WO2021237981A1 - 一种自动化制鞋生产线 - Google Patents

一种自动化制鞋生产线 Download PDF

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Publication number
WO2021237981A1
WO2021237981A1 PCT/CN2020/114783 CN2020114783W WO2021237981A1 WO 2021237981 A1 WO2021237981 A1 WO 2021237981A1 CN 2020114783 W CN2020114783 W CN 2020114783W WO 2021237981 A1 WO2021237981 A1 WO 2021237981A1
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WO
WIPO (PCT)
Prior art keywords
sole
station
shoe
clamping
carrier
Prior art date
Application number
PCT/CN2020/114783
Other languages
English (en)
French (fr)
Inventor
陈鹏
张吉
高文超
阮春晖
Original Assignee
浙江和生荣智能科技有限公司
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Application filed by 浙江和生荣智能科技有限公司 filed Critical 浙江和生荣智能科技有限公司
Publication of WO2021237981A1 publication Critical patent/WO2021237981A1/zh

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    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
    • A43D111/00—Shoe machines with conveyors for jacked shoes or for shoes or shoe parts
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
    • A43D117/00—Racks for receiving or transporting shoes or shoe parts; Other conveying means
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
    • A43D2200/00—Machines or methods characterised by special features
    • A43D2200/10—Fully automated machines, i.e. machines working without human intervention

Definitions

  • the invention relates to the technical field of automated shoemaking, in particular to an automated shoemaking production line.
  • the purpose of the present invention is to provide an automated shoe-making production line to solve the technical problems that the shoe-making production line in the prior art cannot achieve automated production, has low production efficiency, and cannot meet market demands.
  • An automated shoe production line including:
  • Shoe sole conveyor belt sequentially passes through a sole reclaiming station, a sole treatment agent spraying station, a sole pre-baking station, a sole glue spraying station, and a post-sole baking station;
  • Carrier board conveyor belt the carrier board conveyor belt is used to convey the carrier board with the shoe last, the shoe last is covered with the shoe upper, and the carrier board conveyor belt sequentially passes through the upper pretreatment station and the upper treatment Agent spraying and polishing station, front baking station, top spraying station, top post-baking station, bottoming station, bottom pressing station and post-processing station form an endless conveyor belt;
  • the upper pretreatment station performs an upper or clamp upper operation on the shoe last
  • the sole attaching station attaches the shoe upper of the post-baking station after passing through the upper to the sole of the post-baking station after passing the sole
  • the bottom pressing station presses and fits the shoe upper and the sole that have been pasted to the sole
  • the post-processing station performs cooling, lasting and packaging operations.
  • the shoe sole and the shoe upper of the present invention work synchronously, and the production efficiency is high. After the sole and the shoe upper are processed, the shoe-making operation is completed through the bottom bonding station and the bottom pressing station, and the degree of automation is high;
  • the carrier board conveyor belt of the present invention is an endless circulating conveyor belt, and the carrier board is always transported by the carrier board conveyor belt without manual handling of the carrier board, etc., which effectively reduces labor costs, and occupies a small space and has a high space utilization rate.
  • the present invention can also make the following improvements:
  • the sole reclaiming station is provided with a sole three-dimensional silo
  • the sole three-dimensional silo includes a silo frame, and the silo frame is divided into several rows of storage areas, and the storage area is from top to bottom
  • the position board is evenly installed, the position board is provided with notches for taking objects; the two sides of the storage area are provided with limit posts that slide laterally along the silo frame, and the limit posts are installed with the same position as the position plate.
  • a corresponding limit plate used to limit shoe soles the limit posts on the left side of the storage area in several rows are connected by a left connecting rod, and the limit posts on the right side of the storage area in several rows are connected by a right connecting rod
  • the two sides of the silo frame are symmetrically fixed with fixing seats, the surface of the fixing seat is equipped with an adjusting screw through the bearing mounting seat, the outer end of the adjusting screw is provided with an adjusting hand wheel, and the inner end is connected with an adjusting block through a threaded structure, The inner end of the adjustment block is fixed to the outermost limit column of the silo frame;
  • the sole on the sole three-dimensional silo is transferred to the sole conveyor belt by a sole transfer device.
  • the sole transfer device includes a reclaiming frame that matches with the silo frame, and the reclaiming frame is mounted with an X , Y, Z three-way movable and rotatable reclaiming claws, the reclaiming claws include a vertically arranged claw mounting plate, one side of the claw mounting plate is mounted with a pair of vertical main guide rails, so The main guide rail is controlled by a clamping jaw driving cylinder to slide a sliding plate.
  • the sliding plate is evenly provided with a plurality of vertical upper clamping jaw guide rails from top to bottom.
  • the upper clamping jaw guide rail is slid with upper clamping jaws, and the sliding plate
  • the upper is provided with vertical guide rods corresponding to the upper jaws one-to-one, the upper end of the guide rod is fixed with the slide plate, the lower end is inserted into the mounting end of the upper jaw, and the guide rod is sleeved with a buffer spring
  • the clamping jaw mounting plate is provided with a lower clamping jaw matching with the upper clamping jaw, the lower clamping jaw matches the retrieval gap, and the upper clamping jaw and the lower clamping jaw cooperate to clamp the sole.
  • the limit posts can slide laterally along the silo frame, and the left limit posts of the storage area are formed as a whole through the left connecting posts, and the right limit posts are formed as a whole through the connecting posts.
  • Rotating the adjustment screw of the handwheel can adjust the position of the adjustment block, thereby controlling the position of the left limit post or the right limit post, thereby adjusting the position of the upper limit plate of the storage board, and adjust the position of the sole on the storage board to suit
  • the soles of different sizes ensure that the sole is in the center of the storage area when placed, and avoid the phenomenon of being unable to clamp or clamp deviation when the shoe sole is clamped by the reclaiming claw during reclaiming.
  • a sign can also be set on the fixed seat, and an index corresponding to the sign can be set on the adjustment block to identify the size of the sole placement area corresponding to the position of the adjustment block; in addition, a locking screw of the adjustment block can be set to achieve Locking operation after adjustment.
  • the reclaiming claw can rotate and rotate in the three directions of X, Y, Z, so that the sole can be clamped on the silo frame and transferred to the sole conveyor belt.
  • the three guide rails of X, Y, and Z can be used.
  • the rotating seat is matched; the upper gripper of the reclaiming gripper can slide along the upper gripper guide rail, and the guide rod is sleeved with a buffer spring.
  • the buffer spring is compressed, and the spring force acts on the upper jaw to compress the sole, which can be buffered when picking and placing soles of different thicknesses.
  • the elastic force of the spring ensures that the sole is clamped, and at the same time, when the soles of different thicknesses before and after are taken and placed, it can also be ensured that both ends are clamped due to the existence of the buffer spring and the guide rod.
  • the sole treatment agent spraying station is provided with a first sole 3D scanning camera and a sole treatment agent spraying manipulator
  • the sole glue spraying station is provided with a second sole 3D scanning camera and a sole spraying manipulator
  • the sole A posture adjustment device is provided on the sole conveyor belt before the treatment agent spraying station and the sole glue spraying station.
  • the posture adjustment device includes a sole blocking cylinder fixed below the sole conveyor belt, and the sole blocking cylinder output The end is vertically upward linked with a stop rod, the stop rod passes through the sole conveyor belt to block the sole, the sole conveyor belt is symmetrically provided with correcting cylinders on both sides, and the direction of the correcting cylinder is blocked by the stop rod
  • the shoe sole is provided with a correcting plate fixed at the output end of the correcting cylinder, a sole sensor is arranged under the sole conveyor belt, and the sole sensor is used to detect the blocked sole, and the sole sensor is electrically connected with the correcting cylinder.
  • the first sole 3D scanning camera and the second sole 3D scanning camera scan and record the contour of the sole in real time, and respectively control the sole treatment agent spraying manipulator and the sole spraying manipulator to spray and spray the treatment agent on the edge of the sole. Because the field of view of the scanning camera is fixed, and the sole is easy to deviate from the center of the conveyor belt during transportation, the field of view of the camera is deviated during scanning, which affects the scanning structure. Therefore, posture adjustment is required before entering the sole treatment agent spraying station and the sole spraying station ;
  • the shoe sole blocking cylinder control rod remains extended and blocked.
  • the sole sensor detects that the shoe sole controls the correcting cylinder to work, and a pair of correcting plates corrects the shoe sole to ensure that it is in the center of the conveyor belt, and then the shoe sole blocks
  • the cylinder control lever avoids the sole, and then continues to extend to achieve the posture correction of the sole.
  • the end of the shoe last is provided with shoe last connecting blocks, the shoe last connecting blocks are symmetrically inserted and fixed on both sides of the surface of the carrier board, the middle of the surface of the carrier board is provided with a positioning rod, and the bottom surface of the carrier board is provided with inserts.
  • the four corners of the carrier board are provided with guide wheels, the side of the shoe last connecting block is provided with positioning holes, and the two sides of the end part are provided with symmetrical clamping grooves.
  • both the upper surface treatment agent spraying and polishing station and the upper surface glue spraying station are equipped with an off-line shoe last separation device
  • the shoe last off-line separation device includes a carrier board transfer mechanism and a clamping and distance adjustment mechanism
  • the carrier board transfer mechanism includes a transfer bracket, the transfer bracket is arranged on one side of the carrier conveyor belt, and the transfer bracket is controlled by a transfer drive cylinder to slide a transfer trolley, and the transfer trolley is provided with a carrier board clamp Air cylinder, the carrier plate clamping cylinder is used to clamp the positioning rod;
  • the clamping and pitch adjustment mechanism includes first lifting brackets symmetrically arranged on both sides of the transfer bracket, and a pitch guide rail is provided on the surface of the first lifting bracket.
  • a pitch-adjusting trolley wherein a shoe last clamping mechanism is provided on the pitch-adjusting trolley, and the shoe last clamping mechanism includes a pair of clamping jaws and a pitch-adjusting clamping cylinder for controlling the relative movement of the clamping jaws.
  • a positioning pin matching the positioning hole is provided on the side;
  • the clamping distance adjustment mechanism further includes a second lifting bracket, the second lifting bracket is located below the distance adjustment clamping cylinder, and the top surface of the second lifting bracket is provided with a processing matching the bottom of the shoe last connecting block
  • a clamping piece the processing clamping piece includes a clamping rail parallel to the pitch-adjusting rail, a pair of clamping vertical plates are slidably controlled by a clamping drive cylinder on the clamping rail, and the clamping vertical plate
  • a pair of L-shaped clamping blocks is provided on the side surface, and the inner side of the clamping block is provided with a clamping surface corresponding to the bottom corner of the shoe last connecting block, and the clamping surface is provided with the clamping groove
  • the clamping block; a clamping mechanism is provided between the clamping blocks on both sides, and the clamping blocks on both sides cooperate to hold the shoe last connecting block
  • the clamping mechanism includes the clamping block opened on one side
  • the width of the carrier board cannot be made larger, forcing the distance between the pair of shoe lasts on the carrier board to be smaller, and the upper surface of the pair of shoe lasts
  • the spacing of the shoe lasts is too small, it will cause interference on the mechanical structure, which makes automatic production impossible. Therefore, it is necessary to set a spacing device to adjust the spacing of a pair of shoe lasts;
  • the transfer drive cylinder drives the transfer trolley to slide until the carrier board clamping cylinder reaches the carrier board, the carrier board clamping cylinder works to clamp the positioning rod of the carrier board, and then the transfer trolley resets to pull the carrier board onto the transfer bracket , The shoe last enters between a pair of clamping jaws of the adjustable-pitch clamping cylinder;
  • the pitch-adjusting clamping cylinder works to clamp the shoe last, and then the first lifting bracket raises the height of the pitch-adjusting clamping cylinder to make the shoe last out of the carrier plate, and then the pitch-adjusting drive cylinder controls the pitch trolley to slide to realize the adjustment of a pair of shoe lasts. ;
  • the processing clamping piece and the adjustable pitch clamping piece are set to clamp the shoe last connection block to ensure the fixing stability of the shoe last during processing; 2.
  • the lifting bracket is raised until the shoe last is located between a pair of clamping blocks, and the clamping drive cylinder controls the pair of clamping blocks to hold the shoe last.
  • the clamping block on the inner side of the clamping block cooperates with the clamping slot to ensure accurate positioning of the shoe last
  • the freedom of shoe last is restricted and the clamping stability is improved.
  • the cross section of the card slot is set to be square, the card block is set as a cylindrical card block, and the cylindrical card block is in contact with the square card slot line to realize the shoe last connection block
  • a pair of four L-shaped clamping blocks on the inner side of the clamping vertical plate hold the shoe last connecting block tightly, and the clamping surface of the inner side of the clamping block and the shoe last connecting block realize surface contact positioning; one
  • the clamping block on the side clamping vertical plate and the clamping block on the other clamping vertical plate are connected by a buckle mechanism, thereby limiting and positioning the clamping blocks on both sides and improving the shoe last connection block Clamping stability.
  • the upper surface pretreatment station, the upper surface treatment agent spraying and polishing station, the upper surface glue spraying station, the bottom sticking station and the bottom pressing station are provided with a carrier plate positioning and lifting device, and the carrier plate
  • the positioning and lifting device includes a top plate, a bottom plate, and a jacking cylinder and a jacking guide rod arranged between the top plate and the bottom plate.
  • the top plate is arranged under the carrier belt, and the surface of the top plate is provided with a matching hole Insertion rod; the bottom surface of one end of the top plate facing the direction of the carrier plate is fixed with a carrier plate blocking cylinder, the carrier plate blocking the cylinder output end is vertically arranged with a blocking rod linked with it, the blocking rod passes through the top plate from below Used to block the carrier; the surface of the top plate is provided with a strip-shaped through hole along the traveling direction of the carrier, and a carrier sensor is fixed in the strip-shaped through hole, and the carrier sensor is used to detect the carrier Position, and the carrier sensor is electrically connected to the carrier blocking cylinder.
  • the upper pretreatment station, the upper treatment agent spraying and polishing station, the upper spraying station, the bottom sticking station and the bottom pressing station are used to ensure that the carrier board stays at the station and is positioned accurately.
  • the carrier board positioning and lifting device needs to be set; when the carrier board is transported to the work station, the carrier board sensor detects the carrier board and controls the carrier board to block the cylinder from working, the blocking rod extends to block the carrier board, and the jacking cylinder controls the top board to lift.
  • the insertion rod is inserted into the socket of the carrier board to realize the positioning and fixing of the carrier board.
  • the bottom attaching station is provided with a plurality of operation stations arranged along the conveying direction of the carrier conveyor belt, and the carrier on the carrier conveyor belt is transferred to the side of the operation station, and the shoe sole conveys The shoe soles on the belt are distributed to the corresponding operation table by the automatic sole sorting device;
  • the automatic sole sorting device includes a sorting frame, and a number of one-to-one corresponding to the operation table are installed on the sorting frame Sole guide plate, the sole guide plate is used to receive the sole and guide the sole to the operation table, the sorting frame is provided with a picking claw located above the end of the sole guide, the picking claw can follow
  • the carrier conveyor belt moves in the conveying direction and the vertical direction, and the picking claw transports the sole on the sole conveyor belt to the top of the sole guide plate for discharging;
  • the picking claw includes a clamping claw cylinder ,
  • the outer side of the gripper cylinder is provided with a first output end and a second output end, the gripper cylinder controls the opening
  • the carrier boards are directly arranged one by one next to several operation stations through the carrier conveyor belt, the soles are distributed to the corresponding operation stations through the sole automatic sorting device, and the operators of the operation stations manually attach the soles to the corresponding operation stations.
  • the sole automatic sorting device On the upper on the shoe last;
  • the sorting device controls the pressure rod and the lower clamping block by the gripper cylinder to clamp the sole by the end of the sole conveyor belt, and adjusts the picking gripper to above the corresponding sole guide by controlling the position of the picking gripper, and then the gripper cylinder loosens Open, the sole drops to the sole guide plate and is guided to the console;
  • the pressure rod Since the thickness of the sole is different, and the stroke of the clamping jaw cylinder is fixed, in order to avoid crushing the thicker sole and avoiding the thinner sole from being unable to clamp the thinner sole, the pressure rod is set to a movable mode, and the pressure rod cover is equipped with a pressure rod. Tighten the spring and control the length of the pressure rod to meet the clamping requirements of thinner soles. When clamping a thicker sole, the pressure rod will slide towards the side away from the sole under the action of reaction force to avoid crushing the sole and simultaneously compress The force of the spring acts on the sole to ensure that the sole is compressed.
  • the bottom pressing station is provided with a transfer manipulator, a shoe last taking and unloading device, a shoe last fixing device, and a bottom pressing machine, and the transfer manipulator transfers the shoe last on the carrier plate on the carrier conveyor belt to the
  • the shoe last taking and unloading device the shoe last fixing device includes a mounting plate sleeved and fixed on the acting end of the sole press, a fixing plate is connected below the mounting plate through a connecting column, and the bottom end of the connecting column It is fixed to the fixed plate, the top end passes through the mounting plate and is provided with a stopper, the connecting column is sleeved with a spring, and the fixed plate is provided with a sliding groove matching the shoe last connecting block.
  • a groove, the fixed plate is provided with a shoe last sensor for sensing the shoe last, the shoe last sensor is electromechanically connected with the sole pressing, and the shoe last sensor detects the shoe last and controls the pressing of the sole pressing machine;
  • the shoe last taking and unloading device includes bases arranged on both sides of the sole press.
  • the base is equipped with shoe last unwinding cylinders that can move in X, Y, and Z directions. The shoe last unwinding cylinders The shoe last is clamped and moved into the sliding groove of the fixed plate.
  • the bottom pressing station adopts fully automated operation.
  • the transfer manipulator transfers the shoe last on the carrier board to the shoe last discharge cylinder, and the shoe last discharge cylinder passes along X, Y , Z three-way movement, slide the shoe last card slot along the chute into the fixed plate and fix it.
  • X, Y, Z three guide rails are used to cooperate to realize the position control of the shoe last discharge cylinder;
  • the upper end of the connecting column is set in a movable form, and a spring is sleeved on the connecting column.
  • the sole is attached to the base, the position of the fixed plate remains unchanged, and the mounting plate The end of the bottom pressing can continue to be pressed down.
  • the spring force of the spring acts on the fixed plate to compress the upper and the sole, so as long as the stroke of the pressing machine is controlled to meet the needs of the shortest shoe, it can be adapted to different heights. Shoe pressing operation.
  • the shoe sole conveyor belt is arranged above or below the shoe upper conveyor belt, the upper baking station and the shoe sole baking station are equipped with a front double oven, and the upper rear baking station A rear double-layer oven is provided at the post-baking station of the shoe sole, and the sole conveyor belt and the shoe upper conveyor belt are stacked and arranged to pass through the front double-layer oven and the rear double-layer oven.
  • the sole and the upper are simultaneously pre-baked and post-baked, reducing equipment requirements and floor space.
  • helper treatment agent spraying and polishing station is provided with a helper 3D scanning camera and a helper polishing treatment agent spraying manipulator
  • the helper spraying station is provided with a helper glue spraying manipulator
  • the helper 3D The scanning camera is installed on the top polishing treatment agent spraying manipulator, and the top 3D scanning camera dynamically scans and records the contour of the top surface, and controls the top polishing treatment agent spraying manipulator and the top glue spraying manipulator to work along the top surface contour.
  • the point cloud data can be obtained by walking around the sample shoe upper surface by the upper polishing treatment agent spraying manipulator, and the glue path can be obtained by processing the collected point cloud data.
  • the operation is simple, and the requirements for the operator are low.
  • the labor intensity of the operator is greatly reduced; the traditional teaching trajectory scheme is manually operated, and each additional teaching point requires a lot of time and different operators have different teaching results.
  • the above method can collect more according to the accuracy of the camera Path points, thereby improving accuracy, and eliminating human factors, so that the glue path is highly consistent.
  • Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
  • Fig. 2 is a partial schematic diagram of a in Fig. 1.
  • Fig. 3 is a partial enlarged schematic diagram of b in Fig. 1.
  • Fig. 4 is a partial enlarged schematic diagram of c in Fig. 1.
  • Fig. 5 is a schematic diagram of a three-dimensional structure of a sole three-dimensional silo according to an embodiment of the present invention.
  • Fig. 6 is another perspective view of the three-dimensional structure of the sole three-dimensional silo according to the embodiment of the present invention.
  • Fig. 7 is a schematic structural diagram of a sole transfer device according to an embodiment of the present invention.
  • Fig. 8 is a schematic diagram of the structure of the reclaiming gripper according to the embodiment of the present invention.
  • Fig. 9 is a schematic structural diagram of an off-line distance separating device for shoe lasts according to an embodiment of the present invention.
  • Fig. 10 is a schematic diagram of the structure of the transfer bracket according to the embodiment of the present invention.
  • Fig. 11 is a schematic structural diagram of a first lifting bracket according to an embodiment of the present invention.
  • Fig. 12 is a schematic diagram of the structure of the machining clamping piece according to the embodiment of the present invention.
  • Fig. 13 is a schematic structural diagram of a posture adjustment device according to an embodiment of the present invention.
  • Fig. 14 is a schematic structural diagram of an automatic sole sorting device according to an embodiment of the present invention.
  • Fig. 15 is a schematic structural diagram of a picking claw according to an embodiment of the present invention.
  • FIG. 16 is a schematic diagram of the structure of the carrier board according to the embodiment of the present invention.
  • Fig. 17 is a schematic diagram of the structure of a shoe last according to an embodiment of the present invention.
  • Fig. 18 is a schematic structural diagram of a carrier positioning and lifting device according to an embodiment of the present invention.
  • Fig. 19 is a schematic top view of the structure of Fig. 18.
  • 20 is a schematic diagram of the structure of the bottom pressing station of the embodiment of the present invention after the transfer manipulator is removed.
  • Sole transfer device 401, reclaiming frame; 402, sole X-axis guide rail; 403, sole Y-axis guide rail; 404, sole Z-axis guide rail; 405, rotary motor; 406, paw mounting plate; 407, main guide rail; 408, gripper drive cylinder; 409, sliding plate; 410, upper gripper guide rail; 411, upper gripper; 412, guide rod; 413, buffer spring; 414, lower gripper;
  • Attitude adjustment device 701, sole blocking cylinder; 702, blocking lever; 703, correcting cylinder; 704, correcting plate; 705, sole sensor;
  • Carrier plate 901, positioning rod; 902, guide wheel; 903, jack;
  • Shoe last offline distance separation device 1001, transfer bracket; 1002, transfer drive cylinder; 1003, transfer trolley; 1004, carrier plate clamping cylinder; 1005, first lifting bracket; 1006, adjustable pitch guide; 1007, adjustable pitch Trolley; 1008, pitch-adjusting drive cylinder; 1009, groove; 1010, pitch-adjusting clamping cylinder; 1011, clamping jaw; 1012, positioning pin; 1013, second lifting bracket; 1014, clamping rail; 1015, clamping block 1016, clamp block; 1017, bump; 1018, clamp the vertical plate; 1019, clamp the drive cylinder;
  • Carrier plate positioning and lifting device 1101, top plate; 1102, bottom plate; 1103, lifting cylinder; 1104, lifting guide rod; 1105, plunger rod; 1106, carrier plate blocking cylinder; 1107, blocking rod; 1108, strip Shaped through hole; 1109, carrier board sensor;
  • Automatic sole sorting device 1301, sorting frame; 1302, sole guide plate; 1303, sorting X-axis guide; 1304, sorting Z-axis guide; 1305, gripper cylinder; 1306, upper clamping block; 1307, Compression rod; 1308, lower clamping block; 1309, retaining ring; 1310, compression block; 1311, compression spring;
  • Shoe last fixing device 1501, mounting plate; 1502, fixing plate; 1503, connecting column; 1504, stop; 1505, spring; 1506, chute; 1507, shoe last sensor; 1508, holding block;
  • Shoe last taking and unloading device 1601, base; 1602, shoe last X-axis guide; 1603, shoe last Y-axis guide; 1604, shoe last Z-axis guide; 1605, shoe last unloading cylinder;
  • Help surface pretreatment station 2201, set helper; 2202, manual finishing table; 2203, front helper; 2204, rear helper; 2205, clamp help oven;
  • the automated shoe production line provided by this embodiment includes a sole conveyor belt 1 and a carrier conveyor belt 2.
  • the shoe sole conveyor belt 1 passes through the sole reclaiming station, the sole treatment agent spraying station 5, the sole pre-baking station, the sole spraying station 6, and the sole post-baking station;
  • the sole reclaiming station is provided with a sole three-dimensional silo 3.
  • the sole three-dimensional silo 3 includes a silo frame 301.
  • the silo frame 301 is divided into 10 rows of storage areas and 20 silo boards.
  • 302 is evenly arranged in the storage area from top to bottom, and a shoe sole is placed on the warehouse board 302, and the warehouse board 302 is provided with a notch 3021 for fetching goods.
  • a total of 200 shoe soles can be placed on the silo frame 301.
  • a matching pair of shoe soles are placed in two adjacent upper and lower storage areas, which facilitates the loading and unloading device to complete the loading of a pair of shoe soles at one time.
  • the two sides of the storage area are provided with limit posts 303 that slide transversely along the silo frame 301.
  • the top and bottom sides of the silo frame 301 are equipped with guide rails.
  • the limit posts 303 slide along the guide rails.
  • the limit posts 303 are installed with
  • the position plate 302 corresponds to the position limit plate 304 used to position the sole of the shoe in a one-to-one correspondence.
  • the limit posts 303 on the left side of the storage area are connected by a left connecting rod 305, and the limit posts 303 on the right side of the storage area are connected by a right connecting rod 306.
  • the two sides of the silo frame 301 are symmetrically fixed with a fixing seat 307.
  • the surface of the fixing seat 307 is equipped with an adjusting screw 309 through the bearing mounting seat 308.
  • the outer end of the adjusting screw 309 is provided with an adjusting hand wheel 310, and the inner end is connected with an adjusting block 311 through a threaded structure.
  • the inner end of the adjustment block 311 is fixed to the outermost limit post 303 of the silo frame 301.
  • the fixing seat 307 is provided with a sign 313, and the adjustment block is provided with an index 314 corresponding to the sign 313 to identify the size of the sole placement area corresponding to the position of the adjustment block 311.
  • the adjustment block 311 is also provided with a locking screw 312.
  • the locking screw 312 When the locking screw 312 is tightened, the locking screw 312 and the fixing seat 307 abut to lock the position of the adjustment block 311.
  • the sole transfer device 4 includes a reclaiming frame 401 matching the silo frame 301, and a reclaiming frame 401 It is equipped with a reclaiming claw that can move along X, Y, and Z directions and can rotate.
  • the top and bottom of the reclaiming frame 401 are provided with sole X-axis guide rails 402, sole Z-axis guide rails 404 are slid on the sole X-axis guide rail 402 by motor control, and sole Y-axis guide rails 403 are slid on the sole Z-axis guide rail 404 by motor control.
  • a rotary motor 405 is slid on the Y-axis guide rail 403 of the shoe sole controlled by a motor.
  • the reclaiming claw includes a vertical claw mounting plate 406, which is fixed on the output end of the rotary motor 405, and a pair of vertical main rails 407 are mounted on one side of the claw mounting plate 406.
  • the main rail 407 A sliding plate 409 is controlled to slide by the clamping jaw driving cylinder 408.
  • the sliding plate 409 is evenly provided with two vertical upper clamping jaw guide rails 410 from top to bottom.
  • the upper clamping jaw guide 410 slides on the upper clamping jaw 411, and the sliding plate 409 is provided with The vertical guide rod 412 corresponding to the upper jaw 411 one-to-one, the upper end of the guide rod 412 is fixed to the sliding plate 409, the lower end is inserted into the mounting end of the upper jaw 411, and the guide rod 412 is sleeved with a buffer spring 413, and the jaw 1011
  • the mounting plate 1501 is provided with a lower clamping jaw 414 matching the upper clamping jaw 411, the lower clamping jaw 414 matches the retrieval gap 3021, and the upper clamping jaw 411 and the lower clamping jaw 414 cooperate to clamp the sole.
  • the upper and lower jaws 411 and 414 of the upper and lower rows cooperate to remove a pair of shoe soles from the sole three-dimensional hopper 3 at one time.
  • the position of the adjustment block 311 can be adjusted by adjusting the handwheel 310 and rotating the adjustment screw 309, thereby controlling the position of the left limit post 303 or the right limit post 303, thereby adjusting the position of the upper limit plate 304 of the position plate 302, and adjust the position plate 302
  • the size of the upper sole placement position can be adapted to different sizes of soles to ensure that the sole is placed in the center of the storage area and avoid the phenomenon of being unable to pinch or pinch when the shoe sole is clamped by the reclaiming claw during reclaiming.
  • the upper jaw 411 of the reclaimer can slide along the upper jaw guide 410, and a buffer spring 413 is sleeved on the guide rod 412.
  • the jaw driving cylinder 408 continues to control the slide plate. 409 moves down, and the upper jaw 411 will move up relative to the upper jaw guide 410.
  • the buffer spring 413 is compressed, and the spring force acts on the upper jaw 411 to compress the sole.
  • the elastic force of the buffer spring 413 can ensure that the sole is clamped, and at the same time, when the soles of different thicknesses before and after are taken and placed, it can also be ensured that both ends are clamped due to the existence of the buffer spring 413 and the guide rod 412.
  • the sole treatment agent spraying station 5 is provided with a first sole 3D scanning camera 501 and a sole treatment agent spraying manipulator 502, and the sole glue spraying station 6 is provided with a second sole 3D scanning camera 601 and a sole spray
  • the specific models of the glue robot 602, the first sole 3D scanning camera 501 and the second sole 3D scanning camera 601 are XTOM-MATRIX, the sole treatment agent spraying robot 502 and the sole spraying robot 602 are six-axis robots, and the specific model is CZ10.
  • the first sole 3D scanning camera 501 and the second sole 3D scanning camera 601 scan and record the contour of the sole in real time, and respectively control the sole treatment agent spraying manipulator 502 and the sole spraying manipulator 602 to spray and spray the treatment agent on the edge of the sole.
  • the control method is a common technical method used by those skilled in the art, and will not be repeated here.
  • the sole conveyor belt in front of the sole treatment agent spraying station 5 and the sole spraying station 6 1 is provided with a posture adjustment device 7.
  • the posture adjustment device 7 includes a sole blocking cylinder 701 fixed below the sole conveyor belt 1.
  • the output end of the sole blocking cylinder 701 is linked with a blocking rod 702 vertically upward, and the blocking rod 702 passes through the sole conveyor belt 1. It is used to block the soles.
  • the sole conveyor belt 1 is provided with correcting cylinders 703 symmetrically on both sides.
  • the correcting cylinders 703 are arranged toward the sole blocked by the blocking rod 702, and the output end of the correcting cylinder 703 is fixed with a correcting plate 704, and the sole conveyor belt 1 is provided with
  • the sole sensor 705, the sole sensor 705 is an optical fiber sensor, the specific model is FU-6F.
  • the sole sensor 705 is used for detecting the blocked sole, and the sole sensor 705 is electrically connected with the correcting cylinder 703.
  • the sole blocking cylinder 701 controls the blocking rod 702 to maintain the extended blocking state.
  • the sole sensor 705 detects that the sole control correcting cylinder 703 is working, and a pair of correcting plates 704 corrects the sole to ensure that it is on the conveyor belt In the center, the shoe sole blocks the cylinder 701 to control the blocking lever 702 to avoid the shoe sole, and then continues to extend to realize the posture correction of the shoe sole.
  • the carrier belt 2 is used to transport the carrier plate 9 with the shoe last.
  • the shoe last is covered with a shoe upper, and the end of the shoe last is provided with a shoe last connecting block 8.
  • Shoe last connecting blocks 8 are inserted and fixed symmetrically on both sides of the surface of the carrier board 9, positioning rods 901 are arranged in the middle of the surface of the carrier board 9, the bottom surface of the carrier board 9 is provided with sockets 903, and the four corners of the carrier board 9 are provided with guide wheels 902.
  • a positioning hole 801 is provided on the side of the shoe last connecting block 8, and two side surfaces of the end portion are symmetrically provided with a clamping slot 802.
  • the carrier conveyor belt 2 passes through the surface pretreatment station 22, the surface treatment agent spraying and polishing station, the surface baking station, the surface glue spraying station, the surface post-baking station, and the bottom attaching station. 12.
  • the bottom pressing station and the post-processing station 23 form an endless conveyor belt;
  • the upper pretreatment station 22 performs the upper or clamp upper operation on the shoe last, and the bottom attaching station 12 attaches the upper after the upper baking station to the sole after the sole baking station, and presses the sole.
  • the shoe upper and the sole are pressed tightly to fit the sole, and the post-processing station 23 performs cooling, lasting and packaging operations.
  • the upper pretreatment station 22 is provided with an upper covering machine 2201 and a manual finishing station 2202.
  • the covering machine 2201 puts the shoe upper on the shoe last, and the artificial finishing station 2202 is used for manual shoelacing and velcro sticking operations.
  • a tong upper oven 2205, a front upper machine 2203 and a rear upper machine 2204 need to be arranged in sequence after the manual finishing table 2202, and the shoe upper is heated and softened.
  • the surface treatment agent spraying and polishing station is provided with a surface 3D scanning camera 20, a surface polishing treatment agent spraying robot 19, and the surface spraying station is provided with a surface spraying robot 21, and the specific model of the surface 3D scanning camera 20
  • the top 3D scanning camera 20 is installed on the top polishing treatment agent spraying robot 19, and the top 3D scanning camera 20 dynamically scans and records the top contour, and controls the top polishing treatment agent spraying robot 19 and the top spraying robot.
  • the glue manipulator 21 works along the contour of the upper surface.
  • the point cloud data is obtained by the surface polishing treatment agent spraying manipulator 19 walking around the upper surface of the sample, and the glue path can be obtained by processing the collected point cloud data.
  • the operation is simple, the operator is low, and the operation is greatly reduced.
  • the labor intensity of the personnel; the traditional teaching trajectory solution is manually operated.
  • Each additional teaching point requires a lot of time and different operators have different teaching results.
  • the above method can collect more path points according to the accuracy of the camera, thereby Improve the accuracy, and eliminate the human factor, and the glue application path has high consistency.
  • the surface polishing treatment agent spraying robot 19 and the surface glue spraying robot 21 are six-axis robots, the specific model is CZ10.
  • the manipulator receives the coordinate signal of the 3D scanning camera to perform movement operation, which is a common technical means by those skilled in the art, and will not be repeated here.
  • the width of the carrier board 9 cannot be made larger, forcing the distance between a pair of shoe lasts on the carrier board 9 to be smaller, and the upper surface of the shoe last is processed During the operation of spraying, glue spraying and polishing, the spacing of the shoe lasts is too small, which will cause interference on the mechanical structure, which will result in the failure of automatic production. There is a shoe last offline distance separating device 10.
  • the shoe last offline distance separating device 10 includes a carrier board transfer mechanism and a clamping and distance adjustment mechanism.
  • the carrier board 9 transfer mechanism includes a transfer bracket 1001, which is arranged on the side of the carrier conveyor belt 2.
  • the transfer carriage 1001 is controlled by the transfer drive cylinder 1002 to slide a transfer trolley 1003, the transfer trolley 1003 is provided with a carrier clamping cylinder 1004, and the carrier clamping cylinder 1004 is used to clamp the positioning rod 901;
  • the clamping and pitch adjustment mechanism includes a first lifting bracket 1005 symmetrically arranged on both sides of the transfer bracket 1001.
  • the surface of the first lifting bracket 1005 is provided with a pitch guide 1006.
  • the pitch guide 1006 is controlled by a pitch drive cylinder 1008 to control sliding.
  • the trolley 1007 is equipped with a shoe last clamping mechanism on the trolley 1007.
  • the shoe last clamping mechanism includes a pair of clamping jaws 1011 and a pitch-adjusting clamping cylinder 1010 for controlling the relative movement of the clamping jaws 1011.
  • the inner surface of the clamping jaws 1011 is provided There is a positioning pin 1012 matching the positioning hole 801;
  • the clamping distance adjustment mechanism further includes a second lifting bracket 1013, the second lifting bracket 1013 is located below the distance adjustment clamping cylinder 1010, and the top surface of the second lifting bracket 1013 is provided with a machining clamping piece matching the bottom of the shoe last connecting block 8 ,
  • the processing clamping piece includes a clamping rail 1014 parallel to the adjustable pitch rail 1006.
  • the clamping rail 1014 is controlled by a clamping drive cylinder 1019 to slide a pair of clamping vertical plates 1018.
  • the inner surface of the clamping vertical plate 1018 is provided with a pair of L Shaped clamping block 1015, the inner side of the clamping block 1015 is provided with a clamping surface corresponding to the bottom corner of the shoe last connecting block 8, and the clamping surface is provided with a clamping block 1016 matching the clamping groove 802; on both sides;
  • a buckle mechanism is provided between the clamping blocks 1015, and the clamping blocks 1015 on both sides cooperate to hold the shoe last connecting block 8.
  • the buckle mechanism includes a groove 1009 opened at the end of the clamping block 1015 on one side and the other
  • the convex block 1017 at the end of the clamping block 1015 on one side, the groove 1009 and the convex block 1017 are matched and arranged.
  • the transfer driving cylinder 1002 drives the transfer trolley 1003 to slide until the carrier clamping cylinder 1004 reaches the carrier 9, and the carrier clamping cylinder 1004 works to clamp the positioning rod 901 of the carrier 9, and then transfers the trolley 1003 After resetting, pull the carrier board 9 to the transfer bracket 1001, and the shoe last enters between the pair of clamping jaws 1011 of the pitch-adjustable clamping cylinder 1010;
  • the pitch-adjusting clamping cylinder 1010 works to clamp the shoe last, and then the first lifting bracket 1005 raises the height of the pitch-adjusting clamping cylinder 1010 so that the shoe last is separated from the carrier plate 9, and then the pitch-adjusting drive cylinder 1008 controls the pitch-adjusting trolley 1007 to slide to realize a Adjustment of shoe last spacing;
  • the processing clamping piece and the pitch clamping piece are set to clamp the shoe last connecting block 8 to ensure the fixing stability of the shoe last during processing;
  • the second lifting bracket 1013 is raised until the shoe last is located between the pair of clamping blocks 1015.
  • the clamping drive cylinder 1019 controls the pair of clamping blocks 1015 to hold the shoe last.
  • the clamping block 1016 on the inner side of the clamping block 1015 and the clamping block 1015 The groove 802 cooperates to ensure the accurate positioning of the shoe last while restricting the freedom of the shoe last to improve the clamping stability.
  • the cross section of the groove 802 is set to a square
  • the clamping block 1016 is set to a cylindrical block 1016
  • the cylindrical block 1016 Line contact with the square slot 802 to realize the line contact and restraint positioning of the shoe last connecting block 8.
  • a pair of four L-shaped clamping blocks 1015 on the inner side of the clamping vertical plate 1018 hold the shoe last connecting block 8 tightly, and the clamping block
  • the clamping surface of the inner side of 1015 and the shoe last connecting block 8 realize surface contact positioning; the clamping block 1015 on the clamping vertical plate 1018 on one side and the clamping block 1015 on the clamping vertical plate 1018 on the other side are clamped
  • the buckle mechanism is connected to limit and position the clamping blocks 1015 on both sides and improve the clamping stability of the shoe last connecting block 8.
  • the upper pretreatment station 22 In order to ensure that the carrier board 9 stays and is positioned accurately at the station, the upper pretreatment station 22, the upper surface treatment agent spraying and polishing station, the upper surface spraying station, the bottoming station 12 and the bottom pressing station are equipped with load Plate positioning and lifting device 11.
  • the carrier positioning and lifting device 11 includes a top plate 1101, a bottom plate 1102, and a jacking cylinder 1103 and a jacking guide rod 1104 arranged between the top plate 1101 and the bottom plate 1102.
  • the top plate 1101 is set on the carrier plate to convey Below the belt 2, and the surface of the top plate 1101 is provided with a plunger 1105 that matches the socket 903; the bottom surface of the top plate 1101 facing the direction of travel of the carrier plate 9 is fixed with a carrier plate blocking cylinder 1106, and the carrier plate blocking cylinder 1106 output end is vertically arranged and linked
  • the surface of the top plate 1101 is provided with a bar-shaped through hole 1108 along the traveling direction of the carrier board 9, and a carrier sensor is fixed in the bar-shaped through hole 1108 1109, the carrier sensor 1109 is a diffuse reflection laser sensor, the specific model is TB12J-D15N1, the carrier
  • the carrier sensor 1109 detects the carrier board 9 and controls the carrier board to block the work of the cylinder 1106, the blocking rod 1107 extends out to block the carrier board 9, and the jacking cylinder 1103 controls the top board 1101 to lift, and the rod is inserted 1105 is inserted into the jack 903 of the carrier board 9 to realize the positioning and fixing of the carrier board 9.
  • the bottoming station 12 is provided with four operation stations 1201 arranged along the conveying direction of the carrier conveyor belt 2, and the carrier 9 on the carrier conveyor belt 2 is transferred to the operation station Next to 1201, the soles on the sole conveyor belt 1 are distributed to the corresponding console 1201 through the sole automatic sorting device 13.
  • the automatic sole sorting device 13 includes a sorting frame 1301.
  • Four sole guides 1302 corresponding to the operating table 1201 are installed on the sorting frame 1301.
  • the sole guide 1302 is used to receive the soles and guide the soles to the operating table 1201 for sorting.
  • the frame 1301 is provided with a picking claw located above the end of the sole guide 1302.
  • the picking claw can move along the conveying direction and the vertical direction of the carrier conveyor belt 2, and the picking claw transports the sole on the sole conveyor belt 1 to the top of the sole guide 1302 for discharge; the sorting frame 1301 is provided
  • the sorting X-axis guide rail 1303 along the conveying direction of the carrier belt 2 and the vertical sorting Z-axis guide rail 1304, the sorting Z-axis guide rail 1304 slides along the sorting X-axis guide rail 1303, and the picking claw is along the sorting Z The shaft guide 1304 slides.
  • the picking gripper includes a gripper cylinder 1305.
  • the outer surface of the gripper cylinder 1305 is provided with a first output end and a second output end.
  • the gripper cylinder 1305 controls the opening and closing angle between the first output end and the second output end.
  • An output end is equipped with an upper clamping block 1306, an end of the upper clamping block 1306 is equipped with a pressing rod 1307, and a second output end is equipped with a lower clamping block 1308, and the lower clamping block 1308 and the end of the pressing rod 1307 cooperate to clamp
  • the pressing rod 1307 is set through the end of the upper clamping block 1306, and a linear bearing is arranged between the pressing rod 1307 and the upper clamping block 1306.
  • One end of the lower clamping block 1308 is provided with a pressing block 1310, and the pressing rod 1307 is sheathed with a pressing spring 1311.
  • the carrier boards 9 are directly arranged next to the operation table 1201 through the carrier conveyor belt 2 and the soles are distributed to the corresponding operation table 1201 through the sole automatic sorting device 13, and the operators of the operation table 1201 manually attach the soles to the corresponding shoes. On the upper of the last;
  • the sorting device controls the pressing rod 1307 and the lower clamping block 1308 through the clamping jaw cylinder 1305 to clamp the sole by the end of the sole conveyor belt 1, and adjusts the picking claw to the corresponding sole guide 1302 by controlling the position of the picking claw. After that, the gripper cylinder 1305 is released, and the sole falls onto the sole guide 1302 and is guided to the console 1201;
  • the pressure bar 1307 Since the thickness of the sole is different, and the stroke of the gripper cylinder 1305 is fixed, in order to avoid crushing the thicker sole and avoiding the thinner sole, the pressure bar 1307 is set to movable mode, and the pressure bar 1307 is covered.
  • a compression spring 1311 is provided.
  • the length of the control lever 1307 can meet the clamping requirements of thinner soles. When clamping a thicker sole, the compression lever 1307 will slide toward the side away from the sole under the action of reaction force to avoid compression. If the sole is damaged, the force of the compression spring 1311 acts on the sole to ensure that the sole is compressed.
  • the bottom pressing station is provided with a transfer manipulator 14, a shoe last taking and unloading device 16, a shoe last fixing device 15 and a bottom pressing machine 24.
  • the transfer manipulator 14 transfers the shoe last on the upper plate 9 of the carrier belt 2 to the shoe last taking and unloading device 16.
  • the transfer manipulator 14 is a 7-axis wrist manipulator, and the specific model is MR35/50.
  • the shoe last fixing device 15 includes a mounting plate 1501 sleeved and fixed on the working end of the sole press 24.
  • a fixing plate 1502 is connected under the mounting plate 1501 through a connecting column 1503.
  • the bottom end of the connecting column 1503 is fixed to the fixing plate 1502, and the top end passes through
  • a stop 1504 is provided behind the mounting plate 1501, a spring 1505 is sleeved on the connecting column 1503, a sliding groove 1506 matching the clamping groove 802 on the shoe last connecting block 8 is opened on the fixed plate 1502, and a fixed plate 1502 is provided for sensing
  • the shoe last sensor 1507 of the shoe last, the specific model of the shoe last sensor 1507 is GX-F15A, the shoe last sensor 1507 is electrically connected to the sole press 24, and the shoe last sensor 1507 detects the shoe last and controls the sole press 24 to work.
  • the specific model of the bottom machine 24 is 710EU.
  • the shoe last taking and unloading device 16 includes a base 1601 arranged on both sides of the sole press 24.
  • the base 1601 is equipped with a shoe last unwinding cylinder 1605 that can move in the X, Y, and Z directions.
  • the shoe last unwinding cylinder 1605 is The shoe last is clamped and moved into the sliding groove 1506 of the fixed plate 1502.
  • the base 1601 is provided with a shoe last Y-axis guide 1603 in the same direction as the slide groove 1506.
  • the shoe last Y-axis guide 1603 is controlled by a motor to slide a shoe last X-axis guide 1602, and the shoe last X-axis guide 1602 is controlled by a motor to slide.
  • the shoe last Z-axis guide 1604 and the shoe last discharging cylinder 1605 are mounted on the shoe last Z-axis guide 1604 to slide.
  • the bottom pressing station adopts fully automated operation.
  • the transfer manipulator 14 transfers the shoe last on the carrier 9 to the shoe last discharge cylinder 1605, and the shoe last discharge cylinder 1605 passes along X, Y , Z three-way movement, slide the shoe last card slot 802 along the sliding groove 1506 into the fixed plate 1502 and fix it.
  • the X, Y, Z three guide rails are used to cooperate to realize the position control of the shoe last discharge cylinder 1605 ;
  • the upper end of the connecting column 1503 is set in a movable form, and a spring 1505 is sleeved on the connecting column 1503, and the position of the fixing plate 1502 is maintained after the sole is attached to the base No change, the mounting plate 1501 and the acting end of the sole press 24 can continue to be pressed down.
  • the spring force of the spring 1505 acts on the fixed plate 1502 to compress the upper and the sole. Therefore, as long as the stroke of the sole press 24 is controlled to meet the maximum
  • the demand for short shoes can be adapted to the pressing operation of shoes of different heights.
  • the post-processing station 23 is provided with a cooling box 2301, a lasting machine 2302, and a packaging station 2303.
  • the shoes after pressing the bottom are cooled by the cooling box 2301 to avoid gluing, and then pass the lasting machine 2302
  • the shoe last is taken off and the shoes are packed in the packing table 2303.
  • the shoe last is placed on the carrier 9 and returns to the upper pretreatment station 22 through the turning section of the carrier conveyor 2.
  • the shoe sole conveyor belt 1 is arranged above or below the shoe upper conveyor belt, the baking station in front of the upper and the baking station before the sole are equipped with a front double oven 17, and the baking station after the upper and the shoe sole are baked.
  • the station is equipped with a rear double-layer oven 18, the sole conveyor belt 1 and the shoe upper conveyor belt are stacked and arranged to pass through the front double-layer oven 17 and the rear double-layer oven 18, the sole and the upper are simultaneously pre-baked and post-baked, reducing equipment requirements and Occupies space.
  • the sole transfer device 4 takes out a pair of soles from the sole three-dimensional warehouse and transfers them to the sole conveyor belt 1;
  • the sole enters the sole treatment agent spraying station 5, the first sole 3D scanning camera 501 scans the contour of the sole, and controls the sole treatment agent spraying manipulator 502 to spray the sole treatment agent;
  • the sole enters the sole glue spraying station 6.
  • the second sole 3D scanning camera 601 scans the contour of the sole and controls the sole glue manipulator 602 to spray glue on the sole;
  • the shoe last is installed on the carrier board 9 and transported along the carrier conveyor belt 2, and passes through the arranging machine 2201, the upper arranging table and the manual finishing table 2202.
  • the pliers upper process also needs to pass the pliers upper oven 2205, the front upper machine 2203 and the rear upper. Machine 2204 for preprocessing;
  • the carrier board 9 arrives at the surface treatment agent spraying and polishing station, the carrier board positioning and lifting device 11 positions the carrier board 9, and then the shoe last offline distance device 10 pulls the carrier board 9 out of the carrier board conveyor belt 2 and enlarges it The distance between a pair of shoe lasts on the carrier board 9; afterwards, the upper 3D scanning camera 20 scans the contour information of the upper and transforms it into coordinate control of the upper polishing treatment agent spraying manipulator 19 to work;
  • the shoe last offline separation device 10 controls the carrier board 9 to reset, and the carrier board 9 enters the front double-layer oven 17;
  • the carrier board 9 arrives at the upper spraying station, the carrier board positioning and lifting device 11 positions the carrier board 9, and then the shoe last offline distance separation device 10 pulls the carrier board 9 out of the carrier board conveyor belt 2 and enlarges the carrier board 9 The spacing of the last pair of shoe lasts; afterwards, the upper glue spraying manipulator 21 sprays glue on the upper according to the scan data of the upper 3D scanning camera 20 in step 2;
  • the shoe last offline separation device 10 controls the carrier board 9 to reset, and the carrier board 9 enters the double-layer oven 18;
  • the carrier board 9 enters the operation platform 1201 of the bottom sticking station 12, and is positioned by the carrier board positioning and lifting device 11; at the same time, the sole is assigned to the corresponding operation table 1201 by the sole automatic sorting device 13, and the shoe upper is applied on the operation table 1201.
  • Bottom operation
  • the carrier board 9 After the bottom attaching is completed, the carrier board 9 reaches the bottom pressing station and is positioned by the carrier board positioning and lifting device 11, and the transfer robot transfers a pair of shoe lasts on the carrier board 9 to the shoe last take-out device 16.
  • the shoe last The loading and unloading device 16 transfers the shoe last to the shoe last fixing device 15 at the output end of the sole press 24 for fixing, and the shoe last sensor 1507 detects the shoe last to control the operation of the sole press 24;
  • the shoe last take-out device 16 takes out the shoe last, and the transfer robot transfers the shoe last to the carrier board 9. The shoe last leaves the bottom pressing station and enters the cooling box 2301 for cooling;
  • the shoe last passes through the last removal machine 2302 and is positioned by the carrier plate positioning and lifting device 11.
  • the carrier conveyor belt 2 returns to the carrier pretreatment station, and the molded shoes are placed on the packaging table 2303 to package the finished product.

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  • Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

一种自动化制鞋生产线，包括：鞋底输送带（1），所述鞋底输送带（1）依次经过鞋底取料工位、鞋底处理剂喷涂工位（5）、鞋底前烘烤工位、鞋底喷胶工位（6）、鞋底后烘烤工位；载板输送带（2），所述载板输送带（2）用于输送装有鞋楦的载板（9），所述鞋楦上套设有鞋帮，所述载板输送带（2）依次经过帮面预处理工位（22）、帮面处理剂喷涂打磨工位、帮面前烘烤工位、帮面喷胶工位、帮面后烘烤工位、贴底工位（12）、压底工位和后处理工位（23）形成环形输送带。鞋底和鞋帮同步工作，生产效率高，当鞋底和鞋帮处理完后通过贴底工位（12）和压底工位贴合完成制鞋操作，自动化程度高；载板（9）始终通过载板输送带（2）传输，无需人工搬运载板（9）等，有效降低人工成本，并且占地空间小，空间利用率高。

Description

一种自动化制鞋生产线 技术领域
本发明涉及自动化制鞋技术领域，具体涉及一种自动化制鞋生产线。
背景技术
传统的制鞋工序大多采用人工操作来完成，是高度密集劳动产业，人力操作导致产品质量参差不齐，并且制鞋效率较低。随着人力成本的不断上涨，依赖人工制鞋不符合企业的经济效益，也不利于企业的发展。
随着机械设备技术的不断完善，出现了针对特定制鞋工序的机械设备辅助人工制鞋，例如压底机、套帮机等设备，但是目前还无法实现全自动化的制鞋生产工艺，还需要人工操作取放料、运输和操作设备，尤其是涉及鞋面和鞋底的预处理操作，无法实现全自动化操作。这导致现有的制鞋生产线普遍生产效率较低，无法满足市场需求。
发明内容
本发明的目的在于提供一种自动化制鞋生产线，以解决现有技术中制鞋生产线无法实现自动化生产，生产效率较低，无法满足市场需求的技术问题。
为了实现上述目的，本发明的技术方案是：
一种自动化制鞋生产线，包括：
鞋底输送带，所述鞋底输送带依次经过鞋底取料工位、鞋底处理剂喷涂工位、鞋底前烘烤工位、鞋底喷胶工位、鞋底后烘烤工位；
载板输送带，所述载板输送带用于输送装有鞋楦的载板，所述鞋楦上套设有鞋帮，所述载板输送带依次经过帮面预处理工位、帮面处理剂喷涂打磨工位、帮面前烘烤工位、帮面喷胶工位、帮面后烘烤工位、贴底工位、压底工位和后处理工位形成环形输送带；
所述帮面预处理工位对鞋楦进行套帮或钳帮操作，所述贴底工位将经过所述帮面后烘烤工位的鞋帮与经过鞋底后烘烤工位的鞋底贴合，所述压底工位将经过贴底的鞋帮和鞋底压紧贴合，所述后处理工位进行冷却、脱楦和包装操作。
与现有技术相比，本发明的有益效果是：
1、本发明鞋底和鞋帮同步工作，生产效率高，当鞋底和鞋帮处理完后通过贴底工位和压底工位贴合完成制鞋操作，自动化程度高；
2、本发明载板输送带为环形循环输送带，载板始终通过载板输送带传输，无需人工搬运载板等，有效降低人工成本，并且占地空间小，空间利用率高。
在上述技术方案的基础上，本发明还可以做如下改进：
进一步的，所述鞋底取料工位设有鞋底立体料仓，所述鞋底立体料仓包括料仓框架，所述料仓框架内被分隔成若干列置物区域，所述置物区域由上至下均匀安装有仓位板，所述仓位板上设有取物缺口；所述置物区域两侧设有沿料仓框架横向滑动的限位柱，所述限位柱上安装有与所述仓位板一一对应的用于限位鞋底的限位板，若干列所述置物区域左侧的限位柱之间通过左连接杆连接，若干列置物区域右侧的限位柱之间通过右连接杆连接，所述料仓框架两侧面对称固定有固定座，所述固定座表面通过轴承安装座安装有调整螺杆，所述调整螺杆外端设有调整手轮，内端通过螺纹结构连接有调整块，所述调整块内端与所述料仓框架最外侧的所述限位柱固定；
所述鞋底立体料仓上的鞋底通过鞋底转运装置转运至所述鞋底输送带，所述鞋底转运装置包括与所述料仓框架匹配的取料框架，所述取料框架上安装有能够沿X、Y、Z三向移动并且可旋转的取料手爪，所述取料手爪包括竖直设置的手爪安装板，所述手爪安装板一侧面安装有一对竖直的主导轨，所述主导轨上通过夹爪驱动气缸控制滑动有滑板，所述滑板由上至下均匀设有若干个竖直的上夹爪导轨，所述上夹爪导轨上滑动有上夹爪，所述滑板上设有与所述上夹爪一一对应的竖直的导杆，所述导杆上端与所述滑板固定，下端插入所述上夹爪的安装端，且导杆上套设有缓冲弹簧，所述夹爪安装板上设有与所述上夹爪匹配的下夹爪，所述下夹爪与所述取物缺口匹配，且上夹爪和下夹爪配合夹持鞋底。
通过采用上述方案，限位柱能够沿料仓框架横向滑动，并且置物区域的左侧限位柱之间通过左连接柱形成整体，右侧限位柱之间通过有连接柱形成整体，通过调整手轮旋转调整螺杆能够调节调整块位置，从而控制左侧限位柱或右侧限位柱的位置，从而调节仓位板上限位板的位置，调整仓位板上鞋底放置位置的大小，以适配大小不同的鞋底，保证鞋底在放置时处于置物区域中心，避免取料时取料手爪夹紧鞋底时发生夹不到或夹偏现象。
上述方案在具体设置时，还可以在固定座上设置标牌，在调节块上设置与标牌对应的指标以标识调整块位置对应的鞋底放置区域大小；另外还可以设置调整块的锁紧螺杆来实现调整完成后的锁紧操作。
取料手爪能够沿X、Y、Z三向旋转并可旋转，从而能够有料仓框架上夹取鞋底并转运至鞋底输送带上，在具体设置时可采用X、Y、Z三个导轨与旋转座配合的方式来实现；取料手爪的上夹爪能够沿上夹爪导轨滑动，并且导杆上套设有缓冲弹簧，当上夹爪接触到鞋底时，此时夹爪驱动气缸继续控制滑板下移，上夹爪后会相对于上夹爪导轨上移，此时缓 冲弹簧受压，弹簧弹力作用在上夹爪上压紧鞋底，在取放不同厚度的鞋底时均能够通过缓冲弹簧的弹力保证鞋底夹紧，同时在取放前后厚度不一的鞋底时，也能够保证由于缓冲弹簧和导杆的存在，保证两端均被夹紧。
进一步的，所述鞋底处理剂喷涂工位设置有第一鞋底3D扫描相机和鞋底处理剂喷涂机械手，所述鞋底喷胶工位设有第二鞋底3D扫描相机和鞋底喷胶机械手，所述鞋底处理剂喷涂工位和鞋底喷胶工位前的所述鞋底输送带上设有姿态调整装置，所述姿态调整装置包括固定在所述鞋底输送带下方的鞋底阻挡气缸，所述鞋底阻挡气缸输出端竖直朝上连动有挡杆，所述挡杆穿过所述鞋底输送带用于阻挡鞋底，所述鞋底输送带两侧对称设置矫正气缸，所述矫正气缸朝向被所述挡杆阻挡的鞋底设置，且矫正气缸的输出端固定有矫正板，所述鞋底输送带下方设置有鞋底传感器，所述鞋底传感器用于检测被阻挡的鞋底，且鞋底传感器与所述矫正气缸电连接。
通过采用上述方案，第一鞋底3D扫描相机和第二鞋底3D扫描相机实时扫描记录鞋底轮廓，并分别控制鞋底处理剂喷涂机械手和鞋底喷胶机械手对鞋底边缘进行处理剂喷涂和喷胶操作。由于扫描相机的视野是固定的，而鞋底在运输时容易偏离输送带中心导致扫描时偏离相机视野，影响扫描结构，因此在进入鞋底处理剂喷涂工位和鞋底喷胶工位前需要进行姿态调整；
鞋底阻挡气缸控制挡杆保持伸出阻挡状态，当鞋底运输到被阻挡位置时，鞋底传感器检测到鞋底控制矫正气缸工作，一对矫正板对鞋底进行矫正，保证其处于输送带中心，之后鞋底阻挡气缸控制挡杆避让鞋底，之后继续伸出实现对鞋底的姿态矫正。
进一步的，所述鞋楦端部设有鞋楦连接块，所述载板表面两侧对称插设固定有所述鞋楦连接块，载板表面中部设置有定位杆，载板底面设有插孔，载板四角设有导向轮，所述鞋楦连接块侧面设有定位孔，端部两侧面对称设有卡槽。
进一步的，所述帮面处理剂喷涂打磨工位和帮面喷胶工位均设有鞋楦离线分距装置，所述鞋楦离线分距装置包括载板移送机构和夹持调距机构，所述载板移送机构包括移送支架，所述移送支架设置在所述载板输送带一侧，且移送支架上通过移送驱动气缸控制滑动有移送小车，所述移送小车上设有载板夹持气缸，所述载板夹持气缸用于夹持所述定位杆；
所述夹持调距机构包括对称设置在所述移送支架两侧的第一升降支架，所述第一升降支架表面设有调距导轨，所述调距导轨上通过调距驱动气缸控制滑动有调距小车，所述调距小车上设有鞋楦夹持机构，所述鞋楦夹持机构包括一对夹爪以及用于控制夹爪相对运动的调距夹持气缸，所述夹爪内侧面设有与所述定位孔匹配的定位销；
所述夹持调距机构还包括第二升降支架，所述第二升降支架位于所述调距夹持气缸下 方，且第二升降支架顶面设有与所述鞋楦连接块底部匹配的加工夹紧件，所述加工夹紧件包括与所述调距导轨平行的夹紧导轨，所述夹紧导轨上通过夹紧驱动气缸控制滑动有一对夹紧立板，所述夹紧立板内侧面设有一对L形的夹紧块，所述夹紧块的内侧面设有与所述鞋楦连接块底部边角对应的夹紧面，且夹紧面上设有与所述卡槽匹配的卡块；两侧所述夹紧块之间设有卡扣机构，且两侧夹紧块配合抱紧所述鞋楦连接块，所述卡扣机构包括开设在一侧所述夹紧块端部的凹槽以及设置在另一侧夹紧块端部的凸块，所述凹槽和凸块相匹配设置。
通过采用上述方案，由于成本限制和载板的储存量要求限制，无法将载板的宽度做的较大，迫使载板上的一对鞋楦的间距较小，在对鞋楦上的帮面进行处理剂喷涂、喷胶和打磨操作时，会因为鞋楦的间距太小，造成机械结构上面的干涉，导致自动化生产无法实现，因此需要设置分距装置来调节一对鞋楦的间距；
载板到达位置后，移送驱动气缸驱动移送小车滑动直至载板夹持气缸到达载板处，载板夹持气缸工作夹紧载板的定位杆，之后移送小车复位将载板拉到移送支架上，鞋楦进入调距夹持气缸的一对夹爪之间；
此时调距夹持气缸工作夹紧鞋楦，之后第一升降支架抬升调距夹持气缸高度使得鞋楦脱离载板，之后调距驱动气缸控制调距小车滑动实现一对鞋楦间距的调整；
由于鞋帮的自动化喷胶操作对鞋帮的固定稳定性要求较高，因此设置加工夹紧件与调距夹紧件配合夹紧鞋楦连接块，保证加工时鞋楦的固定稳定性；此时第二升降支架抬升直至鞋楦位于一对夹紧块之间，夹紧驱动气缸控制一对夹紧块抱紧鞋楦，此时夹紧块内侧面的卡块与卡槽配合保证鞋楦定位准确同时限制鞋楦自由度，提高夹持稳定性，在具体设置时卡槽截面设置为方形，卡块设置为圆柱形卡块，圆柱形的卡块与方形卡槽线接触，实现鞋楦连接块的线接触拘束定位；一对夹紧立板内侧面的四个L形夹紧块将鞋楦连接块抱紧，夹紧块内侧面的夹紧面与鞋楦连接块实现面接触定位；一侧夹紧立板上的夹紧块与另一侧夹紧立板上的夹紧块之间通过卡扣机构连接，从而对两侧的夹紧块进行限位定位，并提高鞋楦连接块夹紧稳定性。
进一步的，所述帮面预处理工位、帮面处理剂喷涂打磨工位、帮面喷胶工位、贴底工位和压底工位设有载板定位举升装置，所述载板定位举升装置包括顶板、底板和设置在顶板和底板间的顶升气缸和顶升导杆，所述顶板设置在所述载板输送带下方，且顶板表面设有与所述插孔匹配的插杆；所述顶板朝向所述载板行进方向一端底面固定有载板阻挡气缸，所述载板阻挡气缸输出端竖直设置连动有阻挡杆，所述阻挡杆由下穿过所述顶板用于阻挡所述载板；所述顶板表面开设有沿载板行进方向的条形通孔，所述条形通孔内固定有载板 传感器，所述载板传感器用于检测所述载板位置，且载板传感器与所述载板阻挡气缸电连接。
通过采用上述方案，在帮面预处理工位、帮面处理剂喷涂打磨工位、帮面喷胶工位、贴底工位和压底工位是为了保证载板在工位停留和定位准确，需要设置载板定位举升装置；当载板输送到工位时，载板传感器检测到载板并控制载板阻挡气缸工作，阻挡杆伸出阻挡载板，同时顶升气缸控制顶板抬升，插杆插入载板的插孔内实现载板的定位和固定。
进一步的，所述贴底工位设置有若干个沿所述载板输送带输送方向设置的操作台，所述载板输送带上的载板被移送至所述操作台旁，所述鞋底输送带上的鞋底通过鞋底自动分拣装置分配至对应的所述操作台；所述鞋底自动分拣装置包括分拣框架，所述分拣框架上安装有与所述操作台一一对应的若干个鞋底导板，所述鞋底导板用于接收鞋底并将鞋底导向所述操作台，所述分拣框架上设有位于所述鞋底导板端部上方的拣料手爪，所述拣料手爪能够沿所述载板输送带输送方向和竖直方向运动，且拣料手爪将所述鞋底输送带上的鞋底运输至所述鞋底导板端部上方放料；所述拣料手爪包括夹爪气缸，所述夹爪气缸外侧面设有第一输出端和第二输出端，所述夹爪气缸控制所述第一输出端和第二输出端之间的开合角度，所述第一输出端安装有上夹紧块，所述上夹紧块端部设有压杆，所述第二输出端安装有下夹紧块，所述下夹紧块和所述压杆端部配合夹持鞋底，所述压杆穿过所述上夹紧块端部设置，且压杆与上夹紧块之间设有直线轴承，所述压杆远离所述下夹紧块一端设有挡环，朝向所述下夹紧块一端设有压块，所述压杆外套设有压紧弹簧。
通过采用上述方案，载板直接通过载板输送带一个一个排列在若干个操作台旁，鞋底通过鞋底自动分拣装置分配至对应的操作台，操作台的操作人员人工将鞋底贴合在对应的鞋楦上的鞋帮上；
分拣装置通过夹爪气缸控制压杆和下夹紧块由鞋底输送带末端夹持鞋底，并通过控制拣料手爪位置将拣料手爪调节至对应的鞋底导板上方，之后夹爪气缸松开，鞋底掉落至鞋底导板上被导向至操作台；
由于鞋底厚度不一，而夹爪气缸的行程是固定的，因此为了避免压坏较厚的鞋底以及避免夹不住较薄的鞋底，将压杆设置为可移动模式，压杆外套设有压紧弹簧，控制压杆的长度能够满足较薄鞋底的夹持要求，在夹持较厚的鞋底时，压杆会在反作用力作用下朝远离鞋底一侧滑动，避免压坏鞋底，同时压紧弹簧的作用力作用在鞋底上保证鞋底被压紧。
进一步的，所述压底工位设置有转运机械手、鞋楦取放料装置、鞋楦固定装置和压底机，所述转运机械手将所述载板输送带上载板上的鞋楦转运至所述鞋楦取放料装置，所述鞋楦固定装置包括套设固定在所述压底机作用端上的安装板，所述安装板下方通过连接柱 连接有固定板，所述连接柱底端与所述固定板固定，顶端穿过所述安装板后设有挡块，所述连接柱上套设有弹簧，所述固定板上开设有与所述鞋楦连接块上卡槽匹配的滑槽，所述固定板上设有用于感应所述鞋楦的鞋楦传感器，所述鞋楦传感器与所述压底机电连接，且鞋楦传感器检测到鞋楦后控制压底机工作；所述鞋楦取放料装置包括设置在所述压底机两侧的底座，所述底座上安装有可沿X、Y、Z三向移动的鞋楦放料气缸，所述鞋楦放料气缸将鞋楦夹持移动至所述固定板的滑槽内。
通过采用上述方案，压底工位采用全自动化操作，当载板到达工位时，转运机械手将载板上的鞋楦转运至鞋楦放料气缸上，鞋楦放料气缸通过沿X、Y、Z三向移动，将鞋楦的卡槽沿滑槽滑入固定板上固定，在具体设置时通过X、Y、Z三个导轨来配合实现鞋楦放料气缸的位置控制；
由于鞋子高度不一，而压底机的行程是固定的，将连接柱上端设置成活动形式，并在连接柱上套设弹簧，当鞋底贴合基座后固定板位置保持不变，安装板和压底作用端能够继续下压，此时弹簧的弹簧作用力作用在固定板上压紧帮面和鞋底，因此只要控制压底机的行程满足最矮鞋子的需求，就能够适配不同高度鞋子的压底操作。
进一步的，所述鞋底输送带设置在所述鞋帮输送带上方或下方，所述帮面前烘烤工位和鞋底前烘烤工位设置有前双层烤箱，所述帮面后烘烤工位和鞋底后烘烤工位设有后双层烤箱，所述鞋底输送带和鞋帮输送带层叠设置经过所述前双层烤箱和后双层烤箱。
通过采用上述方案，鞋底和鞋帮同步进行前烘烤和后烘烤，减少设备需求和占地空间。
进一步的，所述帮面处理剂喷涂打磨工位设置有帮面3D扫描相机、帮面打磨处理剂喷涂机械手，所述帮面喷胶工位设置有帮面喷胶机械手，所述帮面3D扫描相机安装在所述帮面打磨处理剂喷涂机械手上，且帮面3D扫描相机动态扫描记录帮面轮廓，控制所述帮面打磨处理剂喷涂机械手和帮面喷胶机械手沿帮面轮廓工作。
通过采用上述方案，通过帮面打磨处理剂喷涂机械手环绕样品鞋帮面行走获取点云数据，通过对采集的点云数据进行处理即可得出涂胶路径，操作简单，对操作人员要求低，也大大降低了操作人员的劳动强度；传统示教轨迹的方案由人工操作，每增加一个示教点位均需大量时间且不同的操作人员示教的结果不同，上述方法可根据相机精度采集更多路径点，从而提高精度，且撇去了人为因素，涂胶路径一致性高。
附图说明
图1是本发明的实施例的结构示意图。
图2是图1中a的局部方法示意图。
图3是图1中b的局部放大示意图。
图4是图1中c的局部放大示意图。
图5是本发明的实施例的鞋底立体料仓的立体结构示意图。
图6是本发明的实施例的鞋底立体料仓的另一视角立体结构示意图。
图7是本发明的实施例的鞋底转运装置的结构示意图。
图8是本发明的实施例的取料手爪的结构示意图。
图9是本发明的实施例的鞋楦离线分距装置的结构示意图。
图10是本发明的实施例的移送支架的结构示意图。
图11是本发明的实施例的第一升降支架的结构示意图。
图12是本发明的实施例的加工夹紧件的结构示意图。
图13是本发明的实施例的姿态调整装置的结构示意图。
图14是本发明的实施例的鞋底自动分拣装置的结构示意图。
图15是本发明的实施例的拣料手爪的结构示意图。
图16是本发明的实施例的载板的结构示意图。
图17是本发明的实施例的鞋楦的结构示意图。
图18是本发明的实施例的载板定位举升装置的结构示意图。
图19是图18的俯视结构示意图。
图20是本发明的实施例的压底工位去除转运机械手后的结构示意图。
图中所示：
1、鞋底输送带；
2、载板输送带；
3、鞋底立体料仓；301、料仓框架；302、仓位板；3021、取物缺口；303、限位柱；304、限位板；305、左连接杆；306、右连接杆；307、固定座；308、轴承安装座；309、调整螺杆；310、调整手轮；311、调整块；312、锁紧螺杆；313、标牌；314、指标；
4、鞋底转运装置；401、取料框架；402、鞋底X轴导轨；403、鞋底Y轴导轨；404、鞋底Z轴导轨；405、回转电机；406、手爪安装板；407、主导轨；408、夹爪驱动气缸；409、滑板；410、上夹爪导轨；411、上夹爪；412、导杆；413、缓冲弹簧；414、下夹爪；
5、鞋底处理剂喷涂工位；501、第一鞋底3D扫描相机；502、鞋底处理剂喷涂机械手；
6、鞋底喷胶工位；601、第二鞋底3D扫描相机；602、鞋底喷胶机械手；
7、姿态调整装置；701、鞋底阻挡气缸；702、挡杆；703、矫正气缸；704、矫正板；705、鞋底传感器；
8、鞋楦连接块；801、定位孔；802、卡槽；
9、载板；901、定位杆；902、导向轮；903、插孔；
10、鞋楦离线分距装置；1001、移送支架；1002、移送驱动气缸；1003、移送小车；1004、载板夹持气缸；1005、第一升降支架；1006、调距导轨；1007、调距小车；1008、调距驱动气缸；1009、凹槽；1010、调距夹持气缸；1011、夹爪；1012、定位销；1013、第二升降支架；1014、夹紧导轨；1015、夹紧块；1016、卡块；1017、凸块；1018、夹紧立板；1019、夹紧驱动气缸；
11、载板定位举升装置；1101、顶板；1102、底板；1103、顶升气缸；1104、顶升导杆；1105、插杆；1106、载板阻挡气缸；1107、阻挡杆；1108、条形通孔；1109、载板传感器；
12、贴底工位；1201、操作台；
13、鞋底自动分拣装置；1301、分拣框架；1302、鞋底导板；1303、分拣X轴导轨；1304、分拣Z轴导轨；1305、夹爪气缸；1306、上夹紧块；1307、压杆；1308、下夹紧块；1309、挡环；1310、压块；1311、压紧弹簧；
14、转运机械手；
15、鞋楦固定装置；1501、安装板；1502、固定板；1503、连接柱；1504、挡块；1505、弹簧；1506、滑槽；1507、鞋楦传感器；1508、抱紧块；
16、鞋楦取放料装置；1601、底座；1602、鞋楦X轴导轨；1603、鞋楦Y轴导轨；1604、鞋楦Z轴导轨；1605、鞋楦放料气缸；
17、前双层烤箱；
18、后双层烤箱；
19、帮面打磨处理剂喷涂机械手；
20、帮面3D扫描相机；
21、帮面喷胶机械手；
22、帮面预处理工位；2201、套帮机；2202、人工整理台；2203、前帮机；2204、后帮机；2205、钳帮烘箱；
23、后处理工位；2301、冷却箱；2302、脱楦机；2303、包装台；
24、压底机。
具体实施方式
下面将结合附图对本发明技术方案的实施例进行详细的描述。以下实施例仅用于更加 清楚地说明本发明的技术方案，因此只作为示例，而不能以此来限制本发明的保护范围。
如图1至4所示，本实施例提供的一种自动化制鞋生产线，包括鞋底输送带1和载板输送带2。
鞋底输送带1依次经过鞋底取料工位、鞋底处理剂喷涂工位5、鞋底前烘烤工位、鞋底喷胶工位6、鞋底后烘烤工位；
如图5和图6所示，鞋底取料工位设有鞋底立体料仓3，鞋底立体料仓3包括料仓框架301，料仓框架301内被分隔成10列置物区域，20个仓位板302由上至下均匀设置在置物区域，且仓位板302上放置有鞋底，仓位板302上设有取物缺口3021。
因此，料仓框架301上总共可放置200只鞋底，放置鞋底时将匹配的一双鞋底放置在上下相邻的两个置物区域内，便于取放料装置一次性完成一双鞋底的上料。
置物区域两侧设有沿料仓框架301横向滑动的限位柱303，料仓框架301的顶边和底边均设置有导轨，限位柱303沿导轨滑动，限位柱303上安装有与仓位板302一一对应的用于限位鞋底的限位板304。
置物区域左侧的限位柱303之间通过左连接杆305连接，置物区域右侧的限位柱303之间通过右连接杆306连接。
料仓框架301两侧面对称固定有固定座307，固定座307表面通过轴承安装座308安装有调整螺杆309，调整螺杆309外端设有调整手轮310，内端通过螺纹结构连接有调整块311，调整块311内端与料仓框架301最外侧的限位柱303固定，当旋转调整螺杆309时调整块311发生移动带动限位柱303移动，从而调整仓位板302上鞋底放置位置大小。
固定座307上设置有标牌313，调节块上设有与标牌313对应的指标314以标识调整块311位置对应的鞋底放置区域大小。
另外，调整块311上还设有锁紧螺杆312，旋紧锁紧螺杆312时，锁紧螺杆312与固定座307相抵锁定调整块311位置。
如图7和图8所示，鞋底立体料仓3上的鞋底通过鞋底转运装置4转运至鞋底输送带1，鞋底转运装置4包括与料仓框架301匹配的取料框架401，取料框架401上安装有能够沿X、Y、Z三向移动并且可旋转的取料手爪。
取料框架401的顶部和底部设有鞋底X轴导轨402，鞋底X轴导轨402上通过电机控制滑动有鞋底Z轴导轨404，鞋底Z轴导轨404上通过电机控制滑动有鞋底Y轴导轨403，鞋底Y轴导轨403上通过电机控制滑动有回转电机405。
取料手爪包括竖直设置的手爪安装板406，手爪安装板406固定在回转电机405的输出端，手爪安装板406一侧面安装有一对竖直的主导轨407，主导轨407上通过夹爪驱动 气缸408控制滑动有滑板409，滑板409由上至下均匀设有两个竖直的上夹爪导轨410，上夹爪导轨410上滑动有上夹爪411，滑板409上设有与上夹爪411一一对应的竖直的导杆412，导杆412上端与滑板409固定，下端插入上夹爪411的安装端，且导杆412上套设有缓冲弹簧413，夹爪1011安装板1501上设有与上夹爪411匹配的下夹爪414，下夹爪414与取物缺口3021匹配，且上夹爪411和下夹爪414配合夹持鞋底。
上下两排上夹爪411和下夹爪414配合一次性由鞋底立体料仓3取下一双鞋底。
通过调整手轮310旋转调整螺杆309能够调节调整块311位置，从而控制左侧限位柱303或右侧限位柱303的位置，从而调节仓位板302上限位板304的位置，调整仓位板302上鞋底放置位置的大小，以适配大小不同的鞋底，保证鞋底在放置时处于置物区域中心，避免取料时取料手爪夹紧鞋底时发生夹不到或夹偏现象。
取料手爪的上夹爪411能够沿上夹爪导轨410滑动，并且导杆412上套设有缓冲弹簧413，当上夹爪411接触到鞋底时，此时夹爪驱动气缸408继续控制滑板409下移，上夹爪411后会相对于上夹爪导轨410上移，此时缓冲弹簧413受压，弹簧弹力作用在上夹爪411上压紧鞋底，在取放不同厚度的鞋底时均能够通过缓冲弹簧413的弹力保证鞋底夹紧，同时在取放前后厚度不一的鞋底时，也能够保证由于缓冲弹簧413和导杆412的存在，保证两端均被夹紧。
如图1至4所示，鞋底处理剂喷涂工位5设置有第一鞋底3D扫描相机501和鞋底处理剂喷涂机械手502，鞋底喷胶工位6设有第二鞋底3D扫描相机601和鞋底喷胶机械手602，第一鞋底3D扫描相机501和第二鞋底3D扫描相机601的具体型号为XTOM-MATRIX，鞋底处理剂喷涂机械手502和鞋底喷胶机械手602为六轴机械手，具体型号为CZ10。
第一鞋底3D扫描相机501和第二鞋底3D扫描相机601实时扫描记录鞋底轮廓，并分别控制鞋底处理剂喷涂机械手502和鞋底喷胶机械手602对鞋底边缘进行处理剂喷涂和喷胶操作，具体的控制方式为本领域技术人员的常用技术手段，在此不再赘述。
由于扫描相机的视野是固定的，而鞋底在运输时容易偏离输送带中心导致扫描时偏离相机视野，影响扫描结构，因此鞋底处理剂喷涂工位5和鞋底喷胶工位6前的鞋底输送带1上设有姿态调整装置7。
如图13所示，姿态调整装置7包括固定在鞋底输送带1下方的鞋底阻挡气缸701，鞋底阻挡气缸701输出端竖直朝上连动有挡杆702，挡杆702穿过鞋底输送带1用于阻挡鞋底，鞋底输送带1两侧对称设置矫正气缸703，矫正气缸703朝向被挡杆702阻挡的鞋底设置，且矫正气缸703的输出端固定有矫正板704，鞋底输送带1下方设置有鞋底传感器705，鞋底传感器705为光纤传感器，具体型号为FU-6F。
鞋底传感器705用于检测被阻挡的鞋底，且鞋底传感器705与矫正气缸703电连接。
鞋底阻挡气缸701控制挡杆702保持伸出阻挡状态，当鞋底运输到被阻挡位置时，鞋底传感器705检测到鞋底控制矫正气缸703工作，一对矫正板704对鞋底进行矫正，保证其处于输送带中心，之后鞋底阻挡气缸701控制挡杆702避让鞋底，之后继续伸出实现对鞋底的姿态矫正。
如图1至图4、图16和图17所示，载板输送带2用于输送装有鞋楦的载板9，鞋楦上套设有鞋帮，鞋楦端部设有鞋楦连接块8，载板9表面两侧对称插设固定有鞋楦连接块8，载板9表面中部设置有定位杆901，载板9底面设有插孔903，载板9四角设有导向轮902，鞋楦连接块8侧面设有定位孔801，端部两侧面对称设有卡槽802。
载板输送带2依次经过帮面预处理工位22、帮面处理剂喷涂打磨工位、帮面前烘烤工位、帮面喷胶工位、帮面后烘烤工位、贴底工位12、压底工位和后处理工位23形成环形输送带；
帮面预处理工位22对鞋楦进行套帮或钳帮操作，贴底工位12将经过帮面后烘烤工位的鞋帮与经过鞋底后烘烤工位的鞋底贴合，压底工位将经过贴底的鞋帮和鞋底压紧贴合，后处理工位23进行冷却、脱楦和包装操作。
帮面预处理工位22设置有套帮机2201和人工整理台2202，套帮机2201将鞋帮套在鞋楦上，人工整理台2202用于人工绑鞋带和贴魔术贴等操作。
若鞋帮采用的是钳帮工艺，则还需要在人工整理台2202后依次设置钳帮烘箱2205、前帮机2203和后帮机2204，对鞋帮进行加热软化后的钳帮操作。
帮面处理剂喷涂打磨工位设置有帮面3D扫描相机20、帮面打磨处理剂喷涂机械手19，帮面喷胶工位设置有帮面喷胶机械手21，帮面3D扫描相机20的具体型号为XTOM-MATRIX，帮面3D扫描相机20安装在帮面打磨处理剂喷涂机械手19上，且帮面3D扫描相机20动态扫描记录帮面轮廓，控制帮面打磨处理剂喷涂机械手19和帮面喷胶机械手21沿帮面轮廓工作。
通过帮面打磨处理剂喷涂机械手19环绕样品鞋帮面行走获取点云数据，通过对采集的点云数据进行处理即可得出涂胶路径，操作简单，对操作人员要求低，也大大降低了操作人员的劳动强度；传统示教轨迹的方案由人工操作，每增加一个示教点位均需大量时间且不同的操作人员示教的结果不同，上述方法可根据相机精度采集更多路径点，从而提高精度，且撇去了人为因素，涂胶路径一致性高。
帮面打磨处理剂喷涂机械手19和帮面喷胶机械手21为六轴机械手，具体型号为CZ10。
机械手接收3D扫描相机的坐标信号来运动操作为本领域技术人员的常用技术手段， 在此不再赘述。
由于成本限制和载板9的储存量要求限制，无法将载板9的宽度做的较大，迫使载板9上的一对鞋楦的间距较小，在对鞋楦上的帮面进行处理剂喷涂、喷胶和打磨操作时，会因为鞋楦的间距太小，造成机械结构上面的干涉，导致自动化生产无法实现，因此帮面处理剂喷涂打磨工位和帮面喷胶工位均设有鞋楦离线分距装置10。
如图9至图12所示，鞋楦离线分距装置10包括载板移送机构和夹持调距机构，载板9移送机构包括移送支架1001，移送支架1001设置在载板输送带2一侧，且移送支架1001上通过移送驱动气缸1002控制滑动有移送小车1003，移送小车1003上设有载板夹持气缸1004，载板夹持气缸1004用于夹持定位杆901；
夹持调距机构包括对称设置在移送支架1001两侧的第一升降支架1005，第一升降支架1005表面设有调距导轨1006，调距导轨1006上通过调距驱动气缸1008控制滑动有调距小车1007，调距小车1007上设有鞋楦夹持机构，鞋楦夹持机构包括一对夹爪1011以及用于控制夹爪1011相对运动的调距夹持气缸1010，夹爪1011内侧面设有与定位孔801匹配的定位销1012；
夹持调距机构还包括第二升降支架1013，第二升降支架1013位于调距夹持气缸1010下方，且第二升降支架1013顶面设有与鞋楦连接块8底部匹配的加工夹紧件，加工夹紧件包括与调距导轨1006平行的夹紧导轨1014，夹紧导轨1014上通过夹紧驱动气缸1019控制滑动有一对夹紧立板1018，夹紧立板1018内侧面设有一对L形的夹紧块1015，夹紧块1015的内侧面设有与鞋楦连接块8底部边角对应的夹紧面，且夹紧面上设有与卡槽802匹配的卡块1016；两侧夹紧块1015之间设有卡扣机构，且两侧夹紧块1015配合抱紧鞋楦连接块8，卡扣机构包括开设在一侧夹紧块1015端部的凹槽1009以及设置在另一侧夹紧块1015端部的凸块1017，凹槽1009和凸块1017相匹配设置。
载板9到达位置后，移送驱动气缸1002驱动移送小车1003滑动直至载板夹持气缸1004到达载板9处，载板夹持气缸1004工作夹紧载板9的定位杆901，之后移送小车1003复位将载板9拉到移送支架1001上，鞋楦进入调距夹持气缸1010的一对夹爪1011之间；
此时调距夹持气缸1010工作夹紧鞋楦，之后第一升降支架1005抬升调距夹持气缸1010高度使得鞋楦脱离载板9，之后调距驱动气缸1008控制调距小车1007滑动实现一对鞋楦间距的调整；
由于鞋帮的自动化喷胶操作对鞋帮的固定稳定性要求较高，因此设置加工夹紧件与调距夹紧件配合夹紧鞋楦连接块8，保证加工时鞋楦的固定稳定性；此时第二升降支架1013抬升直至鞋楦位于一对夹紧块1015之间，夹紧驱动气缸1019控制一对夹紧块1015抱紧鞋 楦，此时夹紧块1015内侧面的卡块1016与卡槽802配合保证鞋楦定位准确同时限制鞋楦自由度，提高夹持稳定性，在具体设置时卡槽802截面设置为方形，卡块1016设置为圆柱形卡块1016，圆柱形的卡块1016与方形卡槽802线接触，实现鞋楦连接块8的线接触拘束定位；一对夹紧立板1018内侧面的四个L形夹紧块1015将鞋楦连接块8抱紧，夹紧块1015内侧面的夹紧面与鞋楦连接块8实现面接触定位；一侧夹紧立板1018上的夹紧块1015与另一侧夹紧立板1018上的夹紧块1015之间通过卡扣机构连接，从而对两侧的夹紧块1015进行限位定位，并提高鞋楦连接块8夹紧稳定性。
为了保证载板9在工位停留和定位准确，帮面预处理工位22、帮面处理剂喷涂打磨工位、帮面喷胶工位、贴底工位12和压底工位设有载板定位举升装置11。
如图18和图19所示，载板定位举升装置11包括顶板1101、底板1102和设置在顶板1101和底板1102间的顶升气缸1103和顶升导杆1104，顶板1101设置在载板输送带2下方，且顶板1101表面设有与插孔903匹配的插杆1105；顶板1101朝向载板9行进方向一端底面固定有载板阻挡气缸1106，载板阻挡气缸1106输出端竖直设置连动有阻挡杆1107，阻挡杆1107由下穿过顶板1101用于阻挡载板9；顶板1101表面开设有沿载板9行进方向的条形通孔1108，条形通孔1108内固定有载板传感器1109，载板传感器1109为漫反射激光传感器，具体型号为TB12J-D15N1，载板传感器1109用于检测载板9位置，且载板传感器1109与载板阻挡气缸1106电连接。
当载板9输送到工位时，载板传感器1109检测到载板9并控制载板阻挡气缸1106工作，阻挡杆1107伸出阻挡载板9，同时顶升气缸1103控制顶板1101抬升，插杆1105插入载板9的插孔903内实现载板9的定位和固定。
如图1至图4和图13所示，贴底工位12设置有四个沿载板输送带2输送方向设置的操作台1201，载板输送带2上的载板9被移送至操作台1201旁，鞋底输送带1上的鞋底通过鞋底自动分拣装置13分配至对应的操作台1201。
鞋底自动分拣装置13包括分拣框架1301，分拣框架1301上安装有与操作台1201一一对应的四个鞋底导板1302，鞋底导板1302用于接收鞋底并将鞋底导向操作台1201，分拣框架1301上设有位于鞋底导板1302端部上方的拣料手爪。
拣料手爪能够沿载板输送带2输送方向和竖直方向运动，且拣料手爪将鞋底输送带1上的鞋底运输至鞋底导板1302端部上方放料；分拣框架1301上设有沿载板输送带2输送方向的分拣X轴导轨1303以及竖直方向的分拣Z轴导轨1304，分拣Z轴导轨1304沿分拣X轴导轨1303滑动，拣料手爪沿分拣Z轴导轨1304滑动。
拣料手爪包括夹爪气缸1305，夹爪气缸1305外侧面设有第一输出端和第二输出端， 夹爪气缸1305控制第一输出端和第二输出端之间的开合角度，第一输出端安装有上夹紧块1306，上夹紧块1306端部设有压杆1307，第二输出端安装有下夹紧块1308，下夹紧块1308和压杆1307端部配合夹持鞋底，压杆1307穿过上夹紧块1306端部设置，且压杆1307与上夹紧块1306之间设有直线轴承，压杆1307远离下夹紧块1308一端设有挡环1309，朝向下夹紧块1308一端设有压块1310，压杆1307外套设有压紧弹簧1311。
载板9直接通过载板输送带2一个一个排列在操作台1201旁，鞋底通过鞋底自动分拣装置13分配至对应的操作台1201，操作台1201的操作人员人工将鞋底贴合在对应的鞋楦上的鞋帮上；
分拣装置通过夹爪气缸1305控制压杆1307和下夹紧块1308由鞋底输送带1末端夹持鞋底，并通过控制拣料手爪位置将拣料手爪调节至对应的鞋底导板1302上方，之后夹爪气缸1305松开，鞋底掉落至鞋底导板1302上被导向至操作台1201；
由于鞋底厚度不一，而夹爪气缸1305的行程是固定的，因此为了避免压坏较厚的鞋底以及避免夹不住较薄的鞋底，将压杆1307设置为可移动模式，压杆1307外套设有压紧弹簧1311，控制压杆1307的长度能够满足较薄鞋底的夹持要求，在夹持较厚的鞋底时，压杆1307会在反作用力作用下朝远离鞋底一侧滑动，避免压坏鞋底，同时压紧弹簧1311的作用力作用在鞋底上保证鞋底被压紧。
如图1至图4和图20所示，压底工位设置有转运机械手14、鞋楦取放料装置16、鞋楦固定装置15和压底机24。
转运机械手14将载板输送带2上载板9上的鞋楦转运至鞋楦取放料装置16，转运机械手14为7轴手腕机械手，具体型号为MR35/50。
鞋楦固定装置15包括套设固定在压底机24作用端上的安装板1501，安装板1501下方通过连接柱1503连接有固定板1502，连接柱1503底端与固定板1502固定，顶端穿过安装板1501后设有挡块1504，连接柱1503上套设有弹簧1505，固定板1502上开设有与鞋楦连接块8上卡槽802匹配的滑槽1506，固定板1502上设有用于感应鞋楦的鞋楦传感器1507，鞋楦传感器1507的具体型号为GX-F15A，鞋楦传感器1507与压底机24电连接，且鞋楦传感器1507检测到鞋楦后控制压底机24工作，压底机24的具体型号为710EU。
鞋楦取放料装置16包括设置在压底机24两侧的底座1601，底座1601上安装有可沿X、Y、Z三向移动的鞋楦放料气缸1605，鞋楦放料气缸1605将鞋楦夹持移动至固定板1502的滑槽1506内。
底座1601上设有与滑槽1506同向的鞋楦Y轴导轨1603，鞋楦Y轴导轨1603上通过电机控制滑动有鞋楦X轴导轨1602，鞋楦X轴导轨1602上通过电机控制滑动有鞋楦Z轴 导轨1604，鞋楦放料气缸1605安装在鞋楦Z轴导轨1604上滑动。
压底工位采用全自动化操作，当载板9到达工位时，转运机械手14将载板9上的鞋楦转运至鞋楦放料气缸1605上，鞋楦放料气缸1605通过沿X、Y、Z三向移动，将鞋楦的卡槽802沿滑槽1506滑入固定板1502上固定，在具体设置时通过X、Y、Z三个导轨来配合实现鞋楦放料气缸1605的位置控制；
由于鞋子高度不一，而压底机24的行程是固定的，将连接柱1503上端设置成活动形式，并在连接柱1503上套设弹簧1505，当鞋底贴合基座后固定板1502位置保持不变，安装板1501和压底机24作用端能够继续下压，此时弹簧1505的弹簧作用力作用在固定板1502上压紧帮面和鞋底，因此只要控制压底机24的行程满足最矮鞋子的需求，就能够适配不同高度鞋子的压底操作。
如图1至图4所示，后处理工位23设置有冷却箱2301、脱楦机2302和包装台2303，经过压底后的鞋子经过冷却箱2301冷却，避免开胶，之后经过脱楦机2302脱去鞋楦，鞋子在包装台2303包装，鞋楦放置在载板9上经过载板输送带2的转弯段回到帮面预处理工位22。
本实施例中鞋底输送带1设置在鞋帮输送带上方或下方，帮面前烘烤工位和鞋底前烘烤工位设置有前双层烤箱17，帮面后烘烤工位和鞋底后烘烤工位设有后双层烤箱18，鞋底输送带1和鞋帮输送带层叠设置经过前双层烤箱17和后双层烤箱18，鞋底和鞋帮同步进行前烘烤和后烘烤，减少设备需求和占地空间。
本实施例的具体工作过程如下：
鞋底输送带1过程：
1、鞋底转运装置4将一双鞋底由鞋底立体仓库取出并转运至鞋底输送带1上；
2、鞋底到达鞋底处理剂喷涂工位5前，鞋底被姿态调整装置7调整姿态；
3、鞋底进入鞋底处理剂喷涂工位5，第一鞋底3D扫描相机501扫描鞋底轮廓，并控制鞋底处理剂喷涂机械手502对鞋底进行处理剂喷涂；
4、鞋底进入鞋底前烘烤工位；
5、鞋底到达鞋底喷胶工位6前，鞋底被姿态调整装置7调整姿态；
6、鞋底进入鞋底喷胶工位6，第二鞋底3D扫描相机601扫描鞋底轮廓，并控制鞋底喷胶机械手602对鞋底进行喷胶；
7、鞋底进入鞋底后烘烤工位。
载板输送带2过程：
1、鞋楦安装在载板9上，沿载板输送带2输送，经过套帮机2201套帮和人工整理台 2202，钳帮工艺还需要经过钳帮烘箱2205、前帮机2203和后帮机2204进行预处理；
2、载板9到达帮面处理剂喷涂打磨工位，载板定位举升装置11将载板9定位，之后鞋楦离线分距装置10将载板9拉出载板输送带2并增大载板9上一双鞋楦的间距；之后帮面3D扫描相机20扫描帮面轮廓信息，并转化成坐标控制帮面打磨处理剂喷涂机械手19工作；
3、鞋楦离线分距装置10控制载板9复位，载板9进入前双层烤箱17；
4、载板9到达帮面喷胶工位，载板定位举升装置11将载板9定位，之后鞋楦离线分距装置10将载板9拉出载板输送带2并增大载板9上一双鞋楦的间距；之后帮面喷胶机械手21按照步骤2中帮面3D扫描相机20的扫描数据对帮面进行喷胶操作；
5、喷胶完成后，鞋楦离线分距装置10控制载板9复位，载板9进入后双层烤箱18；
6、载板9进入贴底工位12的操作台1201，被载板定位举升装置11定位；同时鞋底被鞋底自动分拣装置13分配到对应操作台1201，在操作台1201对鞋帮进行贴底操作；
7、贴底完成后，载板9到达压底工位，被载板定位举升装置11定位，转运机器人将载板9上一对鞋楦转运到鞋楦取放料装置16上，鞋楦取放料装置16将鞋楦移送到压底机24输出端的鞋楦固定装置15上固定，鞋楦传感器1507检测到鞋楦控制压底机24工作；
8、压底完成后，鞋楦取放料装置16将鞋楦取出，转运机器人将鞋楦转运到载板9上，鞋楦离开压底工位，进入冷却箱2301冷却；
9、离开冷却箱2301后，鞋楦经过脱楦机2302并被载板定位举升装置11定位，人工操作脱楦机2302脱楦，鞋楦重新放回载板9上，之后载板9经过载板输送带2回到载板预处理工位，成型的鞋子放置到包装台2303上包装成品。

Claims (10)

  1. 一种自动化制鞋生产线，其特征在于，包括：
    鞋底输送带，所述鞋底输送带依次经过鞋底取料工位、鞋底处理剂喷涂工位、鞋底前烘烤工位、鞋底喷胶工位、鞋底后烘烤工位；
    载板输送带，所述载板输送带用于输送装有鞋楦的载板，所述鞋楦上套设有鞋帮，所述载板输送带依次经过帮面预处理工位、帮面处理剂喷涂打磨工位、帮面前烘烤工位、帮面喷胶工位、帮面后烘烤工位、贴底工位、压底工位和后处理工位形成环形输送带；
    所述帮面预处理工位对鞋楦进行套帮或钳帮操作，所述贴底工位将经过所述帮面后烘烤工位的鞋帮与经过鞋底后烘烤工位的鞋底贴合，所述压底工位将经过贴底的鞋帮和鞋底压紧贴合，所述后处理工位进行冷却、脱楦和包装操作。
  2. 根据权利要求1所述的自动化制鞋生产线，其特征在于，所述鞋底取料工位设有鞋底立体料仓，所述鞋底立体料仓包括料仓框架，所述料仓框架内被分隔成若干列置物区域，所述置物区域由上至下均匀安装有仓位板，所述仓位板上设有取物缺口；所述置物区域两侧设有沿料仓框架横向滑动的限位柱，所述限位柱上安装有与所述仓位板一一对应的用于限位鞋底的限位板，若干列所述置物区域左侧的限位柱之间通过左连接杆连接，若干列置物区域右侧的限位柱之间通过右连接杆连接，所述料仓框架两侧面对称固定有固定座，所述固定座表面通过轴承安装座安装有调整螺杆，所述调整螺杆外端设有调整手轮，内端通过螺纹结构连接有调整块，所述调整块内端与所述料仓框架最外侧的所述限位柱固定；
    所述鞋底立体料仓上的鞋底通过鞋底转运装置转运至所述鞋底输送带，所述鞋底转运装置包括与所述料仓框架匹配的取料框架，所述取料框架上安装有能够沿X、Y、Z三向移动并且可旋转的取料手爪，所述取料手爪包括竖直设置的手爪安装板，所述手爪安装板一侧面安装有一对竖直的主导轨，所述主导轨上通过夹爪驱动气缸控制滑动有滑板，所述滑板由上至下均匀设有若干个竖直的上夹爪导轨，所述上夹爪导轨上滑动有上夹爪，所述滑板上设有与所述上夹爪一一对应的竖直的导杆，所述导杆上端与所述滑板固定，下端插入所述上夹爪的安装端，且导杆上套设有缓冲弹簧，所述夹爪安装板上设有与所述上夹爪匹配的下夹爪，所述下夹爪与所述取物缺口匹配，且上夹爪和下夹爪配合夹持鞋底。
  3. 根据权利要求1所述的自动化制鞋生产线，其特征在于，所述鞋底处理剂喷涂工位设置有第一鞋底3D扫描相机和鞋底处理剂喷涂机械手，所述鞋底喷胶工位设有第二鞋底3D扫描相机和鞋底喷胶机械手，所述鞋底处理剂喷涂工位和鞋底喷胶工位前的所述鞋底输送带上设有姿态调整装置，所述姿态调整装置包括固定在所述鞋底输送带下方的鞋底阻挡气缸，所述鞋底阻挡气缸输出端竖直朝上连动有挡杆，所述挡杆穿过所述鞋底输送带用于阻挡鞋底，所述鞋底输送带两侧对称设置矫正气缸，所述矫正气缸朝向被所述挡杆阻挡的 鞋底设置，且矫正气缸的输出端固定有矫正板，所述鞋底输送带下方设置有鞋底传感器，所述鞋底传感器用于检测被阻挡的鞋底，且鞋底传感器与所述矫正气缸电连接。
  4. 根据权利要求1所述的自动化制鞋生产线，其特征在于，所述鞋楦端部设有鞋楦连接块，所述载板表面两侧对称插设固定有所述鞋楦连接块，载板表面中部设置有定位杆，载板底面设有插孔，载板四角设有导向轮，所述鞋楦连接块侧面设有定位孔，端部两侧面对称设有卡槽。
  5. 根据权利要求4所述的自动化制鞋生产线，其特征在于，所述帮面处理剂喷涂打磨工位和帮面喷胶工位均设有鞋楦离线分距装置，所述鞋楦离线分距装置包括载板移送机构和夹持调距机构，所述载板移送机构包括移送支架，所述移送支架设置在所述载板输送带一侧，且移送支架上通过移送驱动气缸控制滑动有移送小车，所述移送小车上设有载板夹持气缸，所述载板夹持气缸用于夹持所述定位杆；
    所述夹持调距机构包括对称设置在所述移送支架两侧的第一升降支架，所述第一升降支架表面设有调距导轨，所述调距导轨上通过调距驱动气缸控制滑动有调距小车，所述调距小车上设有鞋楦夹持机构，所述鞋楦夹持机构包括一对夹爪以及用于控制夹爪相对运动的调距夹持气缸，所述夹爪内侧面设有与所述定位孔匹配的定位销；
    所述夹持调距机构还包括第二升降支架，所述第二升降支架位于所述调距夹持气缸下方，且第二升降支架顶面设有与所述鞋楦连接块底部匹配的加工夹紧件，所述加工夹紧件包括与所述调距导轨平行的夹紧导轨，所述夹紧导轨上通过夹紧驱动气缸控制滑动有一对夹紧立板，所述夹紧立板内侧面设有一对L形的夹紧块，所述夹紧块的内侧面设有与所述鞋楦连接块底部边角对应的夹紧面，且夹紧面上设有与所述卡槽匹配的卡块；两侧所述夹紧块之间设有卡扣机构，且两侧夹紧块配合抱紧所述鞋楦连接块，所述卡扣机构包括开设在一侧所述夹紧块端部的凹槽以及设置在另一侧夹紧块端部的凸块，所述凹槽和凸块相匹配设置。
  6. 根据权利要求4所述的自动化制鞋生产线，其特征在于，所述帮面预处理工位、帮面处理剂喷涂打磨工位、帮面喷胶工位、贴底工位和压底工位设有载板定位举升装置，所述载板定位举升装置包括顶板、底板和设置在顶板和底板间的顶升气缸和顶升导杆，所述顶板设置在所述载板输送带下方，且顶板表面设有与所述插孔匹配的插杆；所述顶板朝向所述载板行进方向一端底面固定有载板阻挡气缸，所述载板阻挡气缸输出端竖直设置连动有阻挡杆，所述阻挡杆由下穿过所述顶板用于阻挡所述载板；所述顶板表面开设有沿载板行进方向的条形通孔，所述条形通孔内固定有载板传感器，所述载板传感器用于检测所述载板位置，且载板传感器与所述载板阻挡气缸电连接。
  7. 根据权利要求1所述的自动化制鞋生产线，其特征在于，所述贴底工位设置有若干 个沿所述载板输送带输送方向设置的操作台，所述载板输送带上的载板被移送至所述操作台旁，所述鞋底输送带上的鞋底通过鞋底自动分拣装置分配至对应的所述操作台；所述鞋底自动分拣装置包括分拣框架，所述分拣框架上安装有与所述操作台一一对应的若干个鞋底导板，所述鞋底导板用于接收鞋底并将鞋底导向所述操作台，所述分拣框架上设有位于所述鞋底导板端部上方的拣料手爪，所述拣料手爪能够沿所述载板输送带输送方向和竖直方向运动，且拣料手爪将所述鞋底输送带上的鞋底运输至所述鞋底导板端部上方放料；所述拣料手爪包括夹爪气缸，所述夹爪气缸外侧面设有第一输出端和第二输出端，所述夹爪气缸控制所述第一输出端和第二输出端之间的开合角度，所述第一输出端安装有上夹紧块，所述上夹紧块端部设有压杆，所述第二输出端安装有下夹紧块，所述下夹紧块和所述压杆端部配合夹持鞋底，所述压杆穿过所述上夹紧块端部设置，且压杆与上夹紧块之间设有直线轴承，所述压杆远离所述下夹紧块一端设有挡环，朝向所述下夹紧块一端设有压块，所述压杆外套设有压紧弹簧。
  8. 根据权利要求4所述的自动化制鞋生产线，其特征在于，所述压底工位设置有转运机械手、鞋楦取放料装置、鞋楦固定装置和压底机，所述转运机械手将所述载板输送带上载板上的鞋楦转运至所述鞋楦取放料装置，所述鞋楦固定装置包括套设固定在所述压底机作用端上的安装板，所述安装板下方通过连接柱连接有固定板，所述连接柱底端与所述固定板固定，顶端穿过所述安装板后设有挡块，所述连接柱上套设有弹簧，所述固定板上开设有与所述鞋楦连接块上卡槽匹配的滑槽，所述固定板上设有用于感应所述鞋楦的鞋楦传感器，所述鞋楦传感器与所述压底机电连接，且鞋楦传感器检测到鞋楦后控制压底机工作；所述鞋楦取放料装置包括设置在所述压底机两侧的底座，所述底座上安装有可沿X、Y、Z三向移动的鞋楦放料气缸，所述鞋楦放料气缸将鞋楦夹持移动至所述固定板的滑槽内。
  9. 根据权利要求1所述的自动化制鞋生产线，其特征在于，所述鞋底输送带设置在所述鞋帮输送带上方或下方，所述帮面前烘烤工位和鞋底前烘烤工位设置有前双层烤箱，所述帮面后烘烤工位和鞋底后烘烤工位设有后双层烤箱，所述鞋底输送带和鞋帮输送带层叠设置经过所述前双层烤箱和后双层烤箱。
  10. 根据权利要求1至9任一所述的自动化制鞋生产线，其特征在于，所述帮面处理剂喷涂打磨工位设置有帮面3D扫描相机、帮面打磨处理剂喷涂机械手，所述帮面喷胶工位设置有帮面喷胶机械手，所述帮面3D扫描相机安装在所述帮面打磨处理剂喷涂机械手上，且帮面3D扫描相机动态扫描记录帮面轮廓，控制所述帮面打磨处理剂喷涂机械手和帮面喷胶机械手沿帮面轮廓工作。
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CN114589493A (zh) * 2022-02-23 2022-06-07 东阿蓝天七色建材有限公司 一种用于加工钣金的智能生产线
CN114589493B (zh) * 2022-02-23 2024-04-12 东阿蓝天七色建材有限公司 一种用于加工钣金的智能生产线
CN115055342A (zh) * 2022-06-17 2022-09-16 浙江沁园水处理科技有限公司 一种自动打胶装置
CN115177079A (zh) * 2022-07-18 2022-10-14 易麦斯智能科技(无锡)有限公司 一种基于3d视觉中段成型制鞋无人流水线控制系统
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CN115123748A (zh) * 2022-07-22 2022-09-30 东北林业大学 一种被动式门窗框加工机床用送料装置
CN115123748B (zh) * 2022-07-22 2023-07-07 东北林业大学 一种被动式门窗框加工机床用送料装置
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CN117772503A (zh) * 2024-02-26 2024-03-29 山东鑫马精密传动有限公司 用于传动轴表面防锈处理的喷漆装置
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