CN110788714A

CN110788714A - Sole polishing robot and sole polishing system

Info

Publication number: CN110788714A
Application number: CN201910987730.8A
Authority: CN
Inventors: 林友诚
Original assignee: Fujian Robot Intelligent Technology Co Ltd
Current assignee: Fujian Robot Intelligent Technology Co Ltd
Priority date: 2019-10-17
Filing date: 2019-10-17
Publication date: 2020-02-14

Abstract

The invention discloses a sole polishing robot and a sole polishing system, relating to the field of sole polishing equipment, wherein the sole polishing robot comprises: four-axis board, sole clamping device, sole conveyer, sole loading attachment and controlling means of polishing, four-axis board setting of polishing is on sole conveyer, and sole clamping device sets up between four-axis board and the sole conveyer of polishing, and sole loading attachment connects in sole conveyer's one end, and controlling means is connected with four-axis board, sole clamping device, sole conveyer and sole loading attachment electricity respectively. By adopting the technical scheme, owing to be provided with four-axis polishing board, sole clamping device, sole conveyer, sole loading attachment and controlling means, realize full-automatic process of polishing, liberated the labour, polish board and sole clamping device's cooperation through the four-axis and realize the accurate of sole and polish, increase the efficiency of polishing, polish effectually.

Description

Sole polishing robot and sole polishing system

Technical Field

The invention relates to the field of sole polishing equipment, in particular to a sole polishing robot and a sole polishing system.

Background

In the current social life, along with the improvement of the living standard of people, the requirement on clothes is higher and higher, such as shoes worn in ordinary life. In order to enable the shoes to achieve good three-dimensional effect and look high-grade, the inner sides of the upper edges of the soles are required to be polished, glue is sprayed on the soles after polishing, and the vamps and the soles have better adhesion.

At present, the mode of mainly adopting the manual polishing of emery wheel to polish along inboard on the sole, but the size of polishing of this kind of mode sole is difficult to be held unanimously, often can appear the inconsistent condition of whole shoes edge size of beating, and the disability rate is higher and polish inefficiency.

In view of the above-mentioned drawbacks, a sole grinding machine has been developed in the prior art to grind soles. However, the existing sole grinding machine needs manual assistance for processing, large dust caused by the manual assistance has great influence on human health, the labor intensity of manual assistance for processing is high, and the quality cannot be well guaranteed. The automatic polishing of the sole through the manipulator can well solve most problems caused by manual processing, but is not suitable for popularization of automatic polishing of the sole due to high manufacturing cost.

Disclosure of Invention

The invention aims to provide a sole polishing robot and a sole polishing system, and solves the technical problems that in the prior art, a sole polishing machine cannot achieve full-automatic polishing, labor is liberated, polishing efficiency is low, and quality is not high.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a sole buffing robot comprising: four-axis board, sole clamping device, sole conveyer, sole loading attachment and controlling means of polishing, the four-axis board setting of polishing is in on the sole conveyer, sole clamping device sets up the four-axis board of polishing with between the sole conveyer, sole loading attachment connects sole conveyer's one end, controlling means respectively with the four-axis board of polishing sole clamping device, sole conveyer with the sole loading attachment electricity is connected, controls the four-axis board of polishing sole clamping device, sole conveyer with sole loading attachment carries out the sole and polishes.

Wherein, be provided with multiunit sensor on sole conveyer, the sensor with the controlling means electricity is connected.

The shoe sole conveying device is further provided with a dust removal device, and the dust removal device is used for removing polishing dust on the shoe sole conveying device and the four-axis polishing machine table.

The shoe sole conveying device comprises a shoe sole conveying device, and is characterized by further comprising a shoe sole grabbing device, wherein the shoe sole grabbing device is arranged on the shoe sole conveying device, and the shoe sole grabbing device grabs the shoe sole from the shoe sole feeding device onto the shoe sole conveying device.

Wherein, still include hand wheel adjusting device, hand wheel adjusting device with the controlling means electricity is connected, through hand wheel adjusting device is used for adjusting the track point of polishing of four-axis machine of polishing.

Wherein, be provided with long-life head of polishing on the four-axis bench of polishing.

A sole buffing system comprising: the shoe sole polishing machine comprises a shoe sole feeding device, a shoe sole conveying device, a shoe sole clamping device, a four-axis polisher platform and a four-axis polisher platform, wherein the shoe sole feeding device is arranged on a shoe sole feeding device, the shoe sole is moved to the shoe sole conveying device from the feeding device, the shoe sole conveying device conveys the shoe sole to the shoe sole clamping device, the shoe sole clamping device fixes and clamps the shoe sole, and the.

Wherein, still automatic grinding orbit that produces before four-axis polisher platform polishes the sole.

Specifically, the grinding track is corrected by using a hand wheel adjusting device after the grinding track is generated.

Wherein, still carry out the suction to the powder dirt of polishing when four-axis polisher platform is polished the sole.

By adopting the technical scheme, owing to be provided with four-axis polishing board, sole clamping device, sole conveyer, sole loading attachment and controlling means, through controlling means, sole loading attachment, sole conveyer's the full-automatic process of polishing of mutually supporting realization, the labour has been liberated, polishes the accurate of board and sole clamping device's cooperation realization sole through the four-axis and polishes, increases the efficiency of polishing, and it is effectual to polish.

Drawings

FIG. 1 is a schematic structural view of a sole buffing robot of the present invention;

FIG. 2A is a schematic view of a sole loading apparatus according to the present invention;

FIG. 2B is a side view of a sole loading apparatus of the present invention;

FIG. 3 is a schematic view of the structure of the sole conveyor of the present invention;

FIG. 4A is a schematic view of the installation position of the sole clamping device of the present invention;

FIG. 4B is a schematic view of the sole clamping device of the present invention;

FIG. 4C is a schematic view of the sole clamping device of the present invention;

FIG. 5 is a schematic structural view of a four-axis grinding machine of the present invention;

FIG. 6A is a schematic structural view of a dust removing apparatus according to the present invention;

FIG. 6B is a side view of the dust removing device of the present invention;

FIG. 7 is a schematic view of the construction of the sole gripping means of the present invention;

FIG. 8 is a schematic view of the assembly of the sole gripping device of the present invention;

FIG. 9 is a schematic view of a suction cup type gripping device according to the present invention;

fig. 10 is a schematic structural view of a long life sanding head according to the present invention.

In the figure, 100-four-axis grinding machine table, 110-four-axis linkage position adjusting mechanism, 111-X axis servo motor, 112-Z axis brushless DC motor, 113-Y axis servo motor, 114-servo motor, 120-grinding device, 130-routing device, 200-sole clamping device, 210-first air cylinder bracket, 220-fixing bracket, 230-first air cylinder, 240-first push rod, 250-first clamp installation groove, 260-second clamp installation groove, 270-first sole clamp, 271-first installation hole, 272-second installation hole, 280-second sole clamp, 281-third installation hole, 282-fourth installation hole, 300-sole conveying device, 310-machine table, 320-main conveying belt, 330-first baffle plate, 332-first baffle rail, 340-second baffle, 342-second baffle rail, 351-first sensor, 352-second sensor, 353-third sensor, 354-fourth sensor, 355-fifth sensor, 400-sole feeding device, 410-frame, 420-first conveyor belt, 421-first guardrail, 422-second guardrail, 430-second conveyor belt, 431-third guardrail, 432-fourth guardrail, 440-first drive motor, 450-second drive motor, 460-pushing baffle, 470-feeding sensor, 500-control device, 600-dust removal device, 610-polishing dust removal device, 611-first dust removal cover, 612-second dust removal cover, 620-crawler dust removal device, 621-third dust removal cover, 622-crawler brush, 630-negative pressure turbine, 640-dust bag, 641-dust box, 642-dust collection funnel, 700-sole gripper, 710-manipulator support, 720-first horizontal rail, 721-pulley, 730-manipulator drive, 731-second cylinder, 732-second cylinder link, 733-third cylinder, 734-third cylinder link, 735-fourth cylinder, 736-fourth cylinder link, 740-manipulator, 741-claw body, 742-first claw piece, 7421-first claw head, 7422-first claw body, 743-second claw piece, 7431-second claw head, 7432-second claw body, 744-stretching piece, 745-tension spring, 746-claw structure, 747-spring adjustment device, 800-sucker type gripping device, 810-sucker support, 820-vacuum sucker, 831-first connecting block, 832-rotating shaft, 833-second connecting block, 841-fifth cylinder, 842-sixth cylinder, 843-sixth cylinder connecting rod, 844-seventh cylinder, 845-seventh cylinder connecting rod, 900-long-life polishing head, 910-polishing head body, 911-carborundum structure, 920-third connecting block and 921-reinforcing structure.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As a first embodiment of the present invention, there is provided a sole grinding robot, as shown in fig. 1, including: four-axis grinding machine 100, sole clamping device 200, sole conveyer 300, sole loading attachment 400 and controlling means 500, place the sole on sole loading attachment 400, sole loading attachment 400 is with sole material loading to sole conveyer 300, sole conveyer 300 conveys the sole to sole clamping device 200 position, sole clamping device 200 is with sole centre gripping, four-axis grinding machine 100 carries out the orbit grinding to the sole of centre gripping, controlling means 500 controls sole material loading of sole loading attachment 400, controls sole conveyer 300's sole conveying, controls sole centre gripping of sole clamping device 200 and controls the sole of four-axis grinding machine 100 to polish respectively.

As shown in fig. 2A and 2B, the sole feeding device 400 includes a frame 410, two belts are disposed on the frame 410, a first belt 420 and a second belt 430 are disposed side by side, a first driving motor 440 is connected to the first belt 420, and the first belt 420 is driven by the first driving motor 440 to operate; a second driving motor 450 is connected to the second conveyor belt 430, and the second conveyor belt 430 is driven to run by the second driving motor 450. A pair of feeding sensors 470 is arranged at the tail end of the conveyor belt on the frame 410, the feeding sensors 470 are connected with the control device 500, the feeding sensors 470, the first driving motor 440 and the second driving motor 450 are respectively connected with the control device 500, and the feeding sensors 470 send signals to the control device 500 to control the start and stop of the first driving motor 440 and the second driving motor 450. One skilled in the art will appreciate that the loading sensor 470 may be one of an ultrasonic sensor and an infrared sensor, and in this embodiment, the loading sensor 470 is an infrared sensor.

When the shoe sole feeding device is used, when the feeding sensor 470 detects that the shoe sole is not shielded, a signal is sent to the control device 500, the control device 500 controls the first driving motor 440 or the second driving motor 450 to start, the first driving motor 440 or the second driving motor 450 drives the first conveyor belt 420 or the second conveyor belt 430 to run, a shoe sole arranged on the first conveyor belt 420 or the second conveyor belt 430 moves forwards until the shoe sole shields the space between the feeding sensors 470, at this time, the feeding sensor 470 sends a signal to the control device 500, the control device 500 controls the first driving motor 440 or the second driving motor 450 to stop running, and the first conveyor belt 420 or the second conveyor belt 430 stops.

As shown in fig. 2A and fig. 2B, a first guardrail 421 and a second guardrail 422 capable of placing soles for the gripping device to perform ordered feeding are respectively disposed on two sides of the first conveyor belt 420, the first guardrail 421 is movably connected with the frame 410, the second guardrail 422 is fixedly connected with the frame 410, and soles of various types can be placed between the first guardrail 421 and the second guardrail 422 by adjusting the relative position between the first guardrail 421 and the frame 410; the third guardrail 431 and the fourth guardrail 432 which can place soles for the grabbing device to perform ordered feeding are arranged on two sides of the second conveyor belt 430 respectively, the third guardrail 431 is fixedly connected with the rack 410, the fourth guardrail 432 is movably connected with the rack 410, and the soles of various models can be placed between the third guardrail 431 and the fourth guardrail 432 by adjusting the relative position between the fourth guardrail 432 and the rack 410. By orienting the movably connected guardrails to the outside of the frame 410, the width between the guardrails can be conveniently adjusted.

And a material pushing baffle 460 is arranged between the first guardrail 421 and the second guardrail 422 of the first conveyor belt 420 and between the third guardrail 431 and the fourth guardrail 432 of the second conveyor belt 430, and the material pushing baffle 460 runs synchronously with the first conveyor belt 420 or the second conveyor belt 430, so that the soles are vertically placed on the first conveyor belt 420 or the second conveyor belt 430 and advance orderly.

When the shoe soles are placed on the shoe sole feeding device 400, the material pushing baffle 460 is moved to the tail ends of the conveyor belts of the first conveyor belt 420 and the second conveyor belt 430, the shoe soles are placed on the material pushing baffle 460 in order, and the first conveyor belt 420 and the second conveyor belt 430 drive the shoe soles to move towards the shoe sole conveyor 300.

As shown in fig. 3, the sole conveying device 300 includes a machine table 310, a main conveyor 320 is disposed on the machine table 310, one end of the main conveyor 320 is connected to the sole feeding device 400, the other end of the main conveyor 320 is connected to the blanking machine table, a first baffle 330 and a second baffle 340 are sequentially disposed on the main conveyor 320 along the conveyor running direction, the first baffle 330 is connected to a first baffle driver (not shown in the figure), the first baffle 330 is disposed on a first baffle rail 332, and the first baffle driver drives the first baffle 330 to reciprocate on the first baffle rail 332; the second baffle 340 is connected with a second baffle driver, the second baffle 340 is arranged on a second baffle rail 342, and the second baffle driver drives the second baffle 340 to reciprocate on the second baffle rail 342, so that the sole is blocked on the main conveyor belt 320. A sole clamping device 200 is arranged between the first baffle 330 and the second baffle 340, and the four-axis polishing machine 100 is arranged above the sole clamping device 200.

5 groups of sensors are sequentially arranged on the machine table 310, and the 5 groups of sensors are a first sensor 351, a second sensor 352, a third sensor 353, a fourth sensor 354 and a fifth sensor 355 in sequence along the running direction of the conveyor belt; the third sensor 353 is connected with the control device 500, the control device 500 is used for controlling the lifting of the first baffle 330, the fifth sensor 355 is connected with the control device 500, the control device 500 is used for controlling the lifting of the second baffle 340, the fourth sensor 354 is connected with the control device 500, the control device 500 is used for controlling the sole clamping device 200, the second sensor 352 is connected with the control device 500, and the control device 500 and the fourth sensor 354 are matched for controlling the stopping of the conveying belt and the starting and stopping of the four-axis grinding machine table 100.

An aggregate chute is provided on the main conveyor 320 before the first baffle 330, and guides the shoe soles on the main conveyor 320. So that the shoe sole is better clamped at the shoe sole clamping device 200.

As shown in fig. 4A, 4B and 4C, the shoe sole clamping device 200 includes a first cylinder bracket 210 and a fixing bracket 220 provided on a machine table 310, a first cylinder 230 is provided on the first cylinder bracket 210, the first cylinder 230 is connected to a first push rod 240, a first jig installation groove 250 is provided at a distal end of the first push rod 240, a second jig installation groove 260 is provided on the fixing bracket 220, the first jig installation groove 250 and the second jig installation groove 260 are oppositely provided, a first shoe sole clamp 270 is installed on the first jig installation groove 250, a second shoe sole clamp 280 is installed on the second jig installation groove 260, the first shoe sole clamp 270 and the second shoe clamp 280 are fittingly engaged, a first installation hole 271 and a second installation hole 272 are provided at one side of the first shoe sole clamp 270, the first shoe clamp 270 is fixed on the first jig installation groove 250 through the first installation hole 271 and the second installation hole 272, a standard block is provided at the positions of the first and second mounting holes 271 and 272, and a lateral groove is provided at the bottom of the standard block, through which the first outsole clip 270 can be fixed to the first clip mounting groove 250, and defines the relative position between the first outsole clip 270 and the first clip mounting groove 250. Internal threads are provided in the first and second mounting

holes

271 and 272, and the first sole jig 270 is threadedly fixed to the first jig mounting groove 250 by bolts passing through the first and second mounting

holes

271 and 272; a third mounting hole 281 and a fourth mounting hole 282 are provided at one side of the second sole jig 280, the second sole jig 280 is fixed to the second jig mounting groove 260 through the third mounting hole 281 and the fourth mounting hole 282, a standard block is provided at positions of the third mounting hole 281 and the fourth mounting hole 282, a lateral groove is provided at a bottom of the standard block, the second sole jig 280 can be fixed to the second jig mounting groove 260 through the lateral groove, and a relative position between the second sole jig 280 and the second jig mounting groove 260 is defined. Female screws are provided in the third and fourth mounting

holes

281 and 282, and the second sole jig 280 is threadedly fixed to the second jig mounting groove 260 by bolts passing through the third and fourth mounting

holes

281 and 282.

The first jig mounting groove 250 and the second jig mounting groove 260 are butted to realize mutual clamping of the first sole jig 270 and the second sole jig 280, and thus, the sole is fixed.

The first end of the first sole fixture 270 is higher than the second end of the first sole fixture 270, i.e. the height of the end of the first sole fixture 270 belonging to the toe cap is lower than the height of the end of the first sole fixture 270 belonging to the heel cap; so that the shape of the inner edge of the first sole fixture 270 is identical to the shape of the shoe mold. The first end of the second sole fixture 280 is higher than the second end of the second sole fixture 280, i.e., the height of the end of the second sole fixture 280 belonging to the toe box is lower than the height of the end of the second sole fixture 280 belonging to the tail; so that the shape of the inner edge of the second sole fixture 280 is identical to the shape of the shoe mold. Corresponding shoe sole models and identifications are polished on each pair of the first shoe sole clamp 270 and the second shoe sole clamp 280, so that the first shoe sole clamp 270 and the second shoe sole clamp 280 can be matched conveniently.

The end of the shoe tail of the first sole clamp 270 and the second sole clamp 280 is provided with a 20cm lacking block, so that when the sole is clamped by the first sole clamp 270 and the second sole clamp 280, the sole extends out of the shoe tail end, the sole can be prevented from rebounding when touching the clamp body, and the detection of a sensor of the grinding machine is facilitated.

As shown in fig. 5, the four-axis polishing machine 100 includes a four-axis linkage position adjusting mechanism 110 and a polishing device 120 disposed on the four-axis linkage position adjusting mechanism 110, the four-axis linkage position adjusting mechanism 110 includes an X-axis translation mechanism, a Y-axis translation mechanism, a Z-axis translation mechanism and a rotation mechanism, the polishing device 120 is fixedly disposed on the rotation mechanism, the rotation mechanism is rotatably disposed on the Z-axis translation mechanism, and the polishing device 120 is controlled to rotate based on the X-axis direction; a first sliding shaft is arranged on the Z-axis translation mechanism, a first sliding hole matched with the first sliding shaft penetrates through the Y-axis translation mechanism, the Z-axis translation mechanism is arranged on the Y-axis translation mechanism in a sliding mode through the matching of the shaft holes, and the position of the polishing device 120 in the Z-axis direction is adjusted; a second sliding shaft is arranged on the Y-axis translation mechanism, a second sliding hole matched with the second sliding shaft penetrates through the X-axis translation mechanism, the Y-axis translation mechanism is arranged on the X-axis translation mechanism in a sliding mode through the matching of the shaft holes, and the position of the polishing device 120 in the Y-axis direction is adjusted; the X-axis translation mechanism is provided with a third sliding shaft, the workbench 1 is provided with a third sliding hole matched with the third sliding shaft, the X-axis translation mechanism is arranged on the workbench 1 in a sliding manner through the matching of the shaft hole, and the polishing device 120 is adjusted in the position in the X-axis direction. The X-axis translation mechanism comprises an X-axis screw rod, an X-axis guide rail and an X-axis servo motor 111 arranged at one end of the X-axis guide rail; the Y-axis translation mechanism comprises a Y-axis screw rod, a Y-axis guide rail and a Y-axis servo motor 113 arranged at one end of the Y-axis guide rail; the Z-axis translation mechanism comprises a Z-axis screw rod, a Z-axis guide rail and a Z-axis brushless direct current motor 112 arranged at one end of the Z-axis guide rail; the rotating mechanism comprises a servo motor 114, and the grinding device 120 is fixedly arranged on the servo motor 114.

The X-axis translation mechanism is arranged on the workbench and comprises a wiring device 130 which is arranged on the workbench and is parallel to the X-axis translation mechanism and used for wiring the X-axis translation mechanism. The electric wires in the control unit and the X-axis translation mechanism are arranged in the wiring device 130 in a sealing mode, so that the problems of exposure, disorder and winding of the electric wires are effectively solved, and the electric leakage phenomenon is prevented.

The sole is loaded to sole conveyer 300 in sole loading attachment 400, and sole conveyer 300 conveys the sole to sole clamping device 200, and sole clamping device 200 grasps the sole, and four-axis polishing board 100 polishes the sole of centre gripping, drives the unloading by sole conveyer 300 again at last.

Owing to be provided with four-axis polishing board, sole clamping device, sole conveyer, sole loading attachment and controlling means, through controlling means, sole loading attachment, sole conveyer's the full-automatic process of polishing of mutually supporting realization, liberated the labour, polish the accurate of board and sole clamping device's cooperation realization sole through the four-axis and polish, increase the efficiency of polishing, polish effectually.

Second embodiment as a preferred embodiment of the above embodiments, another sole sanding robot is proposed, including: four-axis grinding machine 100, sole clamping device 200, sole conveyer 300, sole loading attachment 400 and controlling means 500, place the sole on sole loading attachment 400, sole loading attachment 400 is with sole material loading to sole conveyer 300, sole conveyer 300 conveys the sole to sole clamping device 200 position, sole clamping device 200 is with sole centre gripping, four-axis grinding machine 100 carries out the orbit grinding to the sole of centre gripping, controlling means 500 controls sole material loading of sole loading attachment 400, controls sole conveyer 300's sole conveying, controls sole centre gripping of sole clamping device 200 and controls the sole of four-axis grinding machine 100 to polish respectively.

As shown in fig. 3, the sole conveying device 300 includes a machine table 310, a main conveyor belt 320 is disposed on the machine table 310, one end of the main conveyor belt 320 is connected to the sole feeding device 400, the other end of the main conveyor belt 320 is connected to the blanking machine table, a first baffle 330 and a second baffle 340 are sequentially disposed on the main conveyor belt 320 along the conveyor belt running direction, the first baffle 330 is connected to the first baffle driver, the first baffle 330 is disposed on a first baffle rail 332, and the first baffle driver drives the first baffle 330 to reciprocate on the first baffle rail 332; the second baffle 340 is connected with a second baffle driver, the second baffle 340 is arranged on a second baffle rail 342, and the second baffle driver drives the second baffle 340 to reciprocate on the second baffle rail 342, so that the sole is blocked on the main conveyor belt 320. A sole clamping device 200 is arranged between the first baffle 330 and the second baffle 340, and the four-axis polishing machine 100 is arranged above the sole clamping device 200.

holes

281 and 282.

As shown in fig. 6A and 6B, a dust removing device 600 is further disposed on the sole conveying device 300, and the dust removing device is used for removing polishing dust on the sole conveying device and the four-axis polishing machine. The dust removing device 600 includes: the grinding and dust removing device 610 and the crawler belt dust removing device 620 are arranged on a machine table at the edge of a mold closing clamp on a grinding machine, the crawler belt dust removing device 620 is arranged on a crawler belt of the grinding machine, wherein the grinding and dust removing device 610 comprises two oppositely arranged dust hoods, a first dust hood 611 is arranged on a first sole clamp 270 of the machine table, and a second dust hood 612 is arranged on a second sole clamp 280 of the machine table. In this embodiment, the first dust collection cover 611 and the second dust collection cover 612 respectively adopt a trapezoidal cover, and are better fitted with the sole fixture through a trapezoidal structure, so that the dust collection effect is improved. Specifically, the first dust collection cover 611 is fixedly disposed on the first sole fixture 270 by bolts, faces the inside of the first sole fixture 270, and moves following the first sole fixture 270; the second dust hood 612 is fixedly arranged on the second sole fixture 280 through bolts and faces towards the inner side of the second sole fixture 280, the second sole fixture 280 is fixedly arranged on a machine table of the grinding machine, the first sole fixture 270 moves towards the second sole fixture 280 to clamp the sole mold, and when the first sole fixture 270 moves towards the second sole fixture 280 to clamp the sole mold, the first dust hood 611 and the second dust hood 612 are opposite to a grinding head of the machine table. The first dust collection cover 611 and the second dust collection cover 612 are respectively connected with a negative pressure impeller 630, and the negative pressure impeller 630 sucks dust on the first dust collection cover 611 and the second dust collection cover 612. The negative pressure impeller 630 is connected with a dust bag 640 for containing dust, and the dust bag 640 is detachably and movably connected with the negative pressure generator, so that the subsequent treatment of the dust is facilitated.

The track dust removing device 620 comprises a third dust collecting cover 621 and a track brush 622, the third dust collecting cover 621 is arranged on the top surface of the track, the track brush 622 is arranged on the bottom surface of the track, the track brush comprises one of a fixed track brush and an electric track brush, the fixed track brush 622 is adopted as the track brush in the embodiment, the track brush 622 is reversely arranged, so that bristles of the track brush 622 face the track, a dust collecting device is arranged on the side edge of the track brush 622, the third dust collecting cover 621 is also connected with a negative pressure impeller 630, the negative pressure impeller 630 sucks dust on the third dust collecting cover 621, the dust collecting device comprises a dust collecting funnel 642 and a dust collecting box 641, the dust collecting funnel 642 is arranged on the dust collecting box 641, one side of the dust collecting funnel 642 is connected with one side of the track brush 622, and the dust brushed down by the track brush 622 completely falls into the dust collecting funnel.

Because including dust collector 610 and the track dust collector 620 of polishing, through the dust that produces when setting up first suction hood 611 and second suction hood 612 on the sole anchor clamps and polish the polisher absorb completely, the dust clean up that rethread track dust collector 620 will remain on the track for there can not be the condition of raise dust and deposition, the dust removal effect is good, increases production efficiency indirectly.

Third embodiment as a preferred embodiment of the first embodiment, another sole sanding robot is proposed, comprising: four-axis grinding machine 100, sole clamping device 200, sole conveyer 300, sole loading attachment 400 and controlling means 500, place the sole on sole loading attachment 400, sole loading attachment 400 is with sole material loading to sole conveyer 300, sole conveyer 300 conveys the sole to sole clamping device 200 position, sole clamping device 200 is with sole centre gripping, four-axis grinding machine 100 carries out the orbit grinding to the sole of centre gripping, controlling means 500 controls sole material loading of sole loading attachment 400, controls sole conveyer 300's sole conveying, controls sole centre gripping of sole clamping device 200 and controls the sole of four-axis grinding machine 100 to polish respectively.

5 groups of sensors are sequentially arranged on the machine table 310, and the 5 groups of sensors are a first sensor 351, a second sensor 352, a third sensor 353, a fourth sensor 354 and a fifth sensor 355 in sequence along the running direction of the conveyor belt; the third sensor 353 is connected with the control device 500, the control device 500 is used for controlling the lifting of the first baffle 330, the fifth sensor 355 is connected with the control device 500, the control device 500 is used for controlling the lifting of the second baffle 340, the fourth sensor 354 is connected with the control device 500, the control device 500 is used for controlling the sole clamping device 200, the second sensor 352 is connected with the control device 500, and the control device 500 and the fourth sensor 354 are matched for controlling the stopping of the conveying belt and the starting and stopping of the four-axis grinding machine table 100; the first sensor 351 is connected with the control device 500, and the control device 500 controls the sole grabbing device 700 to grab the sole on the sole feeding device 400.

holes

281 and 282.

As shown in fig. 6, a dust removing device 600 is further disposed on the sole conveying device 300, and is used for removing polishing dust on the sole conveying device and the four-axis polishing machine. The dust removing device 600 includes: the grinding and dust removing device 610 and the crawler belt dust removing device 620 are arranged on a machine table at the edge of a mold closing clamp on a grinding machine, the crawler belt dust removing device 620 is arranged on a crawler belt of the grinding machine, wherein the grinding and dust removing device 610 comprises two oppositely arranged dust hoods, a first dust hood 611 is arranged on a first sole clamp 270 of the machine table, and a second dust hood 612 is arranged on a second sole clamp 280 of the machine table. In this embodiment, the first dust collection cover 611 and the second dust collection cover 612 respectively adopt a trapezoidal cover, and are better fitted with the sole fixture through a trapezoidal structure, so that the dust collection effect is improved. Specifically, the first dust collection cover 611 is fixedly disposed on the first sole fixture 270 by bolts, faces the inside of the first sole fixture 270, and moves following the first sole fixture 270; the second dust hood 612 is fixedly arranged on the second sole fixture 280 through bolts and faces towards the inner side of the second sole fixture 280, the second sole fixture 280 is fixedly arranged on a machine table of the grinding machine, the first sole fixture 270 moves towards the second sole fixture 280 to clamp the sole mold, and when the first sole fixture 270 moves towards the second sole fixture 280 to clamp the sole mold, the first dust hood 611 and the second dust hood 612 are opposite to a grinding head of the machine table. The first dust collection cover 611 and the second dust collection cover 612 are respectively connected with a negative pressure impeller 630, and the negative pressure impeller 630 sucks dust on the first dust collection cover 611 and the second dust collection cover 612. The negative pressure impeller 630 is connected with a dust bag 640 for containing dust, and the dust bag 640 is detachably and movably connected with the negative pressure generator, so that the subsequent treatment of the dust is facilitated.

Wherein, the sole passes through sole grabbing device 700 and material loading to sole conveyer 300 in sole loading attachment 400, and sole grabbing device 700 is as shown in fig. 7, 8, includes: the manipulator support 710 is arranged on the machine table 310, a first horizontal rail 720 is arranged on the manipulator support 710, a pulley 721 is arranged on the first horizontal rail 720, the pulley 721 can reciprocate on the first horizontal rail 720, a manipulator driving device 730 and a manipulator 740 are arranged on the pulley 721, the manipulator driving device 730 is fixed on the pulley 721, the manipulator 740 is fixed on the manipulator driving device 730, the manipulator driving device 730 is a cylinder driving device, the cylinder driving devices are two groups, the second cylinder driving device is used for controlling the manipulator to grab, and the third cylinder driving device is used for controlling the manipulator to stretch.

The manipulator 740 includes a claw body 741 and claw pieces, fixing holes are symmetrically formed in the claw body 741, the first claw piece 742 is fixed in the fixing holes through bolts, the second claw piece 743 is fixed in another symmetrically-arranged fixing hole through bolts, so that the first claw piece 742 and the second claw piece 743 can swing along the fixing holes, a stretching piece 744 is arranged between the first claw piece 742 and the second claw piece 743, and the stretching piece 744 drives the rotation angles of the first claw piece 742 and the second claw piece 743. Specifically, the first claw piece 742 includes a first claw head 7421 and a first claw body 7422, the first claw body 7422 is movably disposed on the claw body 741, the first claw head 7421 extends out of the claw body 741, the first claw head 7421 is a right trapezoid, an oblique side of the right trapezoid of the first claw head 7421 faces the second claw piece 743, the second claw piece 743 includes a second claw head 7431 and a second claw body 7432, the second claw body 7432 is movably disposed on the claw body 741, the second claw head 7431 extends out of the claw body 741, the second claw head 7431 is a right trapezoid, and an oblique side of the right trapezoid of the second claw head 7431 faces the first claw piece 742. The stretching piece 744 is trapezoidal, and two sides of the trapezoid of the stretching piece 744 are respectively fitted with the first claw piece 742 and the second claw piece 743, so that when the stretching piece 744 stretches, the first claw head 7421 of the first claw piece 742 and the second claw head 7431 of the second claw piece 743 approach each other, and the clamping action is realized.

The second cylinder driving device is connected with the stretching piece 744, the second cylinder driving device comprises a second cylinder 731 and a second cylinder connecting rod 732, the second cylinder connecting rod 732 is connected with the second cylinder 731 and the stretching piece 744, and when the second cylinder 731 contracts, the second cylinder connecting rod 732 drives the stretching piece 744 to contract to realize clamping; when the second cylinder 731 extends, the stretching piece 744 retreats to the original position to realize the claw release. In order to achieve claw release more preferably, a tension spring 745 is connected to the first claw head 7421 and the second claw head 7431, and the first claw piece 742 and the second claw piece 743 are stretched when the stretching piece 744 does not apply a force to the first claw piece 742 and the second claw piece 743.

The third cylinder driving device is connected with the claw body 741, the third cylinder driving device comprises a third cylinder 733, a third cylinder connecting rod 734, a fourth cylinder 735 and a fourth cylinder connecting rod 736, the third cylinder 733 and the fourth cylinder 735 are arranged side by side and fixed on the manipulator support 710, and the third cylinder connecting rod 734 and the fourth cylinder connecting rod 736 are respectively connected with the claw body 741 to realize pushing and withdrawing of the manipulator.

The robot holder 710 is fixed to the machine table 310, the first horizontal rail 720 crosses the main conveyor 320, and the robot driving unit 730 and the robot 740 face the shoe sole feeding unit 400 so that the shoe sole gripping unit 700 can grip the shoe sole from the shoe sole feeding unit 400 onto the main conveyor 320.

Preferably, fourth cylinder 735 and fourth cylinder connecting rod 736 are provided as connecting rods to avoid rotation in one cylinder and cylinder imbalance when two cylinders are used.

As further shown in fig. 7 and 8, a claw structure 746 is disposed at the ends of the first claw piece 742 and the second claw piece 743, and a spring adjustment device 747 is connected to the claw structure 746, and the spring adjustment device 747 adjusts the claw structure 746.

The first sensor 351 detects whether the shoe sole is blocked or not, when the first sensor 351 is blocked, the control device 500 controls the shoe sole grabbing device 700 to stop moving, after the blocking object moves, the first sensor 351 detects that the blocking object moves out, the control device 500 controls the shoe sole grabbing device 700 to restart, and the shoe sole on the shoe sole feeding device 400 is grabbed.

As a preferable control method of the above control, when the first sensor 351 is shielded, the control device 500 controls the sole grasping device 700 to stop moving, after the shielding object moves, the first sensor 351 detects that the shielding object moves out, the control device 500 controls the sole grasping device 700 to restart, the sole on the sole feeding device 400 is grasped, the timer of the control device 500 is started, and after the timer reaches the threshold value, if the first sensor 351 does not detect the shielding object yet, the control device 500 controls the sole grasping device 700 and the four-axis grinding machine 100, the sole clamping device 200, the sole conveying device 300 and the sole feeding device 400 to stop.

Owing to be provided with manipulator and manipulator drive arrangement 730, carry out the material loading through the mode that snatchs to the sole through manipulator drive arrangement 730 drive manipulator, the material loading is efficient and be difficult to the card shell, is provided with first horizontal track 720 on the support, and manipulator drive arrangement 730 set up on first horizontal track 720, and manipulator drive arrangement 730 horizontal migration on first horizontal track 720, and the material loading efficiency is higher.

Fourth embodiment as another preferred embodiment of the third embodiment, on the basis of the third embodiment, the sole gripping device 700 is replaced with a suction cup type gripping device 800, as shown in fig. 9, and the suction cup type gripping device 800 includes: a sucking disc support 810, a second horizontal rail (not shown in the figure) is arranged on the sucking disc support 810, the vacuum sucking disc 820, the sucking disc connecting structure and the driving device are arranged on the second horizontal rail, specifically, the driving device is fixed on the second horizontal rail, the driving device is connected with the sucking disc connecting structure and is connected with the vacuum sucking disc 820 through the sucking disc connecting structure, so that the vacuum sucking disc 820 and the sucking disc connecting structure perform horizontal reciprocating motion on the second horizontal rail through the driving device.

The driving device is an air cylinder driving device, the number of the air cylinder driving devices is three, the fifth air cylinder driving device controls the suction and the discharge of the vacuum suckers, the sixth air cylinder driving device controls the sucker connecting structure to turn, and the seventh air cylinder driving device controls the vacuum suckers and the sucker connecting structure to stretch. The fifth cylinder driving device comprises a fifth cylinder 841, and the fifth cylinder 841 is connected with the middle section of the suction cup cover of the vacuum suction cup 820; because the vacuum chuck 820 is a bowl formed by soft materials, the bowl body of the vacuum chuck is stretched by the fifth cylinder, so that negative pressure is generated in the bowl of the vacuum chuck 820, and the sole is sucked.

The sixth cylinder driving device comprises a sixth cylinder 842 and a sixth cylinder connecting rod 843, the sixth cylinder 842 is connected with the sixth cylinder connecting rod 843, and the sixth cylinder connecting rod 843 is movably connected with the sucker connecting structure; the suction cup connection structure comprises a first connection block 831, a sixth air cylinder 842, a rotating shaft 832 and a second connection block 833, wherein the sixth air cylinder 842 is arranged on the first connection block 831, the rotating shaft 832 is fixedly arranged at the top of the sixth air cylinder 842, one end of the second connection block 833 is connected with the rotating shaft 832, and the other end of the second connection block 833 is connected with the vacuum suction cup 820 and a fifth air cylinder 841.

During use, the sixth cylinder 842 pushes out the sixth cylinder connecting rod 843, the second connecting block 833 is pushed against the sixth cylinder connecting rod 843, so that a certain included angle exists between the second connecting block 833 and the sixth cylinder 842, in this embodiment, when the sixth cylinder connecting rod 843 is pushed out, the included angle between the second connecting block 833 and the sixth cylinder 842 is 150-160 degrees, when the sixth cylinder connecting rod 843 is retracted, the second connecting block 833 rotates along the rotating shaft 832, so that the included angle between the second connecting block 833 and the sixth cylinder 842 is 90 degrees, that is, the vacuum chuck 820 drives the sole to face the main conveyor belt horizontally arranged on the machine table 310, and the bowl of the vacuum chuck is squeezed through the sixth cylinder 842, so that the sole is released.

The seventh cylinder driving device comprises a seventh cylinder 844 and a seventh cylinder connecting rod 845, wherein the seventh cylinder 844 is connected with the seventh cylinder connecting rod 845, and the seventh cylinder connecting rod 845 is connected with the suction cup connecting structure 830. Seventh cylinder connecting rod 845 is connected with first connecting block 831, and the quantity of seventh cylinder 844 and seventh cylinder connecting rod 845 is two, and two seventh cylinders 844 and two seventh cylinder connecting rods 845 set up side by side for it is more stable to stretch out and draw back. The seventh cylinder 844 is fixed on the bracket through a clamping sleeve, and the seventh cylinder connecting rod 845 is pushed out through air pressure to drive the vacuum sucker 820 to move towards the sole.

As a preferred embodiment of the above embodiment, a telescopic rod structure parallel to the seventh cylinder driving device is further provided on the seventh cylinder driving device to replace the second group of seventh cylinder driving devices, so that the grabbing motion is more stable.

Furthermore, the vacuum chucks 820 and the chuck connection structure can be arranged in multiple groups side by side, so that the grabbing efficiency is increased.

Due to the fact that the vacuum chuck, the chuck connecting structure and the driving device are adopted, feeding is conducted in a mode that the vacuum chuck absorbs, feeding efficiency is high, the shell is not prone to being clamped, the second horizontal rail is arranged on the support, the vacuum chuck, the chuck connecting structure and the driving device move horizontally on the second horizontal rail, and feeding efficiency is high.

The fifth embodiment is another preferred embodiment of the third embodiment, and on the basis of the third embodiment, the polishing machine further comprises a hand wheel adjusting device, the hand wheel adjusting device is electrically connected with the control device, and the hand wheel adjusting device is used for adjusting the polishing track points of the four-axis polishing machine table.

The grinding track of the four-axis grinding machine table automatically generates an optimal cutting path by analyzing shoe types and grinding cutters, 3D data of the shoe types and 3D data of the grinding cutters are input in the system in a 3D scanning mode and the like, the system screens the 3D data of the shoe types and the 3D data of the grinding cutters, effective data in the system are reserved, redundant data are deleted, the effective data and a preset track are mixed, and the optimal cutting path is generated.

And then, a grinding path is subjected to grinding test, when a path point is wrong, the path is corrected through a hand wheel adjusting device, the hand wheel adjusting device is connected with a control device and is connected to X, Y, Z and 4 shafts of a four-shaft grinding machine table through the control device, the positions of X, Y, Z and 4 shafts are controlled through the hand wheel adjusting device, so that a grinding head is in an actual grinding position, and X, Y, Z and 4 shaft coordinates of the position are input into a system, so that the original error point is replaced. Specifically, the transverse movement of the polishing head is adjusted by an X-axis of the hand wheel adjusting device, the longitudinal movement of the polishing head is adjusted by a Y-axis of the hand wheel adjusting device, the horizontal height movement of the polishing head is adjusted by a Z-axis of the hand wheel adjusting device, and the inclination angle swing of the polishing head is adjusted by 4 axes of the hand wheel adjusting device.

Specifically, the process of using the handwheel adjustment device includes: firstly, comparing a polished sole with a standard component and finding out an error range, then comparing a track and finding out a track error point and a related point, then placing the standard component in a shoe mould clamp to be clamped by the shoe mould clamp, correcting the coordinates of each axis of a polishing head after the polishing head is adjusted to the error point, finally replacing the original error point, and correcting the related point to finish the correction process in the same way.

Through the automatic production orbit to and use the mode that the hand wheel was corrected to wrong coordinate point, practiced thrift the inconvenience of original manual generation orbit greatly, the orbit point promotes to 200 from original 80, and the precision of polishing promotes greatly.

Sixth embodiment as a preferred embodiment of the first to fifth embodiments described above, a long life polishing head 900 is provided on a four-axis polishing table. The long life sanding head 900 is shown in fig. 10 and includes: the polishing head comprises a polishing head body 910 and a third connecting block 920, wherein the third connecting block 920 is arranged on the polishing head body 910, and a carborundum structure 911 is arranged on the polishing head body 910. The polishing head body 910 is fixed on the polishing machine through a third connecting block 920, the carborundum structure 911 can be 40-80 meshes, and a person skilled in the art can select the corresponding mesh number according to the actual polishing material.

The reinforcing structure 921 is arranged at the joint of the third connecting block 920 and the polishing head body 910, so that the polishing head body is prevented from being broken when rotating, and the service life of the polishing head is prolonged. The reinforcing structure 921 is a cylindrical structure in this embodiment, and those skilled in the art will appreciate that other shapes may be used for the reinforcing structure.

The polishing head body 910 is of a bowl-shaped structure, the bottom R angle of the bowl-shaped structure of the polishing head body includes one of R2, R3, R4, R5, R6, R7 and R8, the bottom R angle of the bowl-shaped structure of the polishing head body in this embodiment is R6, the inclination angle between the bottom surface and the side wall of the bowl-shaped structure of the polishing head body can be any angle between 45 ° and 75 °, and those skilled in the art can make routine selection according to the edge angle of the sole to be polished.

As a preferred embodiment of the above-described embodiment, on the basis of the first embodiment, the polishing head body 910 is a hollow structure, and the third connecting block 920 is connected to the inner surface of the polishing head body 910. A plurality of heat dissipation holes for ventilation are formed in the sanding head body 910. The louvre can adopt one of circular, ellipse and polygon, and the louvre is the circular port in this embodiment. By arranging the polishing head body 910 in a hollow structure and arranging a plurality of heat dissipation holes in the polishing head body 910, heat generated when the polishing head body 910 is polished is reduced, and heat dissipation is accelerated.

Because be provided with the diamond dust structure on the head body of polishing, effectively avoided the replacement of abrasive paper through the diamond dust structure for the life of head of polishing is longer, and more laminates the sole, and the effect of polishing is better.

As a seventh embodiment of the present invention, a sole polishing system is provided, which implements a polishing process of a sole based on the sole polishing robot of the first to sixth embodiments, and specifically includes: the sole is firstly placed on the sole feeding device, the sole is moved to the sole conveying device from the feeding device, then the sole conveying device conveys the sole to the sole clamping device, then the sole clamping device fixes and clamps the sole, and finally the four-axis polisher platform polishes the sole.

Specifically, the sole moves from the feeding device to the sole conveying device and adopts one mode of feeding device pushing, sole grabbing device grabbing and sucker type grabbing device sucking.

And after the grinding track is generated, correcting the grinding track by using a hand wheel adjusting device.

Particularly, a polishing path is tested, when a path point is wrong, the path is corrected through a hand wheel adjusting device, the hand wheel adjusting device is connected with a control device and is connected to X, Y, Z and 4 shafts of a four-shaft polishing machine table through the control device, the positions of the X, Y, Z and 4 shafts are controlled through the hand wheel adjusting device, a polishing head is located at an actual polishing position, and X, Y, Z and 4 shaft coordinates of the position are input into a system, so that the original error point is replaced. Specifically, the transverse movement of the polishing head is adjusted by an X-axis of the hand wheel adjusting device, the longitudinal movement of the polishing head is adjusted by a Y-axis of the hand wheel adjusting device, the horizontal height movement of the polishing head is adjusted by a Z-axis of the hand wheel adjusting device, and the inclination angle swing of the polishing head is adjusted by 4 axes of the hand wheel adjusting device.

Wherein, still carry out the gettering to the dust of polishing simultaneously when four-axis polisher platform is polished the sole.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.

Claims

1. A sole grinding robot, comprising: four-axis board, sole clamping device, sole conveyer, sole loading attachment and controlling means of polishing, the four-axis board setting of polishing is in on the sole conveyer, sole clamping device sets up the four-axis board of polishing with between the sole conveyer, sole loading attachment connects sole conveyer's one end, controlling means respectively with the four-axis board of polishing sole clamping device, sole conveyer with the sole loading attachment electricity is connected, controls the four-axis board of polishing sole clamping device, sole conveyer with sole loading attachment carries out the sole and polishes.

2. The sole buffing robot of claim 1, wherein: a plurality of groups of sensors are arranged on the sole conveying device, and the sensors are electrically connected with the control device.

3. The sole buffing robot of claim 1, wherein: still be provided with dust collector on the sole conveyer, dust collector is used for cleaing away the sole conveyer with the dust of polishing on the four-axis platform of polishing.

4. The sole buffing robot of claim 1, wherein: still include sole grabbing device, sole grabbing device sets up on the sole conveyer, sole grabbing device will the sole is followed on the sole loading attachment snatch to on the sole conveyer.

5. The sole buffing robot of claim 1, wherein: still include hand wheel adjusting device, hand wheel adjusting device with the controlling means electricity is connected, through hand wheel adjusting device is used for adjusting the track point of polishing of four-axis board of polishing.

6. The sole buffing robot of claim 1, wherein: the four-axis grinding machine table is provided with a long-service-life grinding head.

7. A sole buffing system, comprising: the shoe sole polishing machine comprises a shoe sole feeding device, a shoe sole conveying device, a shoe sole clamping device, a four-axis polisher platform and a four-axis polisher platform, wherein the shoe sole feeding device is arranged on a shoe sole feeding device, the shoe sole is moved to the shoe sole conveying device from the feeding device, the shoe sole conveying device conveys the shoe sole to the shoe sole clamping device, the shoe sole clamping device fixes and clamps the shoe sole, and the.

8. The sole buffing system of claim 7 wherein: and a grinding track is also automatically generated before the four-axis grinding machine platform grinds the sole.

9. The sole buffing system of claim 8 wherein: and correcting the grinding track by using a hand wheel adjusting device after the grinding track is generated.

10. The sole buffing system of claim 7 wherein: still absorb the powder dirt of polishing when four-axis polisher platform is polished the sole.