CN114098233A

CN114098233A - Iron plate burning, rounding, nail pulling and die changing system

Info

Publication number: CN114098233A
Application number: CN202111362109.6A
Authority: CN
Inventors: 谢国清; 盛放
Original assignee: Lirong Shoes Shenzhen Co Ltd
Current assignee: Lirong Shoes Shenzhen Co Ltd
Priority date: 2021-11-17
Filing date: 2021-11-17
Publication date: 2022-03-01
Anticipated expiration: 2041-11-17
Also published as: CN114098233B

Abstract

The invention discloses a teppanyaki, rounding, nail pulling and die changing system, which comprises a shoe tree positioning mechanism, a shoe tree supporting mechanism, a rounding mechanism, a nail pulling mechanism and a die changing mechanism, wherein the teppanyaki mechanism heats a sole, a rounding driving motor drives a rounding head to move on a circular rack guide rail to round a heel of a shoe, the nail pulling mechanism clamps a shoe nail under the combined action of a first linear module and a nail pulling cylinder when the teppanyaki mechanism and the rounding mechanism work, the first linear module moves downwards to drive a nail pulling pliers to pull out the shoe nail, the teppanyaki, rounding, nail pulling and die changing stations are integrated into a station, a set of special equipment is designed, the teppanyaki mechanism, the rounding mechanism and the nail pulling mechanism are carried out on the same equipment at the same time, the teppanyaki mechanism, the rounding mechanism and the nail pulling mechanism share a set of base and a supporting frame, the space is saved, the labor is also saved, the automation degree and the production efficiency are improved, and the cost is reduced.

Description

Iron plate burning, rounding, nail pulling and die changing system

Technical Field

The invention relates to shoe manufacturing equipment, in particular to a teppanyaki, rounding, nail pulling and die changing system.

Background

In the manufacturing process of shoes, the teppanyaki, the rounding, the nail pulling and the die changing are completed at four stations, the four stations need multiple operations, particularly, the nail pulling and the die changing are manually completed, the time and labor are wasted, the efficiency is low, meanwhile, the occupied places of the four stations are large, a lot of workshop space is wasted, equipment which can combine the four processes of the teppanyaki, the rounding, the nail pulling and the die changing is urgently needed in the manufacturing industry of the shoes at present, the functions of teppanyaki heating, the rounding, the nail pulling and the die changing are realized simultaneously, the workshop space and the labor force can be saved, the automation degree is improved simultaneously, the production efficiency is improved, and the cost is reduced.

Disclosure of Invention

The invention provides a system for teppanyaki, rounding, nail pulling and mold changing, which is used for solving the problems that the teppanyaki, rounding, nail pulling and mold changing are completed at four stations, wherein the nail pulling and mold changing are mainly completed manually, and the four stations occupy a lot of factory space, waste manpower, have low efficiency, low automation degree and high cost.

According to one aspect of the invention, an iron plate roasting, rounding, nail pulling and mold changing system is provided, and is arranged on a base, a support frame is arranged on the base, and the iron plate roasting, rounding, nail pulling and mold changing system comprises a shoe tree positioning mechanism, a shoe tree supporting mechanism, a rounding mechanism and a mold changing mechanism;

the shoe tree positioning mechanism comprises a positioning cylinder, a positioning plate, a shoe tree positioning column and a shoe tree pressing column, the positioning cylinder is fixedly connected with the support frame, the upper end face of the positioning plate is fixedly connected with a telescopic shaft of the positioning cylinder, the first end of the shoe tree positioning column is fixedly connected with the lower end face of the positioning plate, the second end of the shoe tree positioning column is provided with a positioning head, the second end of the positioning head is movably connected with the second end of the shoe tree positioning column through a pin, a first gap is formed between the positioning head and the shoe tree positioning column, the first gap is used for positioning a movable gap in which the positioning head shakes on the shoe tree positioning column, the positioning head is used for fixing a shoe tree, the first end of the shoe tree pressing column is fixedly connected with the lower end face of the positioning plate, and the second end of the shoe tree pressing column is used for pressing the shoe tree;

shoe tree supporting mechanism includes heel support piece and shoe heel support piece, heel support piece sets firmly on the base, the position of heel support piece and shoe tree reference column is corresponding, heel support piece's up end is the plane, a heel part for supporting the shoe tree, be equipped with heating part in the heel support piece, a heating for heel support piece, shoe heel support piece sets firmly on the base, shoe heel support piece compresses tightly the position of post with the shoe tree corresponding, shoe heel support piece up end is equipped with the recess, the recess is used for holding and supporting the sole part of shoe tree, be equipped with heating part in the shoe heel support piece, a heating for heating shoe heel support piece.

Rounding mechanism includes circular rack guide rail, the rounding fixed station, round driving motor and head of rounding, circular rack guide rail and base fixed connection, heel support piece sets up the central point at circular rack guide rail and puts, round fixed station setting on circular rack guide rail and with circular rack guide rail sliding connection, round driving motor is fixed to be set up on the round fixed station, round driving motor's drive shaft is equipped with drive gear, drive gear cooperatees with the tooth of circular rack guide rail, round driving motor drives round fixed station through drive gear and goes up reciprocating motion along circular rack guide rail, the head of rounding sets firmly in the round driving motor outside and corresponding with heel support piece's position, the head of rounding is used for extrudeing the heel of a shoe.

Nail pulling mechanism sets up in the base, nail pulling mechanism has a set ofly at least, every group nail pulling mechanism includes pneumatic parallel open tongs and first sharp module, pneumatic parallel open tongs includes a nail pulling cylinder and the vertical nail pulling tongs of installing on nail pulling cylinder, nail pulling cylinder is used for controlling opening and foling of nail pulling tongs, nail pulling tongs is corresponding with the position of spike in the vertical direction, pneumatic parallel open tongs and the slip table fixed connection of first sharp module, first sharp module and base fixed connection, the slip table of first sharp module can be followed vertical direction and reciprocated.

Furthermore, the nail pulling mechanism is a group and also comprises a second linear module and a third linear module, the sliding table of the second linear module is fixedly connected with the first linear module, the sliding table of the second linear module can move left and right along the horizontal direction, the first end of the second linear module is fixedly connected with the sliding table of the third linear module, the second end of the second linear module is slidably connected with the base, the sliding table of the third linear module and the second end of the second linear module can move back and forth along the horizontal direction, and the third linear module is fixedly connected with the base;

the pneumatic parallel opening pliers, the first straight line module, the second straight line module and the third straight line module move according to instruction information sent by the central processing unit.

Furthermore, the instruction information sent by the central controller is spike position information, and the spike position information is collected by the central processor in the nailing process.

Furthermore, the sole nail pulling mechanism also comprises a metal object detection positioner, and the instruction information sent by the central controller is the spike position information detected by the metal object detection positioner.

Furthermore, the rounding mechanism also comprises a first adjusting cylinder, the cylinder body of the first adjusting cylinder is fixedly connected with one of the rounding fixed platform or the rounding driving motor, the piston rod of the first adjusting cylinder is fixedly connected with the other of the rounding fixed platform or the rounding driving motor, a guide groove is formed in the rounding fixed platform along the radius direction of the circular rack guide rail, and the rounding driving motor can slide in the guide groove.

Furthermore, the rounding drive motor is a vibration motor.

Furthermore, the bottom of the rounding fixing table is provided with at least one group of pulleys, and the pulleys are in rolling connection with the circular rack guide rail.

Furthermore, be equipped with the stopper on the heel support piece, the stopper is at least partly higher than the plane of heel support piece up end, and the stopper can slide in heel support piece, and when the shoe tree reference column was fashionable with heel support piece pressfitting, the stopper was impressed in heel support piece.

Furthermore, the shoe tree supporting mechanism further comprises a second adjusting cylinder, a cylinder body of the second adjusting cylinder is fixedly connected with one of the shoe palm supporting piece and the heel supporting piece, a piston rod of the second adjusting cylinder is fixedly connected with the other of the shoe palm supporting piece and the heel supporting piece, and the second adjusting cylinder is used for adjusting the distance between the shoe palm supporting piece and the heel supporting piece.

Furthermore, a reference line is arranged in a groove in the upper end face of the shoe palm support piece, the two reference lines are respectively used as the reference of the left shoe tree and the right shoe tree, and the reference line is used as the alignment reference for placing the shoe trees.

Further, still include motor guiding mechanism in shoe tree positioning mechanism, motor guiding mechanism is used for adjusting the shoe tree and compresses tightly the size of the pressure of post to the shoe tree, motor guiding mechanism's first end and the lower terminal surface fixed connection of locating plate, the telescopic shaft of motor guiding mechanism's second end and the first end fixed connection that the shoe tree compressed tightly the post.

Further, the motor adjusting mechanism comprises an adjusting motor and a lifting assembly, the adjusting motor is fixed on the lifting assembly, the lifting assembly is fixedly connected with the lower end face of the positioning plate, the lifting assembly comprises a turbine and a lead screw, and the lead screw is fixedly connected with the first end of the shoe tree pressing column;

wherein, the adjusting motor drives the screw rod to move up and down through the turbine.

Furthermore, the shoe tree positioning mechanism also comprises a pressure sensor which is fixedly arranged at the second end of the shoe tree pressing column and used for detecting the pressure of the shoe tree pressing column on the shoe tree;

when the pressure is higher than the set pressure threshold value, the adjusting motor adjusting mechanism is adjusted to reduce the pressure of the shoe tree pressing column on the shoe tree, and when the pressure is lower than the set pressure threshold value, the adjusting motor adjusting mechanism is adjusted to increase the pressure of the shoe tree pressing column on the shoe tree.

Furthermore, the heel support piece and the sole support piece are respectively provided with a temperature sensor, and the temperature sensors are used for detecting the temperature of the heel support piece and the temperature of the sole support piece;

when the temperature is higher than the threshold value of the set temperature, the heating part stops heating, and when the temperature is lower than the threshold value of the set temperature, the heating part starts heating.

Further, the die changing mechanism is provided with a position control mechanism, the position control mechanism is used for controlling the position of the air cylinder fixing frame on the linear guide rail, the position control mechanism comprises an inductive switch and a three-position five-way electromagnetic valve, and the inductive switch is arranged below the linear guide rail;

after the induction switch induces the position of the air cylinder, a signal is sent to the central processing unit, and the central processing unit receives the position signal and controls the first die changing air cylinder to stop through the three-position five-way electromagnetic valve.

Further, retooling mechanism still includes first workstation and second workstation, and first workstation is used for placing the sole support piece of waiting to change, is equipped with in the first workstation and preheats the part, preheats the part and is used for preheating reserve sole support piece, and the second workstation is used for placing the sole support piece after using, and first workstation and second workstation setting are between linear guide and third workstation, and the third workstation does sole support piece's fixed position.

The invention has the beneficial effects that:

the teppanyaki mechanism heats the sole, the rounding drive motor drives the rounding head to move on the circular rack guide rail, the rounding head presses the heel of a shoe in the movement process, glue at the matching part of the insole and the upper of the shoe is completely adhered together, when the teppanyaki mechanism and the rounding mechanism work, the nail pulling mechanism moves upwards to the position of a shoe nail under the drive of the first linear module, the nail pulling cylinder drives the nail pulling pliers to open, then under the combined action of the first linear module and the nail pulling cylinder, the nail pulling pliers are closed to clamp the shoe nail, the first linear module moves downwards and drives the nail pulling pliers to pull out the shoe nail,

this embodiment is integrated into a station with four stations of teppanyaki, rounding, nail pulling and retooling to a set of professional equipment has been designed, and teppanyaki mechanism, rounding mechanism and nail pulling mechanism go on simultaneously on same platform equipment, and teppanyaki mechanism, rounding mechanism and nail pulling mechanism share same set of base and support frame, have saved the space, have also saved the manual work, have improved degree of automation simultaneously, have improved production efficiency, the cost is reduced.

When a product is finished, the shoe sole supporting piece needs to be replaced, the teppanyaki mechanism, the rounding mechanism and the nail pulling mechanism stop working, the mold changing mechanism replaces the shoe sole supporting piece, then the teppanyaki mechanism, the rounding mechanism and the nail pulling mechanism continue working, and all the actions can be performed orderly under the coordination of the central processing unit.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments 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 schematic perspective view of a teppanyaki, rounding, nail pulling and mold changing system according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of a rounding mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic perspective view of a pulley and circular rack guide according to an embodiment of the present invention;

FIG. 4 is a first perspective view of a shoe last positioning mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic perspective view of a second shoe last positioning mechanism according to an embodiment of the present invention;

FIG. 6 is a front view of a positioning head according to an embodiment of the present invention;

FIG. 7 is a schematic perspective view of a shoe last support mechanism according to an embodiment of the present invention;

FIG. 8 is a perspective view of a sole support according to an embodiment of the present invention;

FIG. 9 is a schematic perspective view of a nail pulling mechanism according to another embodiment of the present invention;

FIG. 10 is a schematic perspective view of a pneumatic parallel split pliers according to an embodiment of the present invention;

FIG. 11 is a schematic perspective view of a mold changing mechanism according to an embodiment of the present invention;

FIG. 12 is a schematic perspective view of a mold changing mechanism according to another embodiment of the present invention;

in the figure: 101-a base; 102-a support frame; 11-a last support mechanism; 110-a heel support; 1101-a limiting block; 111-a ball support; 1110-grooves; 1111-datum line; 112-heating the part; 12-a last positioning mechanism; 120-positioning cylinder; 121-a positioning plate; 122-last positioning post; 1220-a positioning head; 1221-a first gap; 1222-positioning pins; 123-shoe tree pressing column; 1230-a compression head; 1231-a second gap; 124-adjusting the motor; 2-rounding mechanism; 20-circular rack guide rails; 21-rounding the fixed table; 210-a pulley; 22-a rounding drive motor; 220-a drive gear; 23-a first adjustment cylinder; 24-round head beating; 25-a travel switch; 3-a nail pulling mechanism; 30-pneumatic parallel open tongs; 301-nail nipper; 302-nail pulling cylinder; 303-U-shaped opening; 31-a first linear module; 32-a second linear module; 33-a third linear module; 4-a die change mechanism; 41-linear guide rail; 42-cylinder fixing frame; 421-guide pillar; 422-moving plate; 431-a first mold changing cylinder; 432-a second retooling cylinder; 433-a third die change cylinder; 434-double piston rod cylinder; 44-a first stage; 45-a second work table; 46-a third stage; 47-an inductive switch; and 48-gear device.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

In the present invention, unless specified to the contrary, use of the terms of orientation such as "upper, lower, top, bottom" or the like, generally refer to the orientation as shown in the drawings, or to the component itself in a vertical, perpendicular, or gravitational orientation; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the invention.

In this application, teppanyaki refers to a process of manufacturing shoes in which a midsole and upper assembly is heated and pressed by external force.

The mold changing apparatus of the present invention is an apparatus for changing the shoe sole support 111, and does not generally refer to all molds or jigs.

The invention provides a system for teppanyaki, rounding, nail pulling and die changing, which adopts the following specific scheme.

Fig. 1 shows an embodiment of a teppanyaki, rounding, nail pulling and mold changing system according to the present invention.

The iron plate roasting, rounding, nail pulling and mold changing system is arranged on a base 101, a support frame 102 is arranged on the base 101, and the iron plate roasting, rounding, nail pulling and mold changing system comprises a shoe tree positioning mechanism 12, a shoe tree supporting mechanism 11, a rounding mechanism 2, a nail pulling mechanism 3 and a mold changing mechanism 4.

The iron plate roasting mechanism comprises a shoe tree positioning mechanism 12 and a shoe tree supporting mechanism 11.

Referring to fig. 4 and 5, the shoe tree positioning mechanism 12 includes a positioning cylinder 120, a positioning plate 121, a shoe tree positioning column 122 and a shoe tree pressing column 123, the positioning cylinder 120 is fixedly connected to the supporting frame 102, four corners of the positioning cylinder 120 are provided with guiding columns, the guiding columns guide movement of the telescopic shaft of the positioning cylinder 120, so as to ensure accuracy of the movement direction of the positioning cylinder 120, an upper end surface of the positioning plate 121 is fixedly connected to the telescopic shaft of the positioning cylinder 120, and can be fixedly connected by a thread, a first end of the shoe tree positioning column 122 is fixedly connected to a lower end surface of the positioning plate 121, a second end of the shoe tree positioning column 122 is used for fixing a shoe tree, a first end of the shoe tree pressing column 123 is fixedly connected to the lower end surface of the positioning plate 121, and a second end of the shoe tree pressing column 123 is used for pressing a shoe tree or an upper on the shoe tree.

The positioning cylinder 120 may be an oil cylinder or a telescopic motor, and the telescopic shaft drives the positioning plate 121 to move up and down is considered.

Referring to fig. 7, the shoe tree supporting mechanism 11 includes a heel supporting member 110 and a palm supporting member 111, the heel supporting member 110 is fixed on the base 101, the position of the heel supporting member 110 corresponds to the position of the shoe tree positioning post 122, the upper end surface of the heel supporting member 110 is a plane for supporting the heel portion of the shoe tree, a heating element 112 is disposed in the heel supporting member 110 for heating the heel supporting member 110, the heating element 112 may be a heating rod, a heating wire or a heating tube, etc., the heating temperature is preferably 40-60 degrees celsius and the rounding effect is most preferred, and preferably 50 degrees celsius.

The shoe palm supporting piece 111 is fixedly arranged on the base 101, the position of the shoe palm supporting piece 111 corresponds to the position of the shoe tree pressing column 123, a groove 1110 is arranged on the upper end face of the shoe palm supporting piece 111, the groove 1110 is used for accommodating and supporting the foot part of the shoe tree, a heating part 112 is arranged in the shoe palm supporting piece 111 and used for heating the shoe palm supporting piece 111, and the heating part 112 can be a heating rod, a heating wire or a heating pipe and the like.

Preferably, temperature sensors are respectively arranged in the heel support member 110 and the sole support member 111 for controlling the temperatures of the heel support member 110 and the sole support member 111, when the temperatures of the heel support member 110 and the sole support member 111 are higher than a threshold value of a set temperature, the central processing unit receives a high temperature signal and controls the heating element 112 to stop heating, and when the temperatures of the heel support member 110 and the sole support member 111 are lower than the threshold value of the set temperature, the central processing unit receives a low temperature signal and controls the heating element 112 to start heating the heating element 112.

As shown in fig. 2, the rounding mechanism 2 includes a circular rack rail 20, a circular rack rail 21, a rounding driving motor 22 and a rounding head 24, the circular rack rail 20 is fixedly connected to the base 101, the heel support 110 is disposed at a central position of the circular rack rail 20, the circular rack rail 21 is disposed on the circular rack rail 20 and slidably connected to the circular rack rail 20, the rounding driving motor 22 is fixedly disposed on the circular rack rail 21, a driving shaft of the rounding driving motor 22 is provided with a driving gear 220, the driving gear 220 is engaged with teeth of the circular rack rail 20, the rounding driving motor 22 drives the circular rack rail 21 to move on the circular rack rail 20 through the driving gear 220, the rounding head 24 is fixedly disposed at an outer side of the rounding driving motor 22 and corresponds to a position of the heel support 110, and the rounding head 24 is used for squeezing the heel of a shoe.

The circular rack guide rail 20 is provided with two travel switches 25, the positions of the travel switches 25 can be adjusted, when the circular rack guide rail 21 touches a first travel switch 25 in the movement process, the circular rack guide rail 21 starts to move reversely, and when the circular rack guide rail 21 touches a second travel switch 25 in the reverse movement process, the circular rack guide rail 21 moves reversely again, so that the circular rack guide rail 21 reciprocates between the two travel switches 25, and the heel of a shoe can be repeatedly extruded.

Referring to fig. 9, the nail pulling mechanism 3 is disposed in the base, at least one group of nail pulling mechanisms 3 is provided, each group of nail pulling mechanisms 3 includes a pneumatic parallel open-ended clamp 30 and a first linear module 31, the pneumatic parallel open-ended clamp 30 includes a nail pulling cylinder 302 and a vertically mounted nail pulling clamp 301, the upper end of the nail pulling cylinder 302 has a U-shaped opening 303, two movable handles of the nail pulling clamp 301 are mounted in the U-shaped opening 303, the nail pulling cylinder 302 controls the two movable handles to move in the U-shaped opening 303 so as to control the opening and closing of the nail pulling clamp 301, the nail pulling clamp 301 corresponds to the position of the shoe nail in the vertical direction, the pneumatic parallel open-ended clamp 30 is fixedly connected to the sliding table of the first linear module 31, the first linear module 31 is fixedly connected to the base, and the sliding table of the first linear module 31 can move up and down in the vertical direction.

Referring to fig. 11 and 12, the teppanyaki, rounding, nail pulling and mold changing system further includes a mold changing mechanism 4, the mold changing mechanism 4 is disposed on the base 101, and the mold changing mechanism 4 includes:

the linear guide rail 41 is horizontally arranged and fixedly connected with the base 101, and the length direction of the linear guide rail 41 is vertical to the length direction of the shoe palm support 111;

the cylinder fixing frame 42 is arranged on the linear guide rail 41 and is in sliding connection with the linear guide rail 41, a moving plate 422 and at least one guide pillar 421 are arranged in the cylinder fixing frame 42, the guide pillar 421 is arranged along the vertical direction, and the moving plate 422 can move up and down along the guide pillar 421 in the cylinder fixing frame 42;

the first die change cylinder 431 is horizontally arranged and is parallel to the linear guide rail 41, a cylinder body of the first die change cylinder 431 is fixedly connected with the base 101, and a piston rod of the first die change cylinder 431 is fixedly connected with the cylinder fixing frame 42;

the second die-changing cylinders 432 are arranged in the vertical direction, the cylinder bodies of the second die-changing cylinders 432 are fixedly connected with one of the cylinder fixing frame 42 or the moving plate 422, the piston rods of the second die-changing cylinders 432 are fixedly connected with the other one of the cylinder fixing frame 42 or the moving plate 422, and preferably, two second die-changing cylinders 432 are arranged on the top surface of the cylinder fixing frame 42;

the cylinder body of the third die changing cylinder 433 is fixedly arranged on the moving plate 422;

the clamping mechanism is fixedly connected with the piston rod of the third mold changing cylinder 433 and comprises a double-piston-rod cylinder 434 and two clamping pieces, the piston rods at the two ends of the double-piston-rod cylinder 434 are respectively and fixedly connected with the clamping pieces, positioning parts are respectively arranged in the opposite directions of the two clamping pieces, and the positioning parts are used for fixing the shoe sole supporting piece 111.

In this embodiment, when shoe insole and upper of a shoe beat glue the back of assembling together on the shoe tree, fix the shoe tree through shoe tree positioning mechanism 12 and shoe tree supporting mechanism 11, the mechanism heats the sole for iron plate burning, drive motor 22 that rounds simultaneously drives and beats round head 24 and move on circular rack guide rail 20, the in-process that moves is round head 24 extrusion heel of a shoe, make the glue of shoe insole and upper of a shoe matched with the place glue completely and be in the same place, round drive motor 22 drives and beats round head 24 reciprocating motion on circular rack guide rail 20, the mechanical automation to the technique of rounding has been realized, round efficiency has been improved, round inconsistent problem of quality has also been solved.

When the teppanyaki mechanism and the rounding mechanism 2 work, the nail pulling mechanism 3 moves upwards to the position of the shoe nail under the driving of the first linear module 31, the nail pulling cylinder 302 drives the nail pulling pliers 301 to open, then under the combined action of the first linear module 31 and the nail pulling cylinder 302, the nail pulling pliers 301 are closed to clamp the shoe nail, the first linear module 31 moves downwards, and meanwhile the nail pulling pliers 301 are driven to pull out the shoe nail. According to the invention, the function of automatically pulling nails is realized through the combined action of the first linear module 31 and the nail pulling cylinder 302, a set of nail pulling mechanism 3 can be arranged vertically below each nail, so that the problem that the nails are missed to pull can be avoided, and meanwhile, the whole period of shoe manufacturing is shortened due to the high efficiency of automatically pulling nails.

This embodiment is integrated into a station with four stations of teppanyaki, round, nail pulling and retooling to a set of professional equipment has been designed, teppanyaki mechanism, round mechanism 2 and nail pulling mechanism 3 go on simultaneously on same platform equipment, teppanyaki mechanism, round mechanism 2 and nail pulling mechanism 3 share same set of base 101 and support frame 102, have saved the space, have also saved the manual work, have improved degree of automation simultaneously, have improved production efficiency, the cost is reduced.

When a product is finished, the shoe sole supporting piece 111 needs to be replaced, the teppanyaki mechanism, the rounding mechanism 2 and the nail pulling mechanism 3 stop working, the mold changing mechanism 4 replaces the shoe sole supporting piece 111, then the teppanyaki mechanism, the rounding mechanism 2 and the nail pulling mechanism 3 continue working, and all the actions can be performed orderly under the coordination of the central processing unit.

Further, the rounding mechanism 2 further comprises a first adjusting cylinder 23, a cylinder body of the first adjusting cylinder 23 is fixedly connected with one of the circular rack guide rail 21 or the rounding drive motor 22, a piston rod of the first adjusting cylinder 23 is fixedly connected with the other of the circular rack guide rail 21 or the rounding drive motor 22, a guide groove is formed in the circular rack guide rail 21 along the radius direction of the circular rack guide rail 20, the rounding drive motor 22 can slide in the guide groove, and the first adjusting cylinder 23 is used for adjusting the distance between the rounding head 24 and the heel support member 110.

In the production process, the shoe heel rounding equipment can round shoes of different styles, the shapes of the shoe heels of the shoes of different styles are different, even the shoes of the same style have different sizes, the sizes of the shoe heels of different sizes are different, if the distances between the round heads 24 and the shoe heel supporting pieces 110 are the same, the rounding effect can be influenced, and the quality of the shoes can be reduced.

Further, the rounding drive motor 22 is a vibration motor, and the vibration of the vibration motor can improve the adhesion effect of the heel part during the rounding process.

Further, as shown in fig. 3, at least one set of pulleys 210 is disposed at the bottom of the circular rack guide rail 21, the pulleys 210 are connected with the circular rack guide rail 20 in a rolling manner, and when the pulleys 210 roll on the circular rack guide rail 20, the resistance of the movement is small, and the movement is smoother.

Furthermore, last reference column 122's second end is equipped with positioning head 1220, and positioning head 1220's second end and last reference column 122 cooperation, positioning head 1220 second end are equipped with the lug, and last reference column 122's second end is equipped with the corresponding groove of positioning head 1220 lug shape, and lug on positioning head 1220 and last reference column 122's groove pass through the pin fixed.

Preferably, as shown in fig. 6, a first end of the positioning head 1220 is provided with a positioning pin 1222, the positioning pin 1222 is matched with the positioning hole of the shoe tree, and the front end of the positioning pin 1222 is truncated cone-shaped, so that the positioning pin 1222 can conveniently find a positive direction when being matched with the positioning hole.

Preferably, a first gap 1221 is provided between alignment head 1220 and last positioning post 122, and alignment head 1220 can move within the range of slot control to facilitate further alignment of alignment pin 1222 with the alignment hole.

Further, the second end that the shoe tree compressed tightly post 123 is equipped with pressure head 1230, the first end of pressure head 1230 is used for compressing tightly the shoe tree or upper of a shoe, the second end of pressure head 1230 and the second end cooperation that the shoe tree compressed tightly post 123, be equipped with the lug on the pressure head 1230, the second end that the shoe tree compressed tightly post 123 is equipped with the groove corresponding with pressure head 1230 lug shape, lug on the pressure head 1230 and the groove that the shoe tree compressed tightly post 123 pass through the pin fixed, be equipped with second clearance 1231 between pressure head 1230 and the shoe tree compressed tightly post 123, pressure head 1230 can do the small amplitude and rock in the scope of groove control, can increase the range of compressing tightly of pressure head 1230, even there is the deviation in the position that the shoe tree was put, also can realize fine compressing tightly.

Preferably, the first end of the compression head 1230 is made of at least a flexible material to protect the last or upper.

Further, the protruding block on the second end of the pressing head 1230 may also be replaced by a cylinder, the cylinder at least partially extends into the second end of the last pressing column 123 and can slide in the last pressing column 123, and an elastic member, preferably a spring, is disposed between the pressing head 1230 and the last pressing column 123, and after the last pressing column 123 and the shoe heel support 111 are pressed together, the spring will provide a certain buffer to the pressure on the last, so as to prevent the last and the upper from being damaged due to the excessive pressure of the last pressing column 123.

Further, please refer to fig. 7, a limiting block 1101 is disposed on the heel support 110, the limiting block 1101 is used for limiting the shoe heel in the length direction of the shoe tree, and since the shoe tree is provided with the initially adhered insole and the upper, the heel of the shoe tree leans against the limiting block 1101 after the shoe tree is placed on the plane of the upper end surface of the heel support 110, so that the limitation of the shoe tree in the length direction is realized.

The limiting block 1101 is at least partially higher than the plane of the upper end face of the heel support 110, the limiting block 1101 can slide in the heel support 110, an elastic member, preferably a spring, is arranged between the limiting block 1101 and the heel support 110, when the shoe heel support 111 and the shoe tree positioning column 122 are in an open state, the limiting block 1101 is at least partially higher than the shoe heel support 111 under the pushing of the spring force, when the shoe tree positioning column 122 moves downwards under the driving of the positioning cylinder 120, the limiting block 1101 is pressed into the heel support 110 by the shoe tree positioning column 122, after the heating and pressing of the midsole and the upper are completed, the positioning column shoe tree 122 is lifted, the limiting block 1101 is again higher than the shoe heel support 111 under the pushing of the spring force, and preparation is made for next positioning.

Further, referring to fig. 8, a reference line 1111 is disposed in the groove 1110 at the upper end surface of the shoe leg supporting member 111, the reference line 1111 is used as an alignment reference for placing a shoe tree, and the reference line 1111 is an alignment line at the edge of the shoe tree, so that when the shoe tree is placed along the alignment line, the position of the shoe tree in the width direction is ensured.

Furthermore, two reference lines 1111 are provided, one reference line is used for aligning the left shoe tree, the other reference line is used for aligning the right shoe tree, the left reference line and the right reference line 1111 are adopted, the same shoe sole supporting piece 111 can be used for supporting the right shoe tree and the left shoe tree, the number of the shoe sole supporting pieces 111 is reduced, the cost is saved, the time for replacing the shoe sole supporting pieces 111 is saved, and the working efficiency is improved.

Adopted stopper 1101 to carry out approximate position to shoe tree length direction and limited, carried out approximate position to shoe tree width direction through datum line 1111 and limited, ensured the approximate position of shoe tree basically, then through locating pin 1222 and positioning head 1220's automatic alignment, realized the accurate positioning to the shoe tree.

Further, the shoe last supporting mechanism 11 further includes a second adjusting cylinder, a cylinder body of the second adjusting cylinder is fixedly connected to one of the shoe sole supporting member 111 and the heel supporting member 110, a piston rod of the second adjusting cylinder is fixedly connected to the other of the shoe sole supporting member 111 and the heel supporting member 110, and when the piston rod of the second adjusting cylinder moves in the cylinder body, a distance between the shoe sole supporting member 111 and the heel supporting member 110 can be adjusted.

The distance between the shoe sole supporting piece 111 and the heel supporting piece 110 is adjusted through the second adjusting cylinder, so that the shoe sole adjusting device can be suitable for shoes with different numbers, when shoes with small numbers need to be made, the distance between the shoe sole supporting piece 111 and the heel supporting piece 110 is adjusted to be small, when shoes with large numbers need to be made, the distance between the shoe sole supporting piece 111 and the heel supporting piece 110 is adjusted to be large, and shoes with various sizes can be made on the same set of shoe sole supporting piece 111 and the same set of heel supporting piece 110.

Further, the shoe tree positioning mechanism 12 further includes a motor adjusting mechanism, the motor adjusting mechanism is used for adjusting the pressure of the shoe tree pressing column 123 on the shoe tree, the first end of the motor adjusting mechanism is fixedly connected with the lower end face of the positioning plate 121, and the telescopic shaft at the second end of the motor adjusting mechanism is fixedly connected with the first end of the shoe tree pressing column 123.

Preferably, as shown in fig. 4 and 5, the motor adjusting mechanism includes an adjusting motor 124 and a lifting assembly, the adjusting motor 124 is fixed on the lifting assembly, the lifting assembly is fixedly connected to the lower end surface of the positioning plate 121, the lifting assembly includes a turbine and a lead screw, the lead screw is fixedly connected to the first end of the last pressing column 123, and the adjusting motor 124 drives the lead screw to move up and down through the turbine.

Of course, the motor adjusting mechanism may also be an adjusting motor 124 and a crankshaft, and the crankshaft converts the circular motion of the shaft of the adjusting motor 124 into a linear motion, which are all the prior art and are not described herein again.

The pressure of last compression post 123 against the last may be adjusted by motor adjustment mechanism 124.

Further, the last positioning mechanism 12 further includes a pressure sensor, the pressure sensor is fixedly disposed at the second end of the last pressing column 123 or the first end of the pressing head 1230, and is used for detecting the pressure of the last pressing column 123 on the last.

When the pressure is higher than the set pressure threshold value, the central processing unit receives a high-pressure signal of the pressure sensor, the motor adjusting mechanism 124 reduces the pressure of the shoe tree pressing column 123 on the shoe tree, and when the pressure is lower than the set pressure threshold value, the central processing unit receives a low-pressure signal of the pressure sensor, the motor adjusting mechanism 124 increases the pressure of the shoe tree pressing column 123 on the shoe tree.

Through motor guiding mechanism and pressure sensor's cooperation work, can compress tightly the shoe tree and press the pressure control of post 123 to the shoe tree at a reasonable within range, avoided pressure too big to the damage of shoe tree and upper of a shoe, also avoided the pressure undersize to press not tight shoe tree, make the heating effect of upper of a shoe and shoe insole not good.

Further, the outer surface of the second end of the last pressing column 123 is provided with a flexible material, and the flexible material can protect the last and the upper.

The working principle of the invention for rounding the heel is as follows:

the worker places the shoe tree that will be equipped with the upper of a shoe on shoe tree supporting mechanism 11, press two start button, shoe tree reference column 122 descends, compress tightly the shoe tree fixedly, motor guiding mechanism 124 can adjust the shoe tree and compress tightly post 123 in the pressure of shoe tree, the shock motor drives and beats 24 vibrations massage extrusion upper of a shoe face of button head, it moves along circular rack guide rail 21 to beat the whole mechanism of rounding of driving motor 22 drive, it is at least twice with heel upper of a shoe face vibrations massage extrusion, it is moulding to make the upper of a shoe face follow coffin and well end complete bonding, heel bottom surface fold is level and smooth, the branch mouth edges and corners are clear, increase the pleasing to the eye degree of vamp appearance, the reinforcing is worn and is experienced the comfort level.

Further, as shown in fig. 9 and 10, the nail pulling mechanism 3 has only one group, the nail pulling mechanism 3 further includes a second linear module 32 and a third linear module 33, a sliding table of the second linear module 32 is fixedly connected with the first linear module 31, the sliding table of the second linear module 32 can move left and right along the horizontal direction, a first end of the second linear module 32 is fixedly connected with a sliding table of the third linear module 33, a second end of the second linear module 32 is slidably connected with the base, the sliding table of the third linear module 33 and a second end of the second linear module 32 can move back and forth along the horizontal direction, and the third linear module 33 is fixedly connected with the base;

the pneumatic parallel open tongs 30, the first straight line module 31, the second straight line module 32 and the third straight line module 33 move according to the instruction information sent by the central processing unit.

The second and third

linear modules

32 and 33 may be synchronous belt type linear modules or ball screw linear modules.

Through the combined action of three straight line modules, first straight line module 31, second straight line module 32 and third straight line module 33 promptly, realize nail nipper 301 three-dimensional space's motion, the up-and-down motion of first straight line module 31 control nail nipper 301, the side-to-side motion of second straight line module 32 control nail nipper 301, the seesaw of third straight line module 33 control nail nipper 301, through three straight line module concerted action, can adjust nail nipper 301's position according to the instruction information that central processing unit sent, carry out the action of pulling out the nail, this embodiment only needs a set of nail pulling mechanism 3 can realize the pulling out of a plurality of hobnails, the position of hobnail also need not fix, also can simplify the strict demand to the hobnail position in the nailing step.

At the in-process of nailing, central processing unit can receive the positional information of nailing and save, and when pulling out the nail, central processing unit sends the instruction to three sharp module and nail pulling cylinder 302 according to the positional information of spike, controls the motion of three sharp module and nail pulling cylinder 302, realizes pulling out the nail, utilizes the positional information of nailing, can avoid looking for the position of spike to information is accurate, and the work load of equipment also diminishes.

Further, the sole nail pulling mechanism 3 further comprises a metal object detection positioner, and the instruction information sent by the central controller is spike position information detected by the metal object detection positioner.

When sole nail pulling equipment used alone, can install a metal object and survey the locator in sole nail pulling mechanism 3 for to the survey of the spike on the sole, and send the positional information who surveys to central controller, central controller sends the instruction to three sharp module and nail pulling cylinder 302 according to the positional information who surveys, controls the motion of three sharp module and nail pulling cylinder 302, realizes pulling out the nail.

Further, the shoe spike collecting box is arranged in the shoe sole nail pulling mechanism 3 and used for collecting pulled shoe spikes, and the pulled shoe spikes can be stored in a unified mode after the shoe spike collecting box is arranged and then processed in a unified mode.

Further, referring to fig. 11 and 12, the mold changing mechanism 4 is provided with a position control mechanism for controlling the position of the cylinder fixing frame 42 on the linear guide rail 41.

Preferably, the position control mechanism comprises an inductive switch 47 and a three-position five-way solenoid valve;

wherein, after induction switch 47 senses the position of cylinder, send a signal to central processing unit, central processing unit receives position signal back through three-position five-way solenoid valve control cylinder stop, and induction switch 47 can be magnetic switch, proximity switch, limit switch or photoelectric switch.

Preferably, the first mold changing cylinder 431 is a two-stroke cylinder or a rodless cylinder.

The position of the cylinder fixing frame 42 on the linear guide rail 41 can be controlled by the position control mechanism, and after the position of the shoe sole supporting piece 111 on the base 101 is adjusted, the automatic replacement of the shoe sole supporting piece 111 can still be realized by correspondingly adjusting the position control mechanism.

Further, as shown in fig. 12, the mold changing mechanism 4 further includes a first workbench 44, the first workbench 44 is used for placing a shoe sole supporting member 111 to be changed, a preheating part is arranged in the first workbench 44, the preheating part is used for preheating a spare shoe sole supporting member 111, the first workbench 44 is arranged between the linear guide rail 41 and the third workbench 46 of the shoe sole supporting member 111, and the third workbench 46 is a fixed position of the shoe sole supporting member 111.

Further, a first positioning post is fixedly disposed on the upper surface of the first working platform 44, and the first positioning post is matched with a positioning hole corresponding to the shoe sole supporting member 111.

The mold changing equipment is matched with the teppanyaki process for use, if the shoe sole supporting piece 111 is directly placed on the third workbench 46, the shoe sole supporting piece 111 is cold, production can be continued only after the shoe sole supporting piece 111 is heated to a set temperature in the third workbench 46, and the whole production line can be stopped for a long time.

Through setting up first locating column, the locating hole phase-match that first locating column and sole support piece 111 correspond realizes the quick accurate location of sole support piece 111 after preheating and first workstation 44.

Further, as shown in fig. 12, the mold changing mechanism 4 further includes a second workbench 45, the second workbench 45 is used for placing the used shoe sole supporting member 111, the second workbench 45 is disposed between the linear guide rail 41 and a third workbench 46 of the shoe sole supporting member 111, and the third workbench 46 is a fixed position of the shoe sole supporting member 111.

Furthermore, a second positioning column is fixedly arranged on the upper surface of the second workbench 45, and the second positioning column is matched with a positioning hole corresponding to the shoe sole supporting piece 111.

After a product is finished, the shoe sole supporting piece 111 needs to be replaced, the mold changing mechanism 4 needs to firstly move the shoe sole supporting piece 111 in the third workbench 46 to replace other types of shoe sole supporting pieces 111, the second workbench 45 is arranged to facilitate the mold changing mechanism 4 to firstly store the replaced shoe sole supporting piece 111 nearby, and after the mold changing mechanism 4 finishes replacing the shoe sole supporting piece 111 on the third workbench 46, the production line starts to operate, then the replaced shoe sole supporting piece 111 is processed, so that the time for replacing the shoe sole supporting piece 111 is shortened, the waiting time of the production line is shortened, and the working efficiency is improved.

Through setting up the second reference column, the second reference column matches with the locating hole that sole support piece 111 corresponds, realizes the quick accurate location of sole support piece 111 and second workstation 45.

The number of the inductive switches 47 is three, the three inductive switches 47 are respectively matched with a three-position five-way electromagnetic valve and a first die changing cylinder 431 to control three positions of the cylinder fixing frame 42 on the linear guide rail 41, the first position corresponds to the first workbench 44, the second position corresponds to the second workbench 45, and the third position corresponds to the third workbench 46.

When the position of the cylinder is sensed by the sensing switch 47, a signal is sent to the central processing unit, and the central processing unit controls the first die changing cylinder 431 to stop through the three-position five-way solenoid valve after receiving the position signal.

Furthermore, the location portion is two at least cylinders that parallel arrangement, and the cylinder is perpendicular with the location portion.

The two clamping pieces are provided with the positioning columns, the shoe sole supporting piece 111 is provided with the corresponding positioning holes, the positioning columns are arranged, the shoe sole supporting piece 111 cannot be turned over in the process of taking and placing, and the stability is high.

Through the arrangement of the first workbench 44 and the second workbench 45, and the third workbench 46 jointly form a workbench group, when a shoe sole supporting piece 111 needing to be preheated needs to be replaced, the spare shoe sole supporting piece 111 is put into the first workbench 44 in advance for preheating, when the shoe sole supporting piece needs to be replaced, the mold changing mechanism 4 takes out the shoe sole supporting piece 111 of the third workbench 46 according to an instruction of the central processing unit and puts the shoe sole supporting piece on the second workbench 45, and then the preheated shoe sole supporting piece 111 is put into the third workbench 46, so that the function of automatically replacing the shoe sole supporting piece 111 by the mold changing mechanism 4 is realized.

If the sole support 111 does not require heating, such as rounding, nail pulling, etc., during the manufacturing process, the heating function of the first table 44 can be turned off, and the first table 44 becomes the second table on which the sole support 111 to be replaced is placed.

The two ends of the linear guide rail 41 are respectively provided with the gear 48, and the cylinder fixing frame 42 stops moving after contacting the gear 48 at the two ends, so that the cylinder fixing frame 42 is prevented from falling off from the linear guide rail 41, and the die change mechanism 4 is protected.

It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A teppanyaki, rounding, nail pulling and die change system is characterized in that the teppanyaki, rounding, nail pulling and die change system comprises a shoe tree positioning mechanism, a shoe tree supporting mechanism, a rounding mechanism, a nail pulling mechanism and a die change mechanism;

the shoe tree positioning mechanism comprises a positioning cylinder, a positioning plate, a shoe tree positioning column and a shoe tree pressing column, the positioning cylinder is fixedly connected with the support frame, the upper end face of the positioning plate is fixedly connected with a telescopic shaft of the positioning cylinder, the first end of the shoe tree positioning column is fixedly connected with the lower end face of the positioning plate, the second end of the shoe tree positioning column is provided with a positioning head, the second end of the positioning head is movably connected with the second end of the shoe tree positioning column through a pin, a first gap is formed between the positioning head and the shoe tree positioning column, the first gap is used for a movable gap of the positioning head in shaking on a shoe tree, the positioning head is used for fixing the shoe tree, the first end of the shoe tree pressing column is fixedly connected with the lower end face of the positioning plate, and the second end of the shoe tree pressing column is used for pressing the shoe tree;

the shoe tree supporting mechanism comprises a heel supporting piece and a shoe heel supporting piece, the heel supporting piece is fixedly arranged on the base and corresponds to the shoe tree positioning column in position, the upper end face of the heel supporting piece is a plane and is used for supporting the heel part of a shoe tree, a heating part is arranged in the heel supporting piece and is used for heating the heel supporting piece, the shoe heel supporting piece is fixedly arranged on the base and corresponds to the shoe tree pressing column in position, a groove is formed in the upper end face of the shoe heel supporting piece and is used for accommodating and supporting the foot part of the shoe tree, and a heating part is arranged in the shoe heel supporting piece and is used for heating the shoe heel supporting piece;

the rounding mechanism comprises a circular rack guide rail, a rounding fixed platform, a rounding driving motor and a rounding head, the circular rack guide rail is fixedly connected with the base, the heel supporting piece is arranged at the central position of the circular rack guide rail, the rounding fixing platform is arranged on the circular rack guide rail and is connected with the circular rack guide rail in a sliding way, the rounding driving motor is fixedly arranged on the rounding fixing table, a driving shaft of the rounding driving motor is provided with a driving gear, the driving gear is matched with the teeth of the circular rack guide rail, the rounding driving motor drives the rounding fixed table to reciprocate along the circular rack guide rail through the driving gear, the rounding head is fixedly arranged on the outer side of the rounding drive motor and corresponds to the position of the heel supporting piece, and the rounding head is used for extruding a heel of a shoe;

the nail pulling mechanism is arranged in the base, at least one group of nail pulling mechanisms is arranged, each group of nail pulling mechanisms comprises a pneumatic parallel open jaw and a first linear module, each pneumatic parallel open jaw comprises a nail pulling cylinder and a nail pulling jaw vertically installed on the nail pulling cylinder, the nail pulling cylinder is used for controlling the opening and closing of the nail pulling jaw, the nail pulling jaw corresponds to the position of a shoe nail in the vertical direction, the pneumatic parallel open jaw is fixedly connected with a sliding table of the first linear module, the first linear module is fixedly connected with the base, and the sliding table of the first linear module can move up and down in the vertical direction;

the retooling mechanism includes:

the linear guide rail is fixedly connected with the base, and the length direction of the linear guide rail is vertical to the length direction of the shoe sole supporting piece;

the air cylinder fixing frame is arranged on the linear guide rail and is in sliding connection with the linear guide rail, a moving plate and at least one guide pillar are arranged in the air cylinder fixing frame, the guide pillar is arranged along the vertical direction, and the moving plate can move up and down along the guide pillar in the air cylinder fixing frame;

the first die changing cylinder is horizontally arranged, the first die changing cylinder is parallel to the linear guide rail, a cylinder body of the first die changing cylinder is fixedly connected with the base, and a piston rod of the first die changing cylinder is fixedly connected with the cylinder fixing frame;

the second die changing cylinder is arranged along the vertical direction, a cylinder body of the second die changing cylinder is fixedly connected with one of the cylinder fixing frame or the moving plate, and a piston rod of the second die changing cylinder is fixedly connected with the other of the cylinder fixing frame or the moving plate;

the cylinder body of the third die changing cylinder is fixedly arranged on the moving plate;

the clamping mechanism is fixedly connected with a piston rod of the third die changing cylinder and comprises a double-piston-rod cylinder and two clamping pieces, piston rods at two ends of the double-piston-rod cylinder are fixedly connected with the clamping pieces respectively, positioning parts are arranged in opposite directions of the two clamping pieces respectively and are used for fixing the shoe sole supporting piece.

2. The teppanyaki, rounding, nail pulling and mold changing system as recited in claim 1, wherein the nail pulling mechanism is a set, the nail pulling mechanism further comprises a second linear module and a third linear module, a sliding table of the second linear module is fixedly connected with the first linear module, the sliding table of the second linear module can move left and right along a horizontal direction, a first end of the second linear module is fixedly connected with a sliding table of the third linear module, a second end of the second linear module is slidably connected with the base, the sliding table of the third linear module and a second end of the second linear module can move back and forth along the horizontal direction, and the third linear module is fixedly connected with the base;

the pneumatic parallel open tongs, the first linear module, the second linear module and the third linear module move according to instruction information sent by a central processing unit, the instruction information sent by the central processing unit is position information of the shoe spike, and the position information of the shoe spike is position information of the shoe spike collected by the central processing unit in the nailing process.

3. The teppanyaki, rounding, nail pulling and mold changing system as recited in claim 1, wherein the rounding mechanism further comprises a first adjusting cylinder, a cylinder body of the first adjusting cylinder is fixedly connected with one of the rounding fixing table or the rounding driving motor, a piston rod of the first adjusting cylinder is fixedly connected with the other of the rounding fixing table or the rounding driving motor, the rounding fixing table is provided with a guide groove along a radius direction of the circular rack guide rail, and the rounding driving motor can slide in the guide groove.

4. The teppanyaki, rounding, nail pulling and die change system as recited in claim 1, wherein the rounding drive motor is a vibration motor.

5. The teppanyaki, rounding, nail pulling and die changing system as recited in claim 1, wherein a stop block is provided on said heel support member, said stop block being at least partially raised above a plane of an upper surface of said heel support member, said stop block being slidable within said heel support member, said stop block being pressed into said heel support member when said last positioning post is pressed into said heel support member.

6. The teppanyaki, rounding, nail pulling and mold changing system according to claim 1, wherein the shoe last support mechanism further comprises a second adjustment cylinder, a cylinder body of the second adjustment cylinder is fixedly connected with one of the shoe sole support or the heel support, a piston rod of the second adjustment cylinder is fixedly connected with the other of the shoe sole support or the heel support, and the second adjustment cylinder is used for adjusting a distance between the shoe sole support and the heel support.

7. The teppanyaki, rounding, nail pulling and mold changing system as recited in claim 1, wherein the shoe tree positioning mechanism further comprises a motor adjusting mechanism for adjusting the pressure of the shoe tree pressing column on the shoe tree, a first end of the motor adjusting mechanism is fixedly connected with a lower end surface of the positioning plate, and a telescopic shaft of a second end of the motor adjusting mechanism is fixedly connected with the first end of the shoe tree pressing column.

8. The teppanyaki, rounding, nail pulling and mold changing system as recited in claim 7, wherein the motor adjustment mechanism comprises an adjustment motor and a lifting assembly, the adjustment motor is fixed on the lifting assembly, the lifting assembly is fixedly connected with the lower end surface of the positioning plate, the lifting assembly comprises a turbine and a lead screw, and the lead screw is fixedly connected with the first end of the shoe tree pressing column;

the adjusting motor drives the screw rod to move up and down through the turbine.

9. The teppanyaki, rounding, nail pulling and die change system as recited in claim 1, wherein the die change mechanism is provided with a position control mechanism for controlling the position of the cylinder fixing frame on the linear guide rail, the position control mechanism comprises an inductive switch and a three-position five-way solenoid valve, and the inductive switch is arranged below the linear guide rail;

when the induction switch induces the position of the cylinder, a signal is sent to the central processing unit, and the central processing unit receives the position signal and controls the first die changing cylinder to stop through the three-position five-way electromagnetic valve.

10. The teppanyaki, rounding, nail pulling and mold changing system as recited in claim 1, wherein the mold changing mechanism further comprises a first workbench and a second workbench, the first workbench is used for placing a shoe sole supporting member to be changed, a preheating part is arranged in the first workbench and used for preheating the spare shoe sole supporting member, the second workbench is used for placing the used shoe sole supporting member, the first workbench and the second workbench are arranged between the linear guide rail and a third workbench, and the third workbench is a fixed position of the shoe sole supporting member.