CN101214098B - Five-freedom shoemaking automatically grinding glue-spraying processing device - Google Patents
Five-freedom shoemaking automatically grinding glue-spraying processing device Download PDFInfo
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- CN101214098B CN101214098B CN2008100590395A CN200810059039A CN101214098B CN 101214098 B CN101214098 B CN 101214098B CN 2008100590395 A CN2008100590395 A CN 2008100590395A CN 200810059039 A CN200810059039 A CN 200810059039A CN 101214098 B CN101214098 B CN 101214098B
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- servo motor
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- 238000005507 spraying Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 239000007921 spray Substances 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 27
- 238000005498 polishing Methods 0.000 claims description 19
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims 1
- 239000003292 glue Substances 0.000 description 5
- 238000004026 adhesive bonding Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013499 data model Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
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- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
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Abstract
The invention discloses a shoemaking automatic buffing and gel spraying processing device with five degrees of freedom, which is realized mainly through a mobile mechanism and a rotation mechanism. The mobile mechanism can control the movement of a work piece at three space orthogonal positions. A buffing head mechanism or a gel spraying mechanism is respectively connected with an arm swinging binding part. The rotation of a swing arm and a buffing head box or a spray gun is respectively driven through an AC servo motor, which leads to that the buffing plate or the spray gun can swing along two orthogonal directions to realize the posture regulation of the buffing plate or the spray gun. A three-phase asynchronous motor drives the buffing plate to rotate at a high speed through a flexible shaft to realize the buffing work. The automatic buffing and the gel spraying work can be respectively realized through different connections of the buffing head mechanism or the gel spraying mechanism with the arm swinging combining part.
Description
Technical field
The present invention relates to Machine Manufacturing Technology, especially relate to a kind of five-freedom shoemaking automatically grinding glue-spraying processing device.
Background technology
Polishing and spray-bonding craft are that the amount of labour used is maximum in the shoemaking process, maximum twice critical process consuming time, and they have determined the bonding intensity of upper of a shoe with sole jointly, directly influence the quality and the class of shoes.Polishing and gluing have handwork and robot manipulating task dual mode in the shoemaking work at present, mainly based on handwork.Manual operations production efficiency is low, quality is unstable.In addition, the system shoes-used glue comprises solvent type adhesive, and this glue contains toxic component, and operator's health is produced harm greatly.The robot manipulating task mode mainly adopts the general-purpose industrial robot to realize polishing and the action of spray glue, robot cost height, and inefficiency can only be used for high-end shoemaking, is difficult to large-scale promotion application.
Summary of the invention
The purpose of this invention is to provide a kind of five-freedom shoemaking automatically grinding glue-spraying processing device,, sole is carried out automatically grinding and spray glue according to known shoe tree data model.
The technical solution used in the present invention is by travel mechanism and rotating mechanism realization, wherein:
1) travel mechanism: comprise X, Y, three groups of transmission mechanisms that move of Z direction, wherein the transmission mechanism that moves of Y direction is made up of a ***ine thick stick slide block, the first ball-screw conjunction is installed on the frame by the spacer conjunction, by first AC servo machinery driving, the first ***ine thick stick; The screw pair transmission that gear pair that the transmission mechanism that the Z direction moves is made up of a pair of big or small gear and nut and screw rod are formed constitutes, second AC servo motor is installed on the stand by motor mounting plate, stand is fixed on first slide block of first group of ball-screw, pinion is installed in the second AC servo motor output, nut and gear wheel are fixed, the bearing block installing plate is installed in the upper end of stand, linear bearing is equipped with at bearing block installing plate two ends, the screw rod upper end is fixed with connecting plate, the axis of guide is equipped with at the connecting plate two ends, and first contiguous block is housed on the connecting plate; The transmission mechanism that directions X moves is made up of another ***ine thick stick slide block, the second ball-screw conjunction is installed in first contiguous block upper end, by the 3rd AC servo machinery driving silk second ***ine thick stick, shoes are installed on second slide block of second group of ball-screw by anchor clamps;
2) rotating mechanism: the first belt wheel and first small pulley are installed in the wallboard outside, two swing arms are installed in the inboard of wallboard, wherein a swing arm is installed on the axle, the 4th AC servo machinery driving first small pulley, by the rotation of band transmission realization axle, grinding head mechanism or glue-spraying mechanism are installed on the swing arm conjunction.
Described grinding head mechanism is made of two rotational freedoms, first rotational freedom is realized by the second belt wheel group transmission, on the 5th AC servo motor is installed and is present, the 5th AC servo machinery driving second small pulley, realize the motion of second largest belt wheel by the band transmission, positive stop is installed on the second largest belt wheel, and positive stop blocks the 3rd slide block makes the 3rd slide block rotate with second largest belt wheel, and casing is connected with the 3rd slide block by adpting flange; Second rotational freedom realized by gear drive, threephase asynchronous machine is installed on the wallboard conjunction by motor cabinet, power by threephase asynchronous machine output is rotated by flexible axle driving-belt movable gear shaft, rotate through a pair of gear drive in the casing and bevel-gear sett driving-belt moving axis, the polishing sheet is installed on the axle, and whole grinding head mechanism is installed on the swing arm conjunction by the polishing headstock.
The rotation of described glue-spraying mechanism spray is made up of gear drive, and the 6th AC servo motor rotates by driving bevel-gear sett driven gear axle, and spray gun links to each other with gear shaft by second contiguous block, and whole glue-spraying mechanism is installed on the swing arm conjunction by Connection Block.
The beneficial effect that the present invention has is:
The invention provides five-freedom shoemaking automatically grinding glue-spraying processing device, wherein three is moving sets, and two is revolute pair.Grinding head or spray gun are connected with the swing arm conjunction respectively, rotate around axis with swing arm, by synchronous band transmission, grinding head are rotated around axis, thereby adjust the attitude of grinding head.Because grinding head is connected in the swing arm, swing arm is to rotate around axis, thereby when attitude was certain, the residing position of grinding head was also just certain, by adjusting the position of following moving sets, polish or gluing just can for some definite positions accurately.
Description of drawings
Fig. 1 is five-freedom shoemaking automatic glue-spraying polishing processing unit (plant) three dimensional design figure.
Fig. 2 is the partial sectional view of the installation of the big belt wheel shown in the A and wallboard among Fig. 1, swing arm.
Fig. 3 is the graphics of the travel mechanism shown in the B among Fig. 1.
Fig. 4 is the graphics at another visual angle of the travel mechanism shown in the B among Fig. 1.
Fig. 5 is the part partial sectional view of the travel mechanism shown in Fig. 3,4.
Fig. 6 is to be the cutaway view of hatching with A-A among Fig. 5.
Fig. 7 is the graphics of the grinding head mechanism shown in the C among Fig. 1.
Fig. 8 is the graphics at another visual angle of the grinding head mechanism shown in the C among Fig. 1.
Fig. 9 is the cutaway view of the flexible axle joint portion of workpiece polishing mechanism among Fig. 7,8.
Figure 10 is the seat of workpiece polishing mechanism among Fig. 7,8 and the partial sectional view of belt wheel transmission mechanism.
Figure 11 is the partial sectional view of the casing part of workpiece polishing mechanism among Fig. 7,8.
Figure 12 is the graphics of the threephase asynchronous machine shown in the C and installing component thereof among Fig. 1.
Figure 13 is the graphics of five-freedom shoemaking automatic glue-spraying polishing processing unit (plant) glue-spraying mechanism.
Among the figure: 1, big belt wheel, 2, small pulley, 3, wallboard, 4, the wallboard conjunction, 5, swing arm, 6, AC servo motor, 7, flexible axle, 8, the swing arm conjunction, 9, the spacer conjunction, 10, axle, 11, AC servo motor, 12, the ball-screw conjunction, 13, slide block, 14, stand, 15, pinion, 16, AC servo motor, 17, the ball-screw conjunction, 18, slide block, 19, AC servo motor, 20, the axis of guide, 21, linear bearing, 22, connecting plate, 23, contiguous block, 24, axis of guide fixed block, 25, bearing plate, 26, gear wheel, 27, nut, 28, screw rod, 29, gear shaft, 30, positive stop, 31, casing, 32, the polishing headstock, 33, AC servo motor, 34, adpting flange, 35, the polishing sheet, 36, big belt wheel, 37, small pulley, 38, slide block, 39, axle, 40, threephase asynchronous machine, 41, spray gun, 42, contiguous block, 43, gear shaft, 44, bevel gear, 45, bevel gear, 46, Connection Block, 47, AC servo motor.
The specific embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
The present invention includes travel mechanism and rotating mechanism;
As Fig. 1, Fig. 3, Fig. 4, Fig. 5, shown in Figure 6, travel mechanism comprises X, Y, three groups of transmission mechanisms that move of Z direction, wherein the transmission mechanism that moves of Y direction is made up of a ***ine thick stick slide block, the first ball-screw conjunction 12 is installed on the frame by spacer conjunction 9, drive the first ***ine thick stick by first AC servo motor 11, realize being installed in moving of the Y of mechanism direction on the slide block 13 of the first ball-screw conjunction 12; The transmission mechanism that the Z direction moves is by a pair of big pinion 26, the screw pair transmission that 15 gear pairs of forming and nut 27 and screw rod 28 are formed constitutes, second AC servo motor 16 is installed on the stand 14 by motor mounting plate, stand 14 is fixed on first slide block 13 of first group of ball-screw, pinion 15 is installed in second AC servo motor, 16 outputs, nut 27 is fixing with gear wheel 26, bearing block installing plate 25 is installed in the upper end of stand 14, linear bearing 21 is equipped with at bearing block installing plate 25 two ends, screw rod 28 upper ends and connecting plate 22 are fixed, the axis of guide 20 is equipped with at connecting plate 22 two ends, the axis of guide 20 is fixed on the connecting plate 22 by axis of guide fixed block 24, first contiguous block 23 is housed on the connecting plate 22, finally when second AC servo motor, 16 driving pinions 15 rotate, drive the rotation of nut 27 by the rotation of gear wheel 26, the engagement of nut 27 and screw rod 28 realizes moving of Z direction, thereby drives the second ball-screw conjunction 17 the moving in the Z direction that connecting plate 22 reaches and connecting plate 22 fixes; The transmission mechanism that directions X moves is made up of another ***ine thick stick slide block, the second ball-screw conjunction 17 is installed in first contiguous block, 23 upper ends, drive silk second ***ine thick sticks by the 3rd AC servo motor 19, drive the shoes workpiece that is installed on second slide block 18 of second group of ball-screw by anchor clamps and move at directions X.
As shown in Figure 1 and Figure 2: the first belt wheel 1 and first small pulley 2 are installed in wallboard 3 outsides, two swing arms 5 are installed in the inboard of wallboard 3, wherein a swing arm 5 is installed on the axle 10, the 4th AC servo motor 6 drives first small pulley 2, realize the rotation of axle 10 by the band transmission, thereby realize the axis rotation of swing arm 5 around axle 10, grinding head mechanism or glue-spraying mechanism are installed on the swing arm conjunction 8.
As Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, shown in Figure 12, when installing grinding head mechanism, can realize the function of polishing, whole grinding head mechanism is installed on the swing arm conjunction 8 by polishing headstock 32, grinding head mechanism is made of two rotational freedoms, first rotational freedom is realized by the second belt wheel group transmission, the 5th AC servo motor 33 is installed on present 32, the 5th AC servo motor 33 drives second small pulley 37, realize the motion of second largest belt wheel 36 by the band transmission, positive stop 30 is installed on the second largest belt wheel 36, positive stop 30 is lived the 3rd slide block 38 makes the 3rd slide block 38 rotate with second largest belt wheel 36, casing 31 is connected with the 3rd slide block 38 by adpting flange 34, thereby the rotation of the 5th AC servo motor 33 is converted into the rotation of casing 31; Second rotational freedom realized by gear drive, threephase asynchronous machine 40 is installed on the wallboard conjunction 4 by motor cabinet, power by threephase asynchronous machine 40 outputs is rotated by flexible axle 7 driving-belt movable gear shafts 29, rotate through a pair of gear drive in the casing 31 and bevel-gear sett driving-belt moving axis 39, polishing sheet 35 is installed on the axle 39, thus the continuous rotation of the sheet of can polishing.
As shown in figure 13, when installing glue-spraying mechanism, can realize spraying the glue function, whole glue-spraying mechanism is installed on the swing arm conjunction 8 by Connection Block 46, the 6th AC servo motor 47 rotates by driving bevel- gear sett 44,45 driven gear axles 43, spray gun 41 links to each other with gear shaft 43 by second contiguous block 42, thereby realizes the rotation of spray gun around gear shaft 43 axis.
Claims (1)
1. a five-freedom shoemaking automatically grinding glue-spraying processing device is characterized in that comprising travel mechanism and rotating mechanism;
1) travel mechanism: comprise X, Y, three groups of transmission mechanisms that move of Z direction, wherein the transmission mechanism that moves of Y direction is made up of a ***ine thick stick slide block, first group of ball-screw conjunction (12) is installed on the frame by spacer conjunction (9), drives first group of ball-screw by first AC servo motor (11); The transmission mechanism that the Z direction moves is by a pair of big pinion (26,15) the screw pair transmission of gear pair of Zu Chenging and nut (27) and screw rod (28) composition constitutes, second AC servo motor (16) is installed on the stand (14) by motor mounting plate, stand (14) is fixed on first slide block (13) of first group of ball-screw, pinion (15) is installed in second AC servo motor (16) output, nut (27) is fixing with gear wheel (26), bearing block installing plate (25) is installed in the upper end of stand (14), linear bearing (21) is equipped with at bearing block installing plate (25) two ends, screw rod (28) upper end is fixing with connecting plate (22), the axis of guide (20) is equipped with at connecting plate (22) two ends, and first contiguous block (23) is housed on the connecting plate (22); The transmission mechanism that directions X moves is made up of another ***ine thick stick slide block, second group of ball-screw conjunction (17) is installed in first contiguous block (23) upper end, drive second group of ball-screw by the 3rd AC servo motor (19), shoes are installed on second slide block (18) of second group of ball-screw by anchor clamps;
2) rotating mechanism: first belt wheel (1) and first small pulley (2) are installed in wallboard (3) outside, two swing arms (5) are installed in the inboard of wallboard (3), wherein a swing arm (5) is installed on first (10), the 4th AC servo motor (6) drives first small pulley (2), realize the rotation of first (10) by the band transmission, grinding head mechanism or glue-spraying mechanism are installed on the swing arm conjunction (8);
Described grinding head mechanism is made of two rotational freedoms, first rotational freedom is realized by the second belt wheel group transmission, the 5th AC servo motor (33) is installed on the polishing headstock (32), the 5th AC servo motor (33) drives second small pulley (37), realize the motion of second largest belt wheel (36) by the band transmission, positive stop (30) is installed on the second largest belt wheel (36), positive stop (30) blocks the 3rd slide block (38) makes the 3rd slide block (38) rotate with second largest belt wheel (36), and casing (31) is connected with the 3rd slide block (38) by adpting flange (34); Second rotational freedom realized by gear drive, threephase asynchronous machine (40) is installed on the wallboard conjunction (4) by motor cabinet, power by threephase asynchronous machine (40) output is rotated by flexible axle (7) driving-belt movable gear shaft (29), drive second (39) rotation through a pair of gear drive in the casing (31) and bevel-gear sett transmission, polishing sheet (35) is installed on second (39), and whole grinding head mechanism is installed on the swing arm conjunction (8) by the headstock (32) of polishing;
The rotation of described glue-spraying mechanism spray gun is made up of gear drive, the 6th AC servo motor (47) rotates by driving bevel-gear sett (44,45) driven gear axles (43), spray gun (41) links to each other with gear shaft (43) by second contiguous block (42), and whole glue-spraying mechanism is installed on the swing arm conjunction (8) by Connection Block (46).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100590395A CN101214098B (en) | 2008-01-07 | 2008-01-07 | Five-freedom shoemaking automatically grinding glue-spraying processing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100590395A CN101214098B (en) | 2008-01-07 | 2008-01-07 | Five-freedom shoemaking automatically grinding glue-spraying processing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101214098A CN101214098A (en) | 2008-07-09 |
| CN101214098B true CN101214098B (en) | 2010-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100590395A Expired - Fee Related CN101214098B (en) | 2008-01-07 | 2008-01-07 | Five-freedom shoemaking automatically grinding glue-spraying processing device |
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| CN101822447A (en) * | 2009-03-04 | 2010-09-08 | 魏巧国 | Latexing machine for edgefolds of leather shoe upper |
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| CN103535994A (en) * | 2013-10-11 | 2014-01-29 | 叶克光 | Full-automatic shoe upper polishing/glue spraying machine |
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| ITUB20160801A1 (en) * | 2016-02-16 | 2017-08-16 | Lea S R L | Method, device and machine for processing shoes |
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2008
- 2008-01-07 CN CN2008100590395A patent/CN101214098B/en not_active Expired - Fee Related
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| CN101214098A (en) | 2008-07-09 |
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