, Y, Z three directions to slide the clamping groove of the shoe tree into the fixed plate along the sliding groove for fixing, and the position control of the shoe tree discharging cylinder is realized by matching of X, Y, Z three guide rails during the specific setting;

because shoes are highly different, and the stroke of pressing end machine is fixed, set up the spliced pole upper end into the active form, and establish the spring at the spliced pole cover, fixed plate position remains unchanged after the sole laminating base, the mounting panel can continue to push down with pressing end, the spring action power of spring is used in compressing tightly group's face and sole on the fixed plate this moment, consequently as long as the stroke of control pressing end machine satisfies the demand of short shoes, just can the not sole operation of high shoes of adaptation.

Furthermore, the sole conveyer belt is arranged above or below the upper conveyer belt, a front double-layer oven is arranged at the upper front baking station and the sole front baking station, a rear double-layer oven is arranged at the upper rear baking station and the sole rear baking station, and the sole conveyer belt and the upper conveyer belt are stacked and pass through the front double-layer oven and the rear double-layer oven.

Through adopting above-mentioned scheme, sole and upper of a shoe are toasted before carrying out in step and are toasted after with, reduce equipment demand and take up an area of the space.

Further, the upper surface treatment agent spraying and polishing station is provided with an upper surface 3D scanning camera and an upper surface polishing treatment agent spraying manipulator, the upper surface glue spraying station is provided with an upper surface glue spraying manipulator, the upper surface 3D scanning camera is installed on the upper surface polishing treatment agent spraying manipulator, the upper surface 3D scanning camera dynamically scans and records the outline of the upper surface, and the upper surface polishing treatment agent spraying manipulator and the upper surface glue spraying manipulator are controlled to work along the outline of the upper surface.

By adopting the scheme, the point cloud data is obtained by walking around the upper surface of the sample shoe through the upper surface polishing treating agent spraying manipulator, and the gluing path can be obtained by processing the collected point cloud data, so that the operation is simple, the requirement on operators is low, and the labor intensity of the operators is greatly reduced; according to the traditional teaching track scheme, manual operation is adopted, a large amount of time is needed for each teaching point position to be added, and the teaching results of different operators are different.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic view of a portion of the method of fig. 1.

Fig. 3 is a partially enlarged schematic view of b in fig. 1.

Fig. 4 is a partially enlarged schematic view of c in fig. 1.

Fig. 5 is a schematic perspective view of a stereo bin for soles according to an embodiment of the invention.

Fig. 6 is another perspective view of the stereo shoe sole bin according to the embodiment of the invention.

Fig. 7 is a schematic structural view of a sole transfer device according to an embodiment of the present invention.

Figure 8 is a schematic diagram of a material extraction gripper in accordance with an embodiment of the present invention.

Fig. 9 is a schematic structural view of a shoe last offline distance separating device according to an embodiment of the present invention.

Fig. 10 is a schematic structural view of a transfer support according to an embodiment of the present invention.

Fig. 11 is a schematic structural view of a first lifting bracket according to an embodiment of the present invention.

Fig. 12 is a schematic structural view of a machining clamp according to an embodiment of the present invention.

Fig. 13 is a schematic structural diagram of an attitude adjustment device according to an embodiment of the present invention.

Fig. 14 is a schematic structural view of an automatic sole sorting apparatus according to an embodiment of the present invention.

Figure 15 is a schematic diagram of the structure of a pickup gripper according to an embodiment of the present invention.

Fig. 16 is a schematic structural diagram of a carrier according to an embodiment of the present invention.

Fig. 17 is a structural view of the footwear last according to the embodiment of the present invention.

Fig. 18 is a schematic structural diagram of a carrier positioning and lifting device according to an embodiment of the present invention.

Fig. 19 is a schematic top view of the structure of fig. 18.

Fig. 20 is a schematic structural diagram of the bottoming station with the transfer robot removed, according to the embodiment of the invention.

Shown in the figure:

1. a sole conveyor belt;

2. a carrier plate conveyor belt;

3. a sole stereo bin; 301. a bin frame; 302. a bin plate; 3021. fetching gaps; 303. a limiting column; 304. a limiting plate; 305. a left connecting rod; 306. a right connecting rod; 307. a fixed seat; 308. a bearing mount; 309. adjusting the screw rod; 310. adjusting a hand wheel; 311. an adjusting block; 312. locking the screw rod; 313. a label; 314. indexes;

4. a sole transfer device; 401. a material taking frame; 402. sole X-axis rails; 403. a sole Y-axis guide rail; 404. a sole Z-axis guide rail; 405. a rotary motor; 406. a paw mounting plate; 407. a main guide rail; 408. the clamping jaw drives the cylinder; 409. a slide plate; 410. an upper jaw guide rail; 411. an upper clamping jaw; 412. a guide bar; 413. a buffer spring; 414. a lower jaw;

5. a sole treating agent spraying station; 501. a first sole 3D scanning camera; 502. a sole treating agent spraying manipulator;

6. a sole glue spraying station; 601. a second sole 3D scanning camera; 602. a sole glue spraying manipulator;

7. an attitude adjusting device; 701. the sole blocks the air cylinder; 702. a stop lever; 703. a straightening cylinder; 704. straightening a plate; 705. a sole sensor;

8. a shoe tree connecting block; 801. positioning holes; 802. a card slot;

9. a carrier plate; 901. positioning a rod; 902. a guide wheel; 903. a jack;

10. a shoe tree off-line distance dividing device; 1001. a transfer carriage; 1002. a transfer drive cylinder; 1003. transferring the trolley; 1004. the support plate clamps the cylinder; 1005. a first lifting support; 1006. adjusting the distance of the guide rail; 1007. a distance adjusting trolley; 1008. a distance-adjusting driving cylinder; 1009. a groove; 1010. a distance-adjusting clamping cylinder; 1011. a clamping jaw; 1012. positioning pins; 1013. a second lifting support; 1014. clamping the guide rail; 1015. a clamping block; 1016. a clamping block; 1017. a bump; 1018. clamping the vertical plate; 1019. clamping the driving cylinder;

11. a carrier plate positioning and lifting device; 1101. a top plate; 1102. a base plate; 1103. jacking a cylinder; 1104. jacking a guide rod; 1105. inserting a rod; 1106. the carrier plate blocks the cylinder; 1107. a blocking lever; 1108. a strip-shaped through hole; 1109. a carrier plate sensor;

12. a bottom pasting station; 1201. an operation table;

13. an automatic sole sorting device; 1301. a sorting frame; 1302. a sole guide plate; 1303. sorting the X-axis guide rails; 1304. sorting the Z-axis guide rails; 1305. a clamping jaw cylinder; 1306. an upper clamping block; 1307. a pressure lever; 1308. a lower clamping block; 1309. a baffle ring; 1310. briquetting; 1311. a compression spring;

14. a transfer robot;

15. a shoe last fixing device; 1501. mounting a plate; 1502. a fixing plate; 1503. connecting columns; 1504. a stopper; 1505. a spring; 1506. a chute; 1507. a last sensor; 1508. a hugging block;

16. a shoe tree taking and placing device; 1601. a base; 1602. a shoe tree X-axis guide; 1603. a shoe tree Y-axis guide rail; 1604. a shoe tree Z-axis guide rail; 1605. a shoe tree discharging cylinder;

17. a front double-layer oven;

18. a rear double-layer oven;

19. a spraying manipulator for polishing the upper surface and treating agent;

20. a vamp 3D scanning camera;

21. a mechanical arm for spraying glue on the upper surface;

22. a vamp pretreatment station; 2201. a shoe upper sleeving machine; 2202. a manual sorting table; 2203. a front upper machine; 2204. a back upper machine; 2205. a lasting oven;

23. a post-processing station; 2301. a cooling tank; 2302. a delasting machine; 2303. a packaging table;

24. a sole press.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

As shown in fig. 1 to 4, the automated shoemaking production line provided in this embodiment includes a sole conveyer belt 1 and a carrier conveyer belt 2.

The sole conveyer belt 1 sequentially passes through a sole material taking station, a sole treating agent spraying station 5, a sole pre-baking station, a sole glue spraying station 6 and a sole post-baking station;

as shown in fig. 5 and 6, the sole taking station is provided with a sole stereo bin 3, the sole stereo bin 3 comprises a bin frame 301, the bin frame 301 is divided into 10 rows of object placing areas, 20 bin plates 302 are uniformly arranged in the object placing areas from top to bottom, the sole is placed on the bin plates 302, and the bin plates 302 are provided with object taking gaps 3021.

Therefore, 200 soles can be placed on the bin frame 301 in total, and when the soles are placed, a matched pair of soles are placed in the two vertically adjacent placing areas, so that the taking and placing device can conveniently complete the feeding of the pair of soles at one time.

The two sides of the storage area are provided with limiting columns 303 which slide transversely along the bin frame 301, guide rails are arranged on the top edge and the bottom edge of the bin frame 301, the limiting columns 303 slide along the guide rails, and limiting plates 304 which correspond to the bin plates 302 one by one and are used for limiting soles are arranged on the limiting columns 303.

Put and connect through left connecting rod 305 between the regional left spacing post 303 of thing, put and connect through right connecting rod 306 between the regional right side spacing post 303 of thing.

Fixing seats 307 are symmetrically fixed to two side faces of the bin frame 301, adjusting screws 309 are mounted on the surfaces of the fixing seats 307 through bearing mounting seats 308, adjusting hand wheels 310 are arranged at the outer ends of the adjusting screws 309, adjusting blocks 311 are connected to the inner ends of the adjusting screws through thread structures, the inner ends of the adjusting blocks 311 are fixed to the limiting columns 303 on the outermost sides of the bin frame 301, the adjusting blocks 311 move to drive the limiting columns 303 to move when the adjusting screws 309 are rotated, and therefore the size of the placement positions of soles on the bin plate 302 is adjusted.

The fixed seat 307 is provided with a sign 313, and the adjusting block is provided with an index 314 corresponding to the sign 313 so as to identify the size of the sole placing area corresponding to the position of the adjusting block 311.

In addition, the adjusting block 311 is further provided with a locking screw 312, and when the locking screw 312 is screwed, the locking screw 312 abuts against the fixed seat 307 to lock the position of the adjusting block 311.

As shown in fig. 7 and 8, the soles on the three-dimensional sole bins 3 are transferred to the sole conveyor belt 1 through the sole transfer device 4, the sole transfer device 4 comprises a material taking frame 401 matched with the bin frame 301, and the material taking frame 401 is provided with a material taking paw which can move in three directions of X, Y, Z and can rotate.

The top and the bottom of the material taking frame 401 are provided with sole X-axis guide rails 402, sole Z-axis guide rails 404 are arranged on the sole X-axis guide rails 402 in a sliding mode under the control of a motor, sole Y-axis guide rails 403 are arranged on the sole Z-axis guide rails 404 in a sliding mode under the control of a motor, and a rotary motor 405 is arranged on the sole Y-axis guide rails 403 in a sliding mode under the control of a motor.

The material taking paw comprises a vertically arranged paw mounting plate 406, the paw mounting plate 406 is fixed at the output end of a rotary motor 405, a pair of vertical main guide rails 407 is mounted on one side face of the paw mounting plate 406, a sliding plate 409 is controlled to slide on the main guide rails 407 through a jaw driving cylinder 408, two vertical upper jaw guide rails 410 are uniformly arranged on the sliding plate 409 from top to bottom, upper jaws 411 slide on the upper jaw guide rails 410, vertical guide rods 412 which are in one-to-one correspondence with the upper jaws 411 are arranged on the sliding plate 409, the upper ends of the guide rods 412 are fixed with the sliding plate 409, the lower ends of the guide rods are inserted into the mounting ends of the upper jaws 411, buffer springs 413 are sleeved on the guide rods 412, lower jaws 414 which are matched with the upper jaws 411 are arranged on the jaw 1011 mounting plate 1501, the lower jaws 414 are matched with an object.

The upper clamping jaw 411 and the lower clamping jaw 414 in the upper and lower rows are matched with each other to take down a pair of soles from the sole stereo bin 3 at one time.

Adjusting block 311 position can be adjusted through adjusting hand wheel 310 rotation adjusting screw 309 to the position of the spacing post 303 in control left side or the spacing post 303 in right side, thereby the position of spacing board 304 on the regulation position board 302, the size of position is placed to the sole on the regulation position board 302, with the sole of adaptation variation in size, guarantee that the sole is in when placing and put the regional center of thing, take place to press from both sides not to reach or press from both sides partial phenomenon when getting the material hand claw and pressing from both sides the tight sole when avoiding getting the material.

The upper clamping jaw 411 of the material taking paw can slide along the upper clamping jaw guide rail 410, the guide rod 412 is sleeved with the buffer spring 413 in a sleeved mode, when the upper clamping jaw 411 contacts a sole, the clamping jaw driving cylinder 408 continues to control the sliding plate 409 to move downwards at the moment, the upper clamping jaw 411 can move upwards relative to the upper clamping jaw guide rail 410, the buffer spring 413 is pressed at the moment, the sole is pressed tightly on the upper clamping jaw 411 under the action of the spring force, sole clamping can be guaranteed through the elastic force of the buffer spring 413 when soles with different thicknesses are taken and placed, and meanwhile sole clamping at two ends can be guaranteed due to the existence of the buffer spring 413 and the guide rod 412 when soles with different thicknesses are taken and placed.

As shown in fig. 1 to 4, the sole treatment agent spraying station 5 is provided with a first sole 3D scanning camera 501 and a sole treatment agent spraying manipulator 502, the sole glue spraying station 6 is provided with a second sole 3D scanning camera 601 and a sole glue spraying manipulator 602, the specific model of the first sole 3D scanning camera 501 and the second sole 3D scanning camera 601 is XTOM-MATRIX, and the sole treatment agent spraying manipulator 502 and the sole glue spraying manipulator 602 are six-axis manipulators, the specific model is CZ 10.

The first sole 3D scanning camera 501 and the second sole 3D scanning camera 601 scan and record the sole profile in real time, and respectively control the sole treating agent spraying manipulator 502 and the sole glue spraying manipulator 602 to perform treating agent spraying and glue spraying operations on the sole edge, and the specific control mode is a common technical means of those skilled in the art, and is not described herein again.

Because the visual field of the scanning camera is fixed, the sole is easy to deviate from the center of the conveying belt during transportation, so that the visual field of the camera deviates during scanning, and the scanning structure is influenced, the posture adjusting device 7 is arranged on the sole conveying belt 1 in front of the sole treating agent spraying station 5 and the sole glue spraying station 6.

As shown in fig. 13, the posture adjusting device 7 includes a sole blocking cylinder 701 fixed below the sole conveying belt 1, the output end of the sole blocking cylinder 701 is vertically linked upward to have a stop lever 702, the stop lever 702 passes through the sole conveying belt 1 for blocking the sole, the two sides of the sole conveying belt 1 are symmetrically provided with a correction cylinder 703, the correction cylinder 703 is arranged towards the sole blocked by the stop lever 702, the output end of the correction cylinder 703 is fixed with a correction plate 704, a sole sensor 705 is arranged below the sole conveying belt 1, the sole sensor 705 is an optical fiber sensor, and the specific model is FU-6F.

The sole sensor 705 is used to detect a blocked sole, and the sole sensor 705 is electrically connected to the leveling cylinder 703.

The sole blocks cylinder 701 and controls pin 702 to keep extending and blocking state, when the sole is transported to the blocked position, sole sensor 705 detects that sole control correction cylinder 703 works, a pair of correction plates 704 correct the sole to ensure that it is in the center of the conveyer belt, then sole blocks cylinder 701 and controls pin 702 to avoid the sole, then continues to extend to realize posture correction to the sole.

As shown in fig. 1 to 4, 16 and 17, the carrier conveyer belt 2 is used for conveying a carrier 9 equipped with a shoe tree, the shoe tree is sleeved with an upper, the end of the shoe tree is provided with shoe tree connecting blocks 8, the two sides of the surface of the carrier 9 are symmetrically inserted and fixed with the shoe tree connecting blocks 8, the middle of the surface of the carrier 9 is provided with a positioning rod 901, the bottom surface of the carrier 9 is provided with an insertion hole 903, four corners of the carrier 9 are provided with guide wheels 902, the side surface of the shoe tree connecting block 8 is provided with positioning holes 801.

The carrier plate conveyer belt 2 sequentially passes through an upper surface pretreatment station 22, an upper surface treatment agent spraying and polishing station, an upper surface front baking station, an upper surface glue spraying station, an upper surface rear baking station, a bottom pasting station 12, a bottom pressing station and a post-treatment station 23 to form an annular conveyer belt;

the upper surface pretreatment station 22 carries out upper covering or upper lasting operation on the shoe tree, the sole attaching station 12 attaches the upper passing through the upper surface post-baking station to the sole passing through the sole post-baking station, the sole pressing station tightly attaches the upper and the sole passing through the sole attaching station, and the post-treatment station 23 carries out cooling, last removing and packaging operations.

The upper surface pretreatment station 22 is provided with an upper sleeving machine 2201 and a manual tidying table 2202, the upper sleeving machine 2201 sleeves the upper on the shoe tree, and the manual tidying table 2202 is used for manual operations such as shoelace tying and magic tape sticking.

If the upper is made by a lasting process, a lasting oven 2205, a front lasting machine 2203 and a back lasting machine 2204 are sequentially arranged behind a manual finishing table 2202, and the lasting operation after the upper is heated and softened is performed.

The upper surface treatment agent spraying and polishing station is provided with an upper surface 3D scanning camera 20 and an upper surface polishing treatment agent spraying manipulator 19, the upper surface glue spraying station is provided with an upper surface glue spraying manipulator 21, the concrete model of the upper surface 3D scanning camera 20 is XTOM-MATRIX, the upper surface 3D scanning camera 20 is installed on the upper surface polishing treatment agent spraying manipulator 19, the upper surface 3D scanning camera 20 dynamically scans and records the outline of the upper surface, and the upper surface polishing treatment agent spraying manipulator 19 and the upper surface glue spraying manipulator 21 are controlled to work along the outline of the upper surface.

The upper polishing treating agent spraying manipulator 19 walks around the sample upper surface to obtain point cloud data, and a gluing path can be obtained by processing the collected point cloud data, so that the operation is simple, the requirement on operators is low, and the labor intensity of the operators is greatly reduced; according to the traditional teaching track scheme, manual operation is adopted, a large amount of time is needed for each teaching point position to be added, and the teaching results of different operators are different.

The upper polishing treating agent spraying manipulator 19 and the upper glue spraying manipulator 21 are six-axis manipulators, and the specific model is CZ 10.

The robot receiving the coordinate signal of the 3D scanning camera to move is a common technical means for those skilled in the art, and will not be described herein.

Because the cost is limited and the storage capacity of the support plate 9 is limited, the width of the support plate 9 cannot be made larger, the distance between a pair of shoe trees on the support plate 9 is smaller, when the shoe trees perform the operations of treating agent spraying, glue spraying and polishing, the distance between the shoe trees is too small, the interference on a mechanical structure is caused, and the automatic production cannot be realized, so that the shoe tree offline distance dividing device 10 is arranged on each of the shoe tree treating agent spraying and polishing station and the shoe tree side glue spraying station.

As shown in fig. 9 to 12, the off-line shoe tree spacing device 10 includes a carrier plate transfer mechanism and a clamping and adjusting mechanism, the carrier plate 9 transfer mechanism includes a transfer bracket 1001, the transfer bracket 1001 is disposed on one side of the carrier plate conveyor 2, a transfer trolley 1003 is controlled to slide on the transfer bracket 1001 by a transfer driving cylinder 1002, a carrier plate clamping cylinder 1004 is disposed on the transfer trolley 1003, and the carrier plate clamping cylinder 1004 is used for clamping a positioning rod 901;

the clamping distance-adjusting mechanism comprises first lifting supports 1005 symmetrically arranged on two sides of the transferring support 1001, a distance-adjusting guide rail 1006 is arranged on the surface of each first lifting support 1005, a distance-adjusting trolley 1007 is controlled to slide on the distance-adjusting guide rail 1006 through a distance-adjusting driving cylinder 1008, a shoe tree clamping mechanism is arranged on each distance-adjusting trolley 1007, each shoe tree clamping mechanism comprises a pair of clamping jaws 1011 and a distance-adjusting clamping cylinder 1010 used for controlling the clamping jaws 1011 to move relatively, and positioning pins 1012 matched with the positioning holes 801 are arranged on the inner side surfaces of the clamping jaws 1011;

the clamping distance-adjusting mechanism further comprises a second lifting support 1013, the second lifting support 1013 is located below the distance-adjusting clamping cylinder 1010, a machining clamping piece matched with the bottom of the shoe tree connecting block 8 is arranged on the top surface of the second lifting support 1013, the machining clamping piece comprises a clamping guide rail 1014 parallel to the distance-adjusting guide rail 1006, a pair of clamping vertical plates 1018 are controlled to slide on the clamping guide rail 1014 by a clamping driving cylinder 1019, a pair of L-shaped clamping blocks 1015 are arranged on the inner side surfaces of the clamping vertical plates 1018, clamping surfaces corresponding to the bottom corners of the shoe tree connecting block 8 are arranged on the inner side surfaces of the clamping blocks 1015, and a clamping block 1016 matched with the clamping groove 802 is arranged on each clamping; be equipped with buckle mechanism between the tight piece 1015 of both sides clamp, and the tight piece 1015 cooperation of both sides clamp is held tightly last connecting block 8, and buckle mechanism is including seting up at the recess 1009 of the tight piece 1015 tip of one side clamp and setting up at the lug 1017 of the tight piece 1015 tip of opposite side clamp, and recess 1009 and lug 1017 phase-match set up.

After the carrier plate 9 reaches the position, the transfer driving cylinder 1002 drives the transfer trolley 1003 to slide until the carrier plate clamping cylinder 1004 reaches the position of the carrier plate 9, the carrier plate clamping cylinder 1004 works to clamp the positioning rod 901 of the carrier plate 9, then the transfer trolley 1003 is reset to pull the carrier plate 9 onto the transfer bracket 1001, and a shoe tree enters between a pair of clamping jaws 1011 of the distance adjusting clamping cylinder 1010;

at this time, the distance-adjusting clamping cylinder 1010 works to clamp the shoe tree, then the first lifting support 1005 lifts the distance-adjusting clamping cylinder 1010 to enable the shoe tree to be separated from the support plate 9, and then the distance-adjusting driving cylinder 1008 controls the distance-adjusting trolley 1007 to slide to adjust the distance between the pair of shoe trees;

because the automatic glue spraying operation of the upper has higher requirement on the fixing stability of the upper, the processing clamping piece and the distance adjusting clamping piece are matched to clamp the shoe tree connecting block 8, so that the fixing stability of the shoe tree during processing is ensured; at the moment, the second lifting support 1013 is lifted until the shoe tree is positioned between the pair of clamping blocks 1015, the clamping driving cylinder 1019 controls the pair of clamping blocks 1015 to hold the shoe tree tightly, at the moment, the clamping block 1016 on the inner side surface of the clamping block 1015 is matched with the clamping groove 802 to ensure accurate positioning of the shoe tree and limit the freedom degree of the shoe tree at the same time, the clamping stability is improved, the section of the clamping groove 802 is square when the shoe tree is specifically arranged, the clamping block 1016 is arranged to be a cylindrical clamping block 1016, and the cylindrical clamping block 1016 is in line contact with the square clamping groove 802 to; four L-shaped clamping blocks 1015 on the inner side surfaces of the pair of vertical clamping plates 1018 tightly hold the shoe tree connecting block 8, and the clamping surfaces on the inner side surfaces of the clamping blocks 1015 are in surface contact with the shoe tree connecting block 8 for positioning; the clamping blocks 1015 on the clamping vertical plate 1018 on one side are connected with the clamping blocks 1015 on the clamping vertical plate 1018 on the other side through a clamping mechanism, so that the clamping blocks 1015 on the two sides are limited and positioned, and the clamping stability of the shoe tree connecting block 8 is improved.

In order to ensure that the support plate 9 stays at the station and is accurately positioned, a support plate positioning and lifting device 11 is arranged at the upper surface pretreatment station 22, the upper surface treatment agent spraying and polishing station, the upper surface glue spraying station, the bottom pasting station 12 and the bottom pressing station.

As shown in fig. 18 and 19, the carrier plate positioning and lifting device 11 includes a top plate 1101, a bottom plate 1102, and a lifting cylinder 1103 and a lifting guide 1104 arranged between the top plate 1101 and the bottom plate 1102, wherein the top plate 1101 is arranged below the carrier plate conveyor belt 2, and the surface of the top plate 1101 is provided with a plug bar 1105 matching with the plug hole 903; a carrier plate blocking cylinder 1106 is fixed on the bottom surface of one end of the top plate 1101 facing the advancing direction of the carrier plate 9, a blocking rod 1107 is vertically arranged and linked at the output end of the carrier plate blocking cylinder 1106, and the blocking rod 1107 penetrates through the top plate 1101 from bottom to block the carrier plate 9; the surface of the top plate 1101 is provided with a strip-shaped through hole 1108 along the advancing direction of the carrier plate 9, a carrier plate sensor 1109 is fixed in the strip-shaped through hole 1108, the carrier plate sensor 1109 is a diffuse reflection laser sensor, the specific model is TB12J-D15N1, the carrier plate sensor 1109 is used for detecting the position of the carrier plate 9, and the carrier plate sensor 1109 is electrically connected with the carrier plate blocking cylinder 1106.

When the carrier board 9 is conveyed to a station, the carrier board sensor 1109 detects the carrier board 9 and controls the carrier board blocking cylinder 1106 to work, the blocking rod 1107 extends out of the blocking carrier board 9, the jacking cylinder 1103 controls the top board 1101 to lift, and the inserting rod 1105 is inserted into the inserting hole 903 of the carrier board 9 to realize the positioning and fixing of the carrier board 9.

As shown in fig. 1 to 4 and 13, the bottom attaching station 12 is provided with four operation platforms 1201 arranged along the conveying direction of the carrier plate conveying belt 2, the carrier plate 9 on the carrier plate conveying belt 2 is transferred to the side of the operation platforms 1201, and the soles on the sole conveying belt 1 are distributed to the corresponding operation platforms 1201 by the automatic sole sorting device 13.

The automatic sole sorting device 13 comprises a sorting frame 1301, four sole guide plates 1302 which correspond to the operating table 1201 one by one are mounted on the sorting frame 1301, the sole guide plates 1302 are used for receiving soles and guiding the soles to the operating table 1201, and sorting claws which are located above the end portions of the sole guide plates 1302 are arranged on the sorting frame 1301.

The sorting paw can move along the conveying direction and the vertical direction of the carrier plate conveying belt 2, and transports the soles on the sole conveying belt 1 to the upper part of the end part of the sole guide plate 1302 for discharging; the sorting frame 1301 is provided with a sorting X-axis guide rail 1303 along the conveying direction of the carrier plate conveying belt 2 and a sorting Z-axis guide rail 1304 along the vertical direction, the sorting Z-axis guide rail 1304 slides along the sorting X-axis guide rail 1303, and the sorting paw slides along the sorting Z-axis guide rail 1304.

The sorting paw comprises a clamping jaw cylinder 1305, a first output end and a second output end are arranged on the outer side face of the clamping jaw cylinder 1305, the clamping jaw cylinder 1305 controls the opening and closing angle between the first output end and the second output end, an upper clamping block 1306 is installed at the first output end, a pressing rod 1307 is arranged at the end of the upper clamping block 1306, a lower clamping block 1308 is installed at the second output end, the lower clamping block 1308 and the pressing rod 1307 are matched with each other to clamp a sole, the pressing rod 1307 penetrates through the end of the upper clamping block 1306, a linear bearing is arranged between the pressing rod 1307 and the upper clamping block 1306, a retaining ring 1309 is arranged at one end, far away from the lower clamping block 1308, of the pressing rod 1307, a pressing block 1310 is arranged at one end.

The carrier plates 9 are directly arranged beside the operation tables 1201 one by one through the carrier plate conveyor belt 2, the soles are distributed to the corresponding operation tables 1201 through the automatic sole sorting device 13, and operators of the operation tables 1201 manually attach the soles to the uppers on the corresponding shoe trees;

the sorting device controls a pressure rod 1307 and a lower clamping block 1308 to clamp the sole from the tail end of the sole conveying belt 1 through a clamping jaw cylinder 1305, adjusts the sorting claws above the corresponding sole guide plate 1302 through controlling the positions of the sorting claws, then releases the clamping jaw cylinder 1305, and the sole falls onto the sole guide plate 1302 and is guided to the operation table 1201;

because the sole thickness differs, and the stroke of clamping jaw cylinder 1305 is fixed, consequently in order to avoid crushing thicker sole and avoid not holding thinner sole, set up depression bar 1307 into movable mode, depression bar 1307 overcoat is equipped with pressure spring 1311, the centre gripping requirement of thinner sole can be satisfied in the length of control depression bar 1307, when the sole that the centre gripping is thicker, depression bar 1307 can slide towards one side of keeping away from the sole under the reaction force effect, avoid crushing the sole, pressure spring 1311's effort is used in the sole and is guaranteed that the sole is compressed tightly simultaneously.

As shown in fig. 1 to 4 and 20, the sole pressing station is provided with a transfer robot 14, a last taking and placing device 16, a last fixing device 15 and a sole pressing machine 24.

The transfer manipulator 14 transfers the shoe trees on the carrier plate 9 on the carrier plate conveying belt 2 to the shoe tree taking and placing device 16, and the transfer manipulator 14 is a 7-axis wrist manipulator, and the specific model is MR 35/50.

Last fixing device 15 establishes mounting panel 1501 of fixing on end press machine 24 effect is served including the cover, mounting panel 1501 below is connected with fixed plate 1502 through spliced pole 1503, spliced pole 1503 bottom is fixed with fixed plate 1502, be equipped with dog 1504 after the mounting panel 1501 is passed on the top, the cover is equipped with spring 1505 on the spliced pole 1503, set up on the fixed plate 1502 with last connecting block 8 on the spout 1506 that draw-in groove 802 matches, be equipped with the shoe tree sensor 1507 that is used for responding to the shoe tree on the fixed plate 1502, the specific model of shoe tree sensor 1507 is GX-F15A, shoe tree sensor 1507 is connected with end press machine 24 electricity, and shoe tree sensor 1507 detects control end press machine 24 work behind the shoe tree, the specific model of end press machine 24 is 710 EU.

The last taking and placing device 16 comprises a base 1601 arranged on two sides of the sole press 24, a last discharging cylinder 1605 capable of moving along X, Y, Z three-way direction is installed on the base 1601, and the last discharging cylinder 1605 clamps and moves a last into a chute 1506 of the fixing plate 1502.

Be equipped with last Y axle guide rail 1603 with spout 1506 syntropy on base 1601, it has last X axle guide rail 1602 to slide through motor control on the last Y axle guide rail 1603, and it has last Z axle guide rail 1604 to slide through motor control on last X axle guide rail 1602, and last blowing cylinder 1605 is installed and is slided on last Z axle guide rail 1604.

The bottom pressing station adopts full-automatic operation, when the carrier plate 9 arrives at the station, the transfer manipulator 14 transfers the shoe tree on the carrier plate 9 to the shoe tree emptying cylinder 1605, the shoe tree emptying cylinder 1605 moves along three directions X, Y, Z to slide the clamping groove 802 of the shoe tree into the fixing plate 1502 along the sliding groove 1506 for fixing, and the position control of the shoe tree emptying cylinder 1605 is realized through the cooperation of three guide rails X, Y, Z during the specific setting;

because shoes are highly different, and the stroke of pressing end machine 24 is fixed, set up the spliced pole 1503 upper end into movable form, and establish spring 1505 on spliced pole 1503, fixed plate 1502 position remains unchanged after the sole laminating base, mounting panel 1501 and the end of pressing end machine 24 effect can continue to push down, the spring effect of spring 1505 is used in fixed plate 1502 and is compressed tightly upper and sole this moment, consequently as long as the stroke of controlling end machine 24 satisfies the demand of the shortest shoes, the end of pressing operation of the shoes of different heights that just can adapt.

As shown in fig. 1 to 4, the post-treatment station 23 is provided with a cooling box 2301, a delasting machine 2302 and a packaging station 2303, the shoes after sole pressing are cooled by the cooling box 2301 to avoid glue failure, and then the shoes are separated by the delasting machine 2302 to remove shoe trees, which are packaged at the packaging station 2303, and the shoe trees are placed on the carrier plate 9 and returned to the upper pre-treatment station 22 through the turning section of the carrier plate conveyor 2.

Sole conveyer belt 1 sets up in upper of a shoe conveyer belt top or below in this embodiment, and the stoving station before the group face and the stoving station before the sole are provided with preceding double-deck oven 17, and the stoving station behind the group face and the sole are baked the station and are equipped with back double-deck oven 18, and sole conveyer belt 1 and the range upon range of setting of upper of a shoe conveyer belt are through preceding double-deck oven 17 and back double-deck oven 18, and sole and upper of a shoe are baked and are baked after carrying on in step, reduce equipment demand and take up an area of the space.

The specific working process of this embodiment is as follows:

sole conveyer belt 1 process:

1. the sole transfer device 4 takes out a pair of soles from a sole stereoscopic warehouse and transfers the soles to the sole conveyer belt 1;

2. before the sole reaches the sole treating agent spraying station 5, the posture of the sole is adjusted by the posture adjusting device 7;

3. the sole enters a sole treating agent spraying station 5, a first sole 3D scanning camera 501 scans the sole profile and controls a sole treating agent spraying manipulator 502 to spray treating agents on the sole;

4. the sole enters a sole pre-baking station;

5. before the sole reaches the sole glue spraying station 6, the posture of the sole is adjusted by the posture adjusting device 7;

6. the sole enters a sole glue spraying station 6, a second sole 3D scanning camera 601 scans the sole outline and controls a sole glue spraying manipulator 602 to spray glue on the sole;

7. the sole enters a sole post-baking station.

2 processes of the carrier plate conveying belt:

1. the shoe tree is arranged on the carrier plate 9 and conveyed along the carrier plate conveying belt 2, the shoe tree passes through a lasting machine 2201 and a manual finishing table 2202, and the lasting process also needs to be pretreated by a lasting oven 2205, a front lasting machine 2203 and a rear lasting machine 2204;

2. the carrier plate 9 reaches the spraying and polishing station of the surface treatment agent, the carrier plate 9 is positioned by the carrier plate positioning and lifting device 11, and then the carrier plate 9 is pulled out of the carrier plate conveyor belt 2 by the shoe tree off-line spacing device 10 and the spacing between a pair of shoe trees on the carrier plate 9 is increased; then the upper 3D scanning camera 20 scans the outline information of the upper and converts the outline information into coordinates to control the operation of the upper polishing treatment agent spraying manipulator 19;

3. the shoe tree off-line distance separating device 10 controls the carrier plate 9 to reset, and the carrier plate 9 enters the front double-layer oven 17;

4. the carrier plate 9 reaches the upper glue spraying station, the carrier plate 9 is positioned by the carrier plate positioning and lifting device 11, and then the carrier plate 9 is pulled out of the carrier plate conveyor belt 2 by the shoe tree off-line spacing device 10 and the spacing between a pair of shoe trees on the carrier plate 9 is increased; then the upper glue spraying manipulator 21 sprays glue on the upper according to the scanning data of the upper 3D scanning camera 20 in the step 2;

5. after the glue spraying is finished, the shoe tree off-line distance separating device 10 controls the support plate 9 to reset, and the support plate 9 enters the rear double-layer oven 18;

6. the carrier plate 9 enters an operation table 1201 of a bottom pasting station 12 and is positioned by a carrier plate positioning and lifting device 11; meanwhile, the soles are distributed to corresponding operation tables 1201 by the automatic sole sorting device 13, and sole attaching operation is carried out on the uppers in the operation tables 1201;

7. after the sole attaching is completed, the support plate 9 reaches a sole pressing station and is positioned by the support plate positioning and lifting device 11, the transfer robot transfers a pair of shoe trees on the support plate 9 to the shoe tree taking and placing device 16, the shoe tree taking and placing device 16 transfers the shoe trees to the shoe tree fixing device 15 at the output end of the sole pressing machine 24 for fixing, and the shoe tree sensor 1507 detects the shoe trees to control the sole pressing machine 24 to work;

8. after the sole pressing is finished, the shoe tree taking and placing device 16 takes the shoe tree out, the transfer robot transfers the shoe tree onto the support plate 9, and the shoe tree leaves the sole pressing station and enters the cooling box 2301 for cooling;

9. after leaving the cooling box 2301, the shoe tree is passed through a delasting machine 2302 and positioned by a carrier plate positioning and lifting device 11, the last is delasted by a manual operation of the delasting machine 2302, the shoe tree is replaced on the carrier plate 9, the carrier plate 9 is then returned to the carrier plate preprocessing station through a carrier plate conveyor 2, and the formed shoe is placed on a packaging table 2303 for packaging into a finished product.

Claims

1. An automated shoemaking production line, comprising:

the upper surface pretreatment station carries out upper covering or upper lasting operation on a shoe tree, the sole attaching station attaches an upper passing through the upper surface post-baking station and a sole passing through the sole post-baking station, the sole pressing station tightly attaches the upper and the sole passing through the sole, and the post-treatment station carries out cooling, last removing and packaging operations;

the shoe tree connecting block is arranged at the end part of the shoe tree, a positioning hole is formed in the side face of the shoe tree connecting block, clamping grooves are symmetrically formed in the two side faces of the end part of the shoe tree connecting block, and a positioning rod is arranged in the middle of the surface of the support plate;

the upper treating agent spraying and polishing station and the upper glue spraying station are both provided with shoe tree off-line separating devices, and each shoe tree off-line separating device comprises a support plate transfer mechanism and a clamping and distance adjusting mechanism;

the carrier plate transfer mechanism comprises a transfer support, the transfer support is arranged on one side of the carrier plate conveying belt, a transfer trolley is controlled to slide on the transfer support through a transfer driving cylinder, a carrier plate clamping cylinder is arranged on the transfer trolley, and the carrier plate clamping cylinder is used for clamping the positioning rod;

2. The automatic shoemaking production line according to claim 1, wherein the sole taking station is provided with a sole stereo bin, the sole stereo bin comprises a bin frame, the bin frame is internally divided into a plurality of rows of object placing areas, the object placing areas are uniformly provided with bin position plates from top to bottom, and the bin position plates are provided with object taking gaps; limiting columns which slide transversely along a bin frame are arranged on two sides of the object placing area, limiting plates which correspond to the bin position plates one by one and are used for limiting soles are mounted on the limiting columns, a plurality of rows of limiting columns on the left side of the object placing area are connected through left connecting rods, a plurality of rows of limiting columns on the right side of the object placing area are connected through right connecting rods, fixing seats are symmetrically fixed on two side surfaces of the bin frame, adjusting screw rods are mounted on the surfaces of the fixing seats through bearing mounting seats, adjusting hand wheels are arranged at the outer ends of the adjusting screw rods, adjusting blocks are connected to the inner ends of the adjusting screw rods through thread structures, and the inner ends of the adjusting blocks are;

the sole on the three-dimensional sole bin is transferred to the sole conveyer belt through the sole transfer device, the sole transfer device comprises a material taking frame matched with the bin frame, the material taking frame is provided with a rotatable material taking paw capable of moving along X, Y, Z three directions, the material taking paw comprises a vertically arranged paw mounting plate, one side surface of the paw mounting plate is provided with a pair of vertical main guide rails, the main guide rails are controlled to slide through a jaw driving cylinder and are provided with a sliding plate, the sliding plate is uniformly provided with a plurality of vertical upper jaw guide rails from top to bottom, the upper jaw guide rails are provided with upper jaws in a sliding manner, the sliding plate is provided with vertical guide rods in one-to-one correspondence with the upper jaws, the upper ends of the guide rods are fixed with the sliding plate, the lower ends of the guide rods are inserted into the mounting ends of the upper jaws, the guide rods are sleeved with buffer springs, and the lower jaws matched, the lower clamping jaw is matched with the fetching notch, and the upper clamping jaw and the lower clamping jaw are matched to clamp the sole.

3. The automatic shoe manufacturing production line according to claim 1, wherein the shoe sole treating agent spraying station is provided with a first shoe sole 3D scanning camera and a shoe sole treating agent spraying manipulator, the shoe sole glue spraying station is provided with a second shoe sole 3D scanning camera and a shoe sole glue spraying manipulator, the shoe sole conveying belt in front of the shoe sole treating agent spraying station and the shoe sole glue spraying station is provided with a posture adjusting device, the posture adjusting device comprises a shoe sole blocking cylinder fixed below the shoe sole conveying belt, the output end of the shoe sole blocking cylinder is vertically upwards linked with a stop lever, the stop lever penetrates through the shoe sole conveying belt to block the shoe sole, the shoe sole conveying belt is symmetrically provided with correcting cylinders at two sides, the correcting cylinders are arranged towards the shoe sole blocked by the stop lever, the output end of the correcting cylinders is fixed with a correcting plate, and a shoe sole sensor is arranged below the shoe sole conveying belt, the sole sensor is used for detecting the blocked sole and is electrically connected with the correcting cylinder.

4. The automatic shoemaking production line according to claim 1, wherein said shoe tree connecting blocks are symmetrically inserted and fixed on two sides of the surface of said carrier plate, the bottom surface of the carrier plate is provided with insertion holes, and four corners of the carrier plate are provided with guide wheels.

5. The automatic shoe manufacturing production line of claim 4, wherein the upper pretreatment station, the upper treatment agent spraying and polishing station, the upper glue spraying station, the sole attaching station and the sole pressing station are provided with a support plate positioning and lifting device, the support plate positioning and lifting device comprises a top plate, a bottom plate, a lifting cylinder and a lifting guide rod, the lifting cylinder and the lifting guide rod are arranged between the top plate and the bottom plate, the top plate is arranged below the support plate conveyor belt, and the surface of the top plate is provided with an inserted rod matched with the insertion hole; a carrier plate blocking cylinder is fixed on the bottom surface of one end, facing the advancing direction of the carrier plate, of the top plate, a blocking rod is vertically arranged at the output end of the carrier plate blocking cylinder in a linkage mode, and the blocking rod penetrates through the top plate from bottom to block the carrier plate; the surface of the top plate is provided with a strip-shaped through hole along the advancing direction of the carrier plate, a carrier plate sensor is fixed in the strip-shaped through hole and used for detecting the position of the carrier plate, and the carrier plate sensor is electrically connected with the carrier plate blocking cylinder.

6. The automatic shoemaking production line according to claim 1, wherein said sole attaching station is provided with a plurality of operation platforms arranged along the conveying direction of said carrier conveyer belt, the carrier on said carrier conveyer belt is transferred to the side of said operation platforms, and the soles on said sole conveyer belt are distributed to the corresponding operation platforms by an automatic sole sorting device; the automatic sole sorting device comprises a sorting frame, a plurality of sole guide plates which are in one-to-one correspondence with the operating platform are mounted on the sorting frame, the sole guide plates are used for receiving soles and guiding the soles to the operating platform, a sorting paw which is positioned above the end part of each sole guide plate is arranged on the sorting frame, the sorting paw can move along the conveying direction and the vertical direction of the carrier plate conveying belt, and the sorting paw conveys the soles on the sole conveying belt to the position above the end part of each sole guide plate for discharging; the sorting paw comprises a clamping jaw cylinder, a first output end and a second output end are arranged on the outer side face of the clamping jaw cylinder, the clamping jaw cylinder controls the opening and closing angle between the first output end and the second output end, a clamping block is installed at the first output end, the end portion of the clamping block is provided with a pressing rod, a clamping block is installed at the second output end and clamped down, the clamping block is clamped down with the end portion of the pressing rod in a matched mode, the pressing rod penetrates through the end portion of the clamping block, a linear bearing is arranged between the pressing rod and the upper clamping block, the pressing rod is far away from one end of the clamping block is provided with a retaining ring, the pressing rod faces one end of the clamping block is provided with a pressing block, and a.

7. The automatic shoemaking production line according to claim 1, wherein said sole pressing station is provided with a transfer robot, a shoe tree taking and placing device, a shoe tree fixing device and a sole pressing machine, the transferring manipulator transfers shoe trees on the carrier plates on the carrier plate conveyor belt to the shoe tree taking and placing device, the shoe tree fixing device comprises a mounting plate which is sleeved and fixed on the action end of the sole press, a fixing plate is connected below the mounting plate through a connecting column, the bottom end of the connecting column is fixed with the fixed plate, the top end of the connecting column penetrates through the mounting plate and then is provided with a stop block, the connecting column is sleeved with a spring, the fixing plate is provided with a chute matched with the clamping groove on the shoe tree connecting block, a shoe tree sensor used for sensing the shoe tree is arranged on the fixing plate, the shoe tree sensor is electrically connected with the sole pressing machine, and the sole pressing machine is controlled to work after the shoe tree sensor detects the shoe tree; the shoe tree is got and is put material device is including setting up the base of sole pressing machine both sides, install the shoe tree blowing cylinder that can follow X, Y, Z three-dimensional removal on the base, shoe tree blowing cylinder moves the shoe tree centre gripping extremely in the spout of fixed plate.

8. The automated shoe manufacturing line of claim 1, wherein the sole conveyor is disposed above or below the carrier conveyor, the front upper and front sole baking stations are provided with a front double oven, the rear upper and rear sole baking stations are provided with a rear double oven, and the sole conveyor and the carrier conveyor are stacked to pass through the front double oven and the rear double oven.

9. The automatic shoe manufacturing production line according to any one of claims 1 to 8, wherein the upper surface treatment agent spraying and polishing station is provided with an upper surface 3D scanning camera and an upper surface polishing treatment agent spraying manipulator, the upper surface glue spraying station is provided with an upper surface glue spraying manipulator, the upper surface 3D scanning camera is mounted on the upper surface polishing treatment agent spraying manipulator, the upper surface 3D scanning camera dynamically scans and records the outline of the upper surface, and the upper surface polishing treatment agent spraying manipulator and the upper surface glue spraying manipulator are controlled to work along the outline of the upper surface.