CN214340517U

CN214340517U - Mechanical arm for grabbing shoe tree

Info

Publication number: CN214340517U
Application number: CN202120075644.2U
Authority: CN
Inventors: 陈光妙; 陈智
Original assignee: Fujian Putian Shuangchi Technology Co ltd
Current assignee: Fujian Putian Shuangchi Technology Co ltd
Priority date: 2021-01-12
Filing date: 2021-01-12
Publication date: 2021-10-08
Anticipated expiration: 2031-01-12

Abstract

The utility model discloses an arm for grabbing shoe trees, which comprises a plurality of section arms, wherein the tail end of the last section arm is fixedly provided with a clamp assembly, the clamp assembly comprises a base frame, a driving mechanism and two interdigital mechanisms symmetrically arranged on the base frame, and the driving mechanism is fixedly arranged on the base frame; the interdigital mechanism comprises a connecting piece and an interdigital piece, one end of the connecting piece is connected to the base frame in a sliding mode, one end of the interdigital piece is fixedly connected to the other end of the connecting piece, the other end of the interdigital piece extends in the direction far away from the base frame, and the two interdigital pieces are located on the same horizontal plane; the driving mechanism is in transmission connection with the two connecting pieces so as to drive the two connecting pieces to slide oppositely or reversely on the base frame. Only need stretch into the bottom of shoe tree box or shoe tree bracket with two fingers and can hold up the shoe tree box or shoe tree bracket and shift in snatching the in-process, because the fork indicates that can subtend or slip dorsad, and then interval between two regulation fork indicates that can be quick can be in order to be used for not unidimensional shoe tree box or shoe tree bracket effectively.

Description

Mechanical arm for grabbing shoe tree

Technical Field

The utility model relates to an arm technical field specifically is an arm for snatching shoe tree.

Background

The shoe tree can not be used in the design, manufacture and production of the shoes. The shoe tree is the parent of shoes, and it is not only the length of deciding shoes is fat thin and the molding, and still decides whether shoes dress is comfortable to fit the foot to and whether can play the safety protection effect or be favorable to the motion of foot. In traditional shoemaking scale industry, often through the shoes of a certain section, a certain sign indicating number of mass production, can be through artifical single processing when pairing the shoe tree, pair time and efficiency and satisfy the production efficiency demand. However, in a large-scale flexible personalized shoemaking production mode based on the industrial internet, orders are produced in real time, the requirement of the traditional minimum order quantity is broken through the cooperation of a consumption end, a platform end and a production end, single piece stream online production of mixed money, mixed color, mixed code and personalized customization is realized, sizes and styles of two adjacent pairs of shoes are possibly different in a shoemaking production line, and therefore the problem that shoe lasts need to be matched with vamps of the shoes of each pair of shoes is caused. Traditional shoemaking producer often adopts goods shelves classification management shoe tree model, adopts artifical classification, and same batch production water line matches once, and is not high to the demand that adopts the machine to carry out the automation and snatch the shoe tree. In the personalized flexible shoemaking assembly line, in order to match the shoe tree of every pair of shoes, the shoe tree needs to be grabbed and stored according to the production schedule of the assembly line. Therefore, in a large-scale personalized flexible shoe making production line, a machine grabbing mode is needed for taking and placing the shoe trees. Because the shoe tree belongs to irregular shape, because the appearance characteristics of shoe tree, the shoe tree is placed and is needed certain carrier, or the box, or the bracket, if directly adopt current finger claw structure anchor clamps subassembly to snatch, because the structure of anchor clamps subassembly is comparatively complicated, consequently snatch the in-process and to the arm positioning accuracy than higher, lead to snatching the failure rate of shoe tree higher.

SUMMERY OF THE UTILITY MODEL

To not enough among the above-mentioned prior art, the utility model provides an arm for snatching shoe tree, it snatchs and deposits efficiency and can satisfy extensive individualized flexible shoemaking assembly line production efficiency and user demand.

In order to achieve the purpose, the utility model provides an arm for grabbing shoe trees, which comprises a base and a plurality of section arms, wherein each section arm is sequentially connected end to end, two adjacent section arms are hinged or rotationally connected, the head end of the first section arm is rotationally connected to the base, and the tail end of the last section arm is fixedly provided with a clamp assembly;

the fixture assembly comprises a base frame, a driving mechanism and two interdigital mechanisms symmetrically arranged on the base frame, wherein the driving mechanism is fixedly arranged on the base frame, and the base frame is fixedly connected to the tail end of the last knuckle arm;

the interdigital mechanism comprises a connecting piece and an interdigital piece which are perpendicular to each other, one end of the connecting piece is connected to the base frame in a sliding mode, one end of the interdigital piece is fixedly connected to the other end of the connecting piece, the other end of the interdigital piece extends in the direction far away from the base frame, and the two interdigital pieces are located on the same horizontal plane;

the driving mechanism is in transmission connection with the two connecting pieces to drive the two connecting pieces to slide oppositely or oppositely on the base frame, and then the clamp assembly is unfolded or contracted.

In one embodiment, the connecting piece comprises a sliding part and a connecting part which are perpendicular to each other, the sliding part is of a block-shaped structure, and the connecting part is of a rod-shaped structure;

the sliding part is connected to the base frame in a sliding mode, one end of the connecting part is fixedly connected to the bottom of the sliding part and located at one end far away from the other interdigital mechanism, and the interdigital part is fixedly connected to the other end of the connecting part and perpendicular to the connecting part.

In one embodiment, a slide rail is arranged on one surface of the sliding part, which faces away from the interdigital part, a sliding groove corresponding to the slide rail is arranged on the base frame, the sliding part is slidably connected to the base frame through the matching of the slide rail and the sliding groove, and the length direction of the slide rail is perpendicular to the length direction of the interdigital part.

In one embodiment, the number of the slide rails on each sliding portion is two.

In one embodiment, the interdigital member is a rod-shaped structure, the thickness of the part of the rod body of the interdigital member from the head end to the middle part is equal, the thickness of the part of the rod body of the interdigital member from the middle part to the tail end is gradually reduced, and the tail end of the interdigital member is the end far away from the base frame.

In one embodiment, the interdigital member is a rod-shaped structure, the width of the partial rod body from the head end to the middle part of the interdigital member is equal, the width of the partial rod body from the middle part to the tail end of the interdigital member is gradually reduced, and the tail end of the interdigital member is the end far away from the base frame.

In one embodiment, the camera further comprises a camera mechanism, the camera mechanism comprises a camera and a plurality of illuminating lamp beads surrounding the camera lens, the camera is fixedly connected to the bottom of the base frame, and the camera lens of the camera faces to the position between the two interdigital parts.

The utility model provides a pair of an arm for snatching shoe tree, its anchor clamps subassembly is through setting up two subtends or gliding fork finger spare dorsad at same horizontal plane, when snatching the shoe tree through this arm, only need stretch into the bottom of shoe tree box or shoe tree bracket with two fingers can hold up the transfer with shoe tree box or shoe tree bracket, simultaneously because the fork finger spare can subtend or slide dorsad, and then interval between two regulation fork finger spares that can be quick, can be effectively in order to be used for not unidimensional shoe tree box or shoe tree bracket, simple structure simultaneously, and it snatchs and deposits efficiency and can satisfy large-scale individualized flexible shoemaking assembly line production efficiency and user demand.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is an isometric view of a robotic arm for gripping a shoe tree in an embodiment of the present invention;

figure 2 is an isometric view of a clamp assembly in an embodiment of the present invention;

FIG. 3 is a side view of a clamp assembly in an embodiment of the present invention;

FIG. 4 is a top view of a clamp assembly in an embodiment of the present invention;

fig. 5 is a schematic sectional view of a slide rail according to an embodiment of the present invention;

fig. 6 is a schematic sectional view of the chute according to the embodiment of the present invention.

Reference numerals: the base 10, the knuckle arm 20, the clamp assembly 30, the base frame 301, the chute 3011, the finger 302, the sliding part 303, the sliding rail 3031, the connecting part 304, the camera 305, the illuminating lamp bead 306 and the connecting plate 307.

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, the technical solutions between the embodiments of the present invention can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are contradictory or cannot be realized, the combination of such technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

Fig. 1 shows that the mechanical arm for grabbing the shoe tree disclosed in this embodiment includes a base 10 and a plurality of segment arms 20, each segment arm 20 is connected end to end in sequence, and two adjacent segment arms 20 are hinged or rotationally connected, the head end of the first segment arm 20 is rotationally connected to the base 10, and the tail end of the last segment arm 20 is fixedly provided with a clamp assembly 30. The specific implementation structure of the base 10 and the knuckle arms 20 and the specific connection structure between two adjacent knuckle arms 20 that can realize the hinge connection or the rotation connection are conventional technical means in the technical field of mechanical arms, and therefore are not described in detail in this embodiment. The specific implementation process can refer to the technical schemes disclosed in patents CN111015626A, CN107097219B, CN103182714B, etc.

Referring to fig. 2 to 4, the clamping assembly 30 in this embodiment includes a base frame 301, a driving mechanism and two interdigital mechanisms symmetrically disposed on the base frame 301, wherein the driving mechanism is fixedly disposed on the base frame 301, and the base frame 301 is fixedly connected to the tail end of the last link arm 20 through a bolt. The interdigital mechanism comprises a connecting piece and an interdigital part 302 which are perpendicular to each other, one end of the connecting piece is connected to the base frame 301 in a sliding mode, one end of the interdigital part 302 is fixedly connected to the other end of the connecting piece, the other end of the interdigital part 302 extends in the direction far away from the base frame 301, and the two interdigital parts 302 are located on the same horizontal plane; the driving mechanism is in transmission connection with the two connecting pieces to drive the two connecting pieces to slide oppositely or oppositely on the base frame 301, so that the clamp assembly 30 is expanded or contracted. This anchor clamps subassembly 30 is through setting up two subtend or gliding interdigital piece 302 dorsad at same horizontal plane, when snatching the shoe tree through this anchor clamps subassembly 30, only need stretch into the bottom of shoe tree box or shoe tree bracket with two interdigital and can hold up shoe tree box or shoe tree bracket and shift, simultaneously because interdigital piece 302 can subtend or the lapse dorsad, and then the interval between two interdigital pieces 302 of regulation that can be quick, can be effectively in order to be used for not unidimensional shoe tree box or shoe tree bracket, while simple structure, and it snatchs and deposits efficiency and can satisfy large-scale individualized flexible shoemaking assembly line production efficiency and user demand.

In this embodiment, the connecting member includes a sliding portion 303 and a connecting portion 304 perpendicular to each other, wherein the sliding portion 303 is a block structure, and the connecting portion 304 is a rod structure. Specifically, the sliding portion 303 is slidably connected to the base frame 301, one end of the connecting portion 304 is fixedly connected to the bottom of the sliding portion 303 and located at an end away from another interdigital mechanism, and the interdigital element 302 is fixedly connected to the other end of the connecting portion 304 and perpendicular to the connecting portion 304. Through this implementation structure for have certain interval between two interdigital parts 302 all the time, can avoid two interdigital parts 302 to collide at the gliding in-process of subtend effectively, have certain interval all the time between two interdigital parts 302 simultaneously and also can guarantee the support shoe tree box or shoe tree bracket that can be stable when holding up shoe tree box or shoe tree bracket, avoided shoe tree box or shoe tree bracket to drop from anchor clamps subassembly 30 because of the vibrations of arm.

In this embodiment, a sliding rail 3031 is disposed on a surface of the sliding portion 303 facing away from the finger-stick 302, a sliding slot 3011 corresponding to the sliding rail 3031 is disposed on the base frame 301, the sliding portion 303 is slidably connected to the base frame 301 through the matching between the sliding rail 3031 and the sliding slot 3011, and a length direction of the sliding rail 3031 is perpendicular to a length direction of the finger-stick 302. Preferably, the number of the sliding rails 3031 on each sliding part 303 is two, so as to effectively ensure the stability of the sliding process of the sliding part 303 on the base frame 301. Of course, the positions of the sliding rail 3031 and the sliding slot 3011 may be interchanged, that is, the sliding slot 3011 is disposed on the sliding portion 303, and the sliding rail 3031 is disposed on the base frame 301. Further preferably, the cross sections of the sliding slot 3011 and the sliding rail 3031 are convex structures as shown in fig. 5 to 6, so that the sliding rail 3031 can be effectively prevented from falling off from the sliding slot 3011 in the process of sliding the sliding rail 3031 and the sliding slot 3011. In a specific implementation process, a first baffle, not shown, is disposed on the sliding portion 303, and a second baffle, not shown, is disposed at an edge position on the base frame 301, wherein the first baffle is located at the top of the sliding portion 303 and near one end of the other interdigital mechanism, and the second baffle is located on a sliding path of the first baffle, so that the sliding portion 303 can be effectively prevented from sliding off the base frame 301.

In this embodiment, the interdigital member 302 is a rod-shaped structure, the thickness of the rod portion from the head end to the middle of the interdigital member 302 is equal, the thickness of the rod portion from the middle to the tail end of the interdigital member 302 is gradually reduced, the width of the rod portion from the head end to the middle of the interdigital member 302 is equal, and the width of the rod portion from the middle to the tail end of the interdigital member 302 is gradually reduced, wherein the tail end of the interdigital member 302 is the end away from the base frame 301. That is, the interdigital member 302 becomes thinner and narrower gradually in the direction close to the tail end, thereby being beneficial to the interdigital member 302 to extend into the bottom of the shoe tree box or the shoe tree bracket, reducing the precision requirement of the positioning of the whole clamp assembly 30, and improving the success rate of the whole grabbing.

The driving mechanism in this embodiment is not shown, and in a specific implementation process, the driving mechanism may adopt a motor, a hydraulic pump, an air pump, or the like. If the driving mechanism is a motor, the driving mechanism and the sliding portion 303 realize the linear motion of the sliding portion 303 on the base frame 301 through the matching of the screw rod and the screw rod nut, that is, the sliding portion 303 is connected to the screw rod through a bolt, the screw rod is fixedly connected with the output end of the motor, and the motor drives the screw rod to rotate, so as to drive the sliding portion 303 to do linear motion. If the driving mechanism is a hydraulic pump or an air pump, the sliding part 303 is directly and fixedly connected to the output end of the hydraulic pump or the air pump through a bolt, a connecting rod or other parts, and the sliding part 303 is driven to linearly move along with the expansion and contraction of the output end of the hydraulic pump or the air pump.

The clamp assembly 30 in this embodiment further includes a camera mechanism, the camera mechanism includes a camera 305 and a plurality of illuminating lamp beads 306 surrounding the lens of the camera 305, the camera 305 is fixedly connected to the bottom of the base frame 301 through a connecting plate 307 having a seven-shaped structure, so that the lens of the camera 305 faces to a position between the two interdigital members 302. Wherein, the lighting lamp bead 306 is an LED lamp bead. Through setting up camera shooting mechanism, and then can effectual discernment treat the shoe tree that snatchs.

In this embodiment, the interdigital element 302, the connecting portion 304, and the sliding portion 303 are integrally formed, so that the interdigital mechanism has high toughness and high bearing capacity.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims

1. A mechanical arm for grabbing shoe trees comprises a base and a plurality of section arms, wherein the section arms are sequentially connected end to end, two adjacent section arms are hinged or rotationally connected, the head end of the first section arm is rotationally connected to the base, and the mechanical arm is characterized in that a clamp assembly is fixedly arranged at the tail end of the last section arm;

2. The robotic arm for gripping a shoe tree as claimed in claim 1, wherein the connecting member comprises a sliding portion and a connecting portion perpendicular to each other, the sliding portion being a block-shaped structure, the connecting portion being a rod-shaped structure;

3. The mechanical arm for grabbing the shoe tree as claimed in claim 2, wherein a slide rail is disposed on a surface of the sliding portion facing away from the interdigital member, a slide groove corresponding to the slide rail is disposed on the base frame, the sliding portion is slidably connected to the base frame through the cooperation of the slide rail and the slide groove, and a length direction of the slide rail is perpendicular to a length direction of the interdigital member.

4. The robotic arm for gripping a shoe tree as claimed in claim 3, wherein the number of slide rails on each slide is two.

5. The mechanical arm for gripping shoe lasts according to claim 1, 2, 3 or 4, wherein the interdigital member is a rod-shaped structure, the thickness of the part of the rod body on the interdigital member from the head end to the middle part is equal, the thickness of the part of the rod body on the interdigital member from the middle part to the tail end is gradually reduced, and the tail end of the interdigital member is the end far away from the base frame.

6. The mechanical arm for gripping shoe lasts according to claim 1, 2, 3 or 4, wherein the interdigital member is a rod-shaped structure, the width of the part of the rod body on the interdigital member from the head end to the middle part is equal, the width of the part of the rod body on the interdigital member from the middle part to the tail end is gradually reduced, and the tail end of the interdigital member is the end far away from the base frame.

7. The mechanical arm for grabbing the shoe tree as claimed in claim 1, 2, 3 or 4, further comprising a camera mechanism, wherein the camera mechanism comprises a camera and a plurality of illuminating lamp beads surrounding the lens of the camera, the camera is fixedly connected to the bottom of the base frame, and the lens of the camera faces to a position between the two interdigital members.