CN110959959B - Modularized reconfigurable flexible shoemaking production line - Google Patents
Modularized reconfigurable flexible shoemaking production line Download PDFInfo
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- CN110959959B CN110959959B CN201911385173.9A CN201911385173A CN110959959B CN 110959959 B CN110959959 B CN 110959959B CN 201911385173 A CN201911385173 A CN 201911385173A CN 110959959 B CN110959959 B CN 110959959B
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- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical group [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 claims description 2
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Classifications
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D11/00—Machines for preliminary treatment or assembling of upper-parts, counters, or insoles on their lasts preparatory to the pulling-over or lasting operations; Applying or removing protective coverings
-
- 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
- A43D25/00—Devices for gluing shoe parts
- A43D25/20—Arrangements for activating or for accelerating setting of adhesives, e.g. by using heat
Landscapes
- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
Abstract
The invention provides a modularized reconfigurable flexible shoemaking production line, which belongs to the field of shoemaking equipment and comprises a plurality of stations arranged in a production line, wherein the number of each station is at least one and is arranged independently, and a last sleeving station, a polishing station, a gluing station, a baking station, a bottom loading station, a bottom pressing station, a freezing station and a last removing station are arranged. According to the invention, each station can be automatically completed, the transfer of materials between adjacent stations can be automatically realized, the automatic setting from last sleeving to last removing is realized, manual operation is not needed in the whole process, the working efficiency is greatly improved, the human factors are reduced, the quality of products is improved, the manpower is saved, the cost of enterprises is reduced, a plurality of independent production units are formed into a unified production line, and the modularized equipment, the reconfigurable planning and the six-axis mechanical arm are formed into a flexible production line, so that the multi-purpose and multi-machine sharing of equipment in the production line are realized.
Description
Technical Field
The invention belongs to the field of shoemaking equipment, and relates to a modularized reconfigurable flexible shoemaking production line.
Background
Shoes are a tool for protecting feet from injury, and in order to overcome special conditions, the earliest people invented fur shoes without leaving the feet uncomfortably or injured, and the shoes are developed to the present, so that the shoes with various types and functions can be formed everywhere.
The shoe type shoe is characterized in that the shoe type is mostly dependent on a shoe last, a piece of wood is manually carved by taking a human foot as a prototype, a plastic or metal model is made, the shape of an arch and how the weight of a human body is distributed on the sole are two things which are considered when the shoe last is made, after the shoe last is made, the upper is sleeved on the shoe last in the conventional shoe making process, a spike pliers (called a net pliers) is used for knocking nails, the upper is fixed on the shoe last, then the upper is glued by brushing, small nails are pulled out after the upper is glued, the sole is glued to the upper, and finally, the upper is reinforced and pressed by a pressing machine, so that although the shoe type is economical, the operation level is more and more intelligent, a plurality of manual operation stations are arranged, then the shoe type is connected into a pipeline type for operation, the operation is in a partnership type, the work efficiency is improved, the quality of the skilled operation is also ensured to a certain extent, the labor intensity of workers is very high, the connection between each work on the pipeline is not smooth enough, the work is mostly transmitted by a conveyor belt, the specific operation of the work is performed, and the work intensity is also high, and the work efficiency is further limited to a certain extent.
The traditional shoe manufacturing mode needs to be changed, the development encounters bottlenecks, new problems are faced, the shoe industry is labor-intensive, the problems of difficult labor recruitment, high labor cost and the like exist at present, the labor recruitment rate is less than 80%, and the labor cost is higher than 30%; the production mode is unchanged, so that the industry starts to shift to regions such as southeast Asia and Africa, namely to shift from developed regions to underdeveloped regions, and therefore, the traditional shoe manufacturing mode is urgently needed to be automatically changed, the industry is upgraded, the competitiveness is improved, and the development of the robot industry is promoted.
The production line for manufacturing shoes at present mainly has the following 4 major problems: 1. the raw materials are soft, the operation requirement is accurate, the operation difficulty is high, and the robot is required to be intelligent; 2. the procedures are more, the process is complex, the equipment debugging period is long, and the robot unit modularization is required; 3. the types of shoe products are various, the transfer is frequent, and the flexibility of the production line is required; 4. the special automation equipment is less, and the modification and the upgrading are needed.
Disclosure of Invention
The invention aims to solve the problems of providing a modularized reconfigurable flexible shoemaking production line, each station can be automatically completed, materials can be automatically transferred between adjacent stations, automatic setting from last sleeving to last removing is realized, manual operation is not needed in the whole process, the working efficiency is greatly improved, the human factors are reduced, the quality of products is improved, the labor is saved, and the cost of enterprises is reduced.
In order to solve the technical problems, the invention adopts the following technical scheme: the modularized reconfigurable flexible shoemaking production line comprises a plurality of stations which are arranged in a production line, wherein the number of each station is at least one and the stations are arranged independently, and a last sleeving station, a polishing station, a gluing station, a baking station, a bottom loading station, a bottom pressing station, a freezing station and a last removing station are arranged;
the shoe last sleeving station is used for sleeving the shoe upper on the shoe last;
The polishing station is used for increasing the roughness of the matched part of the exterior of the vamp and the sole, so that the gluing is convenient;
the gluing station is used for smearing glue on the matched area of the vamp and the sole;
A baking station for baking the glue;
a sole mounting station for attaching the sole to the vamp;
The sole pressing station is used for pressing the vamp and the sole together;
The freezing station is used for shaping the shoes and the vamps after gluing;
the last removing station is used for separating the vamp from the last;
The material transferring assembly is matched with the assembly line, so that the transfer and the transmission of materials between adjacent stations are realized.
Further, the last sleeving station is provided with a rear hammer massage station with the polishing station, an inspection station is further provided between the bottom pressing station and the freezing station, the rear hammer massage station is used for increasing the bonding strength of the shoe upper heel and the shoe last, and the inspection station is used for detecting the bonding strength of the shoe upper and the shoe sole.
Further, the pipeline is arranged in a U shape, a ring shape or an S shape.
Further, the station of polishing includes the tray bottom plate and establishes six mechanical arms on the tray bottom plate, the hand rest support, the shoes side subassembly of polishing, sole subassembly, heel subassembly and laser scanning subassembly of polishing, there is the hand rest support including the support column, be equipped with on the support column with the fixed plate on unanimous reference column, the reference column corresponds the locating hole of side and sets up on the shoe tree, the shoes side subassembly of polishing includes the first grinding wheel of polishing to the side of shoes, the sole subassembly of polishing includes the second grinding wheel of polishing to the bottom of shoes, the heel subassembly of polishing is including the tight pulley that rises, the outside of tight pulley is equipped with the abrasive belt that grinds, the abrasive belt swings about under the effect of grinding casing and polishes the heel.
Further, the first grinding wheel is driven to rotate through the first electric spindle, the first electric spindle is fixedly connected with the tray bottom plate through a support column with the same structure as that in the reverse hand table support, the second grinding wheel is driven to rotate through the second electric spindle, the second electric spindle is fixedly arranged on the motor plate, the side face of the motor plate is hinged to the hollow frame, the hollow frame is fixedly arranged on the tray bottom plate, a second air cylinder is arranged on one side of the hollow frame, which is provided with the second electric spindle, a hinge column is arranged at the lower end of the motor plate, and the power output shaft of the second air cylinder is hinged to the hinge column.
Further, the side of motor board is articulated with hollow frame through flexible articulated assembly, flexible articulated assembly includes vertical casing and horizontal casing, the inner structure in vertical casing and the horizontal casing is the same and the two sets up perpendicularly, the motor board is with the both ends fixed connection of vertical casing, the both ends and the hollow frame fixed connection of horizontal casing, the section of horizontal casing and vertical casing is regular tetragonal structure, the inside of horizontal casing is equipped with the centering post, the axis coincidence setting of centering post and horizontal casing, the diagonal of centering post sets up with the diagonal of horizontal casing is perpendicular, be equipped with the elastomer between centering post and the four sides of horizontal casing, the inside of centering post is inlayed and is equipped with two steel columns, the axis line of steel column sets up with the diagonal coincidence of centering post, the both ends of steel column are equipped with the screw thread of being connected with other parts.
Further, the heel polishing assembly further comprises a grinding base and a rotary cylinder, the grinding base is fixedly arranged on the tray bottom plate, the rotary cylinder is arranged on one side of the grinding base and drives the grinding shell to swing relative to the grinding base, one end of the grinding shell, which is far away from rotary steel, is hinged to the grinding base, a driving wheel and a deflection adjusting wheel are arranged in the grinding shell, the tensioning wheel extends out of the grinding shell, the grinding belt is arranged around the driving wheel, the deflection adjusting wheel and the outer ring of the tensioning wheel and is driven to rotate by the driving wheel, the driving wheel is rotated by a driving motor arranged outside the grinding shell, the deflection adjusting wheel adjusts a polishing belt through the expansion of a third cylinder, the tensioning wheel is arranged at one end far away from the rotary cylinder, the axis of the tensioning wheel is horizontally arranged, the tensioning wheel is rotationally connected to the adjusting rod, and a strip hole is formed in the adjusting rod.
Further, the rubber coating station includes the tray bottom plate with the same specification of station of polishing, six manipulators that set up on the tray bottom plate of rubber coating station and the difference of station of polishing lie in, and the rear side of clamping assembly sets up the fork utensil of door shape, is equipped with rubber coating subassembly, point on the tray bottom plate of rubber coating station and glues the subassembly and with the same laser scanning subassembly on the station of polishing.
Further, the spreading component comprises a spreading machine and a spreading spray head which are integrally arranged, one side of the spreading machine is provided with a fixed square tube, one side of the fixed square tube is provided with a fixed column, the fixed column is vertically arranged, the spreading spray head is arranged at one end of an integral rod, the integral rod is horizontally arranged, the other end of the integral rod is provided with a hollow column body, the hollow column body is sleeved on an outer ring of the fixed column, and the hollow column body and the fixed column are fixed through at least two stop screws.
Further, the dispensing assembly comprises an automatic dispensing machine and a bottom plate assembly, the bottom plate assembly is arranged on a station of the automatic dispensing machine, the Y-axis horizontal direction of the automatic dispensing machine moves, one side, close to the bottom plate assembly, of the automatic dispensing machine is provided with a laser scanning assembly for detecting the quality of the dispensed glue, the bottom plate assembly comprises a bottom plate, an upper bottom plate and an outsole which are arranged from bottom to top, the bottom plate is fixedly connected with the automatic dispensing machine, the upper bottom plate is arranged on the bottom plate, and a positioning groove is formed in a position, corresponding to the outsole, of the upper bottom plate.
Compared with the prior art, the invention has the following advantages and positive effects.
1. The application integrates a production line, a plurality of independent production units form a unified production line, modularized equipment, reconfigurable planning and six-axis manipulators form a flexible production line, firstly, a six-axis manipulator intelligent technology is adopted to lift a traditional industrial robot into an intelligent industrial robot, then, on the basis of modifying the traditional shoe special equipment, various modularized intelligent robot production units are constructed by combining process requirements, so that one machine of equipment in the production line is multipurpose and shared by multiple machines, a modularized reconfigurable robot flexible production line is formed through a reconfigurable planning algorithm, and finally, the whole-flow digital management of the robot flexible production line is realized through a digital design and informatization management system;
2. According to the invention, the feeding and the discharging of each station are completed through the six-axis mechanical arm, the inspection station is arranged, the automatic detection of shoes is realized, the whole assembly line is not required to be operated manually, the labor cost of the whole assembly line is saved by about 70%, the influence of human factors is reduced, the working efficiency is greatly improved, the precision of shoemaking is improved, the stations are independent, the arrangement shape of the assembly line can be diversified, the limitation of places is avoided to a certain extent, and the collocation or adjustment is more convenient and quick;
3. The material transfer assembly adopts an AGV navigation trolley structure, each station is matched with one AGV navigation trolley, the upper end face of each AGV navigation trolley is provided with a fixed plate matched with a shoe tree, repeated positioning accuracy is guaranteed, each AGV navigation trolley is used for feeding corresponding stations and receiving shoes for finishing the stations to be transferred to the next process, the AGV navigation trolleys can be controlled independently, the structure is convenient to adjust, the processing time of some stations is relatively long, two stations can be continuously arranged for the stations, such as gluing stations, the corresponding gluing process occupation time is relatively long, two gluing stations can be continuously arranged for avoiding the completion of the next process, the continuous operation of the subsequent stations is guaranteed, and the working efficiency is improved;
4. The six-axis mechanical arm is provided with the clamping assembly, the clamping assembly adopts a symmetrical structure, the clamping forces are consistent, the stability of the semi-finished shoes is easy to ensure, the semi-finished shoes are not easy to deform under stress, and the inner side of the clamping rod is provided with the positioning bulge, so that the repeated positioning precision of each time is ensured, and the six-axis mechanical arm is adopted, the direction diversity is changed, and the structure is simplified;
5. After the elastic hinging component is arranged between the motor plate and the hollow frame, the second cylinder drives the second electric spindle to ascend, the bottom surface of the shoe is polished, after the output shaft of the second cylinder is retracted, the second electric spindle is buffered to a certain extent under the action of the flexible hinging component, the vibration of the electric spindle is reduced, the service life of the electric spindle is prolonged, the precision of the electric spindle is ensured, the electric spindle has higher cost, the maintenance cost of the electric spindle can be reduced by the aid of the structure, and the production cost of the whole equipment is reduced;
6. Set up the dust catcher on the subassembly of polishing, guarantee the environmental cleanliness who polishes, be favorable to promoting mechanical structure's life, reduce the fault rate simultaneously, reduce maintenance cost, be favorable to the environmental protection moreover.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a layout view of a modular reconfigurable flexible shoemaking line of the present invention;
FIG. 2 is a schematic view of the structure of the polishing station of the present invention without a shield;
FIG. 3 is a detail view of section F of FIG. 2 in accordance with the present invention;
FIG. 4 is a schematic view of the clamping assembly of the present invention without the upper retaining plate;
FIG. 5 is a schematic bottom view of the clamping assembly of the present invention;
FIG. 6 is a schematic structural view of the sole grinding assembly of the invention;
FIG. 7 is a schematic view of the flexible hinge assembly of the present invention;
FIG. 8 is a schematic view of the heel grinding assembly of the present invention;
FIG. 9 is a detail view of section A of FIG. 8 in accordance with the present invention;
FIG. 10 is a schematic view of the heel grinding assembly of the present invention after the grinding housing is partially opened;
FIG. 11 is a schematic view of the structure of the gumming station of the present invention without a protective cover;
FIG. 12 is a schematic view of the construction of the glue application assembly of the present invention;
FIG. 13 is a detail view of section E of FIG. 12 in accordance with the present invention;
FIG. 14 is a schematic view of the construction of the floor assembly of the present invention;
fig. 15 is a schematic view of the structure of the footwear last of the present invention.
Reference numerals:
20. A polishing station; 21. a tray base; 211. a protective cover; 22. a six-axis manipulator; 221. a clamping assembly; 2211. a connecting seat; 2212. a drive cylinder; 22121. a lower fixing plate; 22122. an upper fixing plate; 2213. a driving rod; 2214. a first link; 2215. a second link; 2216. a third link; 2217. a clamping rod; 2218. positioning the bulge; 23. a reverse hand stand bracket; 231. a support column; 232. positioning columns; 24. a shoe side polishing group; 241. a first grinding wheel; 241. a first motorized spindle; 25. a sole polishing assembly; 251. a second grinding wheel; 252. a second motorized spindle; 253. a motor plate; 2531. a hinge post; 254. a second cylinder; 255. a flexible hinge assembly; 2551. a horizontal housing; 2552. a vertical housing; 2553. a centering column; 2554. a flexible body; 2555. a steel column; 256. a hollow frame; 2561. a first air suction port; 2562. a first exhaust port; 26. a heel grinding assembly; 261. grinding the base; 262. grinding the shell; 2621. a driving wheel; 2622. a deflection regulating wheel; 2623. a tensioning wheel; 2624. an adjusting rod; 2625. a second air suction port; 2626. a driving motor; 2627. a third cylinder; 263. a rotary cylinder; 264. a connecting shaft; 27. a laser scanning assembly; 28. a dust collector; 30. a gluing station; 31. a fork; 32. an automatic dispensing machine; 33. a base plate assembly; 331. a lower base plate; 332. an upper base plate; 3321. a positioning groove; 333. a outsole; 34. a gluing component; 341. a gumming machine; 342. fixing the square tube; 343. fixing the column; 344. an integral rod; 3441. a hollow cylinder; 3442. a stop screw; 345. supporting rollers; 346. a foot screw; 348. a glue injection nozzle; 10. a last sleeving station; 40. a baking station; 50. a bottom loading station; 60. a bottom pressing station; 70. a rear hammer massage station; 80. an inspection station; 90. a freezing station; 100. a delasting station; 101. a finished product inventory area; 102. a last; 1021. and positioning pin holes.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 15, the modularized reconfigurable flexible shoemaking production line comprises a plurality of stations arranged in a production line, wherein the number of each station is at least one and is arranged independently from each other, and the last sleeving station 10, the polishing station 20, the gluing station 30, the baking station 40, the upper bottom station 50, the bottom pressing station 60, the freezing station 90 and the last removing station 100 are arranged on the same line;
a lasting station 10 for sheathing the upper on a last 102;
A polishing station 20 for increasing the roughness of the mating part of the vamp and the sole, facilitating gluing, the detailed structure description being given below;
A glue station 30 for applying glue to the mating area of the upper and sole, the detailed construction of which is described in detail below;
A baking station 40 for baking the glue; the baking station 40 is structured by referring to the following patent CN201910351737.0, a vamp detecting and drying system, and the baking operation in the present application can be realized by using the existing baking equipment in the market, without any specific limitation
A sole applying station 50 for applying the sole to the upper; the actions in the application can be realized in the existing upper bottom structure in the market or the upper bottom structure disclosed in other patents, and the station is not particularly limited in the application;
The sole pressing station 60 is used for pressing the vamp and the sole together, the structure of the pressing station can refer to the following patent 'CN201910351087. X, namely an upper and sole pressing device', and the action of pressing the sole can be realized by using the existing pressing device in the market;
The freezing station 90 is used for shaping shoes and shoe uppers after gluing and post-forming, the freezing work is carried out in a certain closed box body, the glue is quickly condensed through the flow of gas, the glue cooling speed is increased, the working efficiency is improved, the flow of gas is realized through a fan, air is blown from the upper end, air is blown from the lower end, shoes enter from one side of the box body and are led out from the other side, in the transmission process, the glue is quickly dried through the blowing of gas, the cooling and freezing effects are achieved, the lifting efficiency is improved, the structure is a common structure, the structure can be realized by a drying box mechanism commonly used in industry, the control of different temperatures is realized according to different shoe structures, the specific structural limitation is not carried out in the application, and the cooling function of the application can be realized by the structure for realizing cooling;
a delaminating station 100 for separating the upper from a last 102;
In the above work stations, the last removing and last sleeving integrated machine can refer to the following patent CN201811575252.1 cam driving type last removing and last sleeving integrated machine, the last sleeving mechanism can refer to the following patent CN201811575250.2 automatic last sleeving machine, the existing last removing and last sleeving structures in the market can be adopted in the application, so long as the functions of the last sleeving and last sleeving are met, the application is not limited specifically, the feeding and the discharging of each work station are completed through the cooperation of the six-axis mechanical arm 22, the setting is carried out through a program, the manual participation and the operation are not needed, the labor is saved, and the work efficiency is improved.
More preferably, the end of the material transferring assembly is provided with a finished product stock area 101, and qualified products can be placed in a concentrated manner, so that subsequent uniform packaging and processing are facilitated.
The material transferring assembly is matched with the assembly line to realize the transfer and transmission of materials between adjacent stations, the material transferring assembly is preferably an AGV navigation trolley, the structure of the material transferring assembly can be realized by adopting a common conveyor belt structure, corresponding station processing time is stopped at each station, shoes in the processing process are placed on the material transferring assembly again after the processing is finished, the next station is transmitted to carry out the next process, the stop time of the conveyor belt at each station is different due to the different processing time between each station, the conveyor belt is required to set different parameters, the requirement of continuous processing of each station is met, the program control is complex, but the cost is lower, if the structure of the production line is adjusted, the structure of the material transferring assembly is also required to be adjusted, the AGV navigation trolley structure is adopted, each station is matched with one AGV navigation trolley, the upper end face of each AGV navigation trolley is provided with a fixed plate matched with the shoe tree 102, the upper end face of the shoe tree 102 is provided with a positioning plate, the upper end face of the positioning plate is provided with a positioning pin hole 1021, the fixed plate is provided with a conical positioning column 232, the positioning column 232 and the positioning pin hole 1021 are correspondingly arranged to finish positioning of the shoe tree 102 on the AGV navigation trolley, each AGV navigation trolley is used for feeding corresponding work stations and receiving shoes processed to finish the work stations to the next work stations, the AGV navigation trolleys can be controlled independently, the structure adjustment is convenient, the processing time of the work stations is longer, two gluing work stations 30 can be continuously arranged for the work stations, the corresponding gluing process occupation time is longer, two gluing work stations 30 can be continuously arranged to avoid the work stations waiting for the completion of the next work stations, the continuous operation of the subsequent stations is guaranteed, in the application, as each station is mutually independent, the structure is more rapid to set up, the number of stations is convenient to adjust, the continuous production requirement of each station is met, the utilization rate of equipment is guaranteed, the working beat is promoted, the working efficiency is further improved, the AGV navigation trolley can be adjusted at any time according to the field space, the structure is convenient and rapid to adjust, the position of each station is moved by a forklift, the traditional structure is broken through, the whole integrated layout is more convenient to assemble, disassemble and adjust, and the structure is more flexible and diversified.
Preferably, the assembly line is arranged in a U-shaped, annular or S-shaped manner, is set according to the layout of the field, can also adopt a traditional linear assembly line structure, is not limited by a specific shape, can also be arranged in an irregular shape, and only needs to meet the layout of the material transfer assembly and the conversion among a plurality of stations in space.
Preferably, a rear hammer massage station 70 is arranged between the last sleeving station 10 and the polishing station 20, an inspection station 80 is arranged between the sole pressing station 60 and the freezing station 90, the rear hammer massage station 70 is used for increasing the bonding strength of the heel of the shoe upper and the shoe last, the inspection station 80 is used for detecting the bonding strength of the shoe upper and the shoe sole, the structure of the inspection station 80 can be referred to a vamp detection and drying system of the following patent CN201910351737.0, the specific structure is not tired in the application, the structure can also be referred to the existing inclined plane detection structure in the market, the structure of the rear hammer massage station 70 is different in polishing work, only the six-axis manipulator 22, the heel polishing component 26 and the laser scanning component 27 are set, a belt is used for replacing a polishing belt in the heel polishing component 26, and a rubber layer or a silica gel layer is arranged on one side of the belt close to the shoe upper, so that the abrasion to the heel of the shoe is avoided, and only the further fixing effect is achieved.
Preferably, the polishing station 20 comprises a tray bottom plate 21, a six-axis mechanical arm 22, a hand-reversing table support 23, a shoe side polishing assembly 24, a sole polishing assembly 25, a heel polishing assembly 26 and a laser scanning assembly 27, which are arranged on the tray bottom plate 21, the semi-finished shoe is clamped by the six-axis mechanical arm 22 under the clamping of the six-axis mechanical arm through the hand-reversing table support 23, the direction of the shoe is adjusted, then the shoe is clamped again by the six-axis mechanical arm 22, the shoe side polishing assembly 24, the sole polishing assembly 25 and the heel polishing assembly 26 sequentially pass through, polishing of the shoe upper, the shoe sole and the front tip and the heel part is completed, a certain rough surface is polished at the adhesive corresponding to the shoe upper, the friction coefficient with the adhesive is increased, the adhesive is firmer, the shoe is inspected through the laser scanning assembly 27 after polishing is completed, the polishing quality is inspected, if polishing is qualified, the shoe is placed on the material transferring assembly through the six-axis mechanical arm 22, if polishing is unqualified, the shoe is placed on the waste material transferring assembly through the six-axis mechanical arm 22, and the waste material area is also arranged on one side of the material transferring assembly.
The tray bottom plate 21 is a carrier of the whole polishing station 20, the basis of installing all other parts of the polishing working position is achieved, the tray bottom plate 21 is made of metal plates or wood materials, the metal materials are prioritized, forklift holes for forklift insertion are formed in the tray bottom plate 21, the whole polishing working position 20 can be conveniently carried and transferred, more preferably, the upper end of the tray bottom plate 21 is provided with a protective cover 211, the protective cover 211 is of a transparent box structure with an automatic door, all parts on the tray bottom plate 21 are covered in the protective cover 211, external dust is prevented from entering, the cleanliness of a processing environment is guaranteed, the polishing precision and effect are facilitated to be improved, the protective cover 211 is provided with the automatic door, the six-axis mechanical arm 22 can be achieved through the automatic door when in and out, the six-axis mechanical arm 22 can achieve operation at multiple angles, the six-axis mechanical arm 22 is more flexible, the six-axis mechanical arm 22 is preferably an ABB mechanical arm, the six-axis mechanical arm 22 can also be used, and is not limited in the application, as long as the six-axis motion can be achieved in the application, the control box of the six-axis mechanical arm 22 is also arranged on the upper end face of the tray bottom plate 21, all parts on the tray bottom plate 21 are covered in the whole, the tray bottom plate 21 can be more convenient to install the six-axis mechanical arm 22, the six-axis mechanical arm can be more convenient to replace the six-axis mechanical arm, and the six-axis mechanical arm can be more installed and the six-well installed on the base plate to replace the universal mechanical arm, and the six-station can be more convenient to replace the six-axis mechanical arm to install the mechanical arm and the six-well.
The hand-reversing table support 23 comprises a support column 231, a positioning column 232 consistent with a fixing plate is arranged on the support column 231, the positioning column 232 is used for being matched with the shoe tree 102 to fix the shoe tree 102, the shoe tree 102 is firstly placed downwards onto the positioning column 232 by the six-axis manipulator 22, then the shoe tree 102 is clamped again by the six-axis manipulator 22, the shoe tree 102 is placed towards the positive direction, the polishing of each end face is facilitated, the hand-reversing table support 23 realizes the change of the direction of the shoe tree 102, the six-axis manipulator 22 is matched with shoes through a clamping component 221 at the front end, the clamping component 221 is fixed on an actuating shaft of the six-axis manipulator 22, the clamping component 221 comprises a connecting seat 2211 and a driving cylinder 2212, the connecting seat 2211 is fixedly connected with the actuating shaft of the six-axis manipulator 22, the driving cylinder 2212 is fixedly arranged on the connecting seat 2211, two sides of the axis of the driving cylinder 2212 are of symmetrical structures, one side of the structure comprises a driving rod 2213, a first connecting rod 2214, a second connecting rod 2215, a third connecting rod 2216 and a clamping rod 2217, one end of the driving rod 2213 is hinged with a force output shaft of a driving cylinder 2212, the other end of the driving rod 2213 is hinged with one end of the first connecting rod 2214, the other end of the first connecting rod 2214 is hinged with one end of the second connecting rod 2215, the other end of the second connecting rod 2215 is hinged with one end of the clamping rod 2217, one end of the third connecting rod 2216 is hinged with the inner side of the middle part of the clamping rod 2217, the other end of the third connecting rod 2216 is hinged with an upper fixing plate 22122 and a lower fixing plate 22121, one end of the second connecting rod 2215 far from the clamping rod 2217 is also hinged with an upper fixing plate 22122 and a lower fixing plate 22121, a positioning protrusion 2218 corresponding to a positioning pin hole on the side surface of the shoe tree 102 is arranged on the inner side of the clamping rod 2217, vertical clamping accuracy of the shoe tree 102 is guaranteed, further accuracy of each action is guaranteed, the symmetrical structure is adopted by the clamping assembly, clamping strength is consistent, stability of a semi-finished shoe is easy to be guaranteed, is not easy to deform under force; the lower extreme of lower fixed plate 22121 is equipped with the limit switch of response shoes rear end position, touches limit switch after shoes are in place, and limit switch sends the signal to control center, indicates that shoes location is accurate, and control center adopts the PLC procedure, and the procedure setting is simple, reduces staff training cost, and control center also sets up on tray bottom plate 21, and control center controls the break-make of all electrical components on the station 20 of polishing and receives electrical components's signal.
The laser scanning assembly 27 directly adopts products purchased in the market, the laser scanning assembly 27 is preferably a three-dimensional laser scanner, geometric information in an illumination light source is utilized to help extract geometric information in scenes, a light plane is utilized to irradiate on the surface of an object to generate light stripes, the stripes are detected in a shot image, the forms and the discontinuities of the stripes form relative measures between each visible surface of the object and a camera, and the structural light has various points, strips, nets and the like from the geometric shape of the light source.
The shoe side polishing assembly 24 comprises a first polishing wheel 241, the first polishing wheel 241 is vertically arranged and is convenient to polish with the side surface of a shoe, the first polishing wheel 241 is fixed on the power output shaft of the first electric spindle 241, the first electric spindle 241 is fixedly connected with the tray bottom plate 21 through the supporting column 231, the first electric spindle 241 is adopted, the rotating speed is faster, the light-load condition in the shoe side polishing assembly 24 is more suitable for the shoe side polishing assembly, the polishing efficiency is improved, the shoe side polishing assembly 24 finishes polishing of an upper, and the side surface of the vamp is guaranteed to be matched with the sole better.
The sole polishing assembly 25 comprises a hollow frame 256, a second electric spindle 252, a motor plate 253 and a second air cylinder 254, wherein the hollow frame 256 is made of hollow square tubes, the upper end of the hollow frame 256 is welded by adopting metal plates, the lower end of the motor plate 253 is provided with a hinge post 2531, one end of the second air cylinder 254 is hinged on one side of the hollow frame 256, the other end of the second air cylinder is hinged with the lower end of the hinge post 2531, the second electric spindle 252 is vertically arranged on the motor plate 253, the motor plate 253 is hinged with the hollow frame 256 in the vertical direction through a flexible hinge assembly 255, the upper end of a power output shaft of the second electric spindle 252 is provided with a second polishing wheel 251, the end face of the second grinding wheel 251 is horizontally arranged, the six-axis mechanical arm 22 clamps shoes and is placed above the second grinding wheel 251, the second cylinder 254 can drive the second grinding wheel 251 to repeatedly move up and down according to a set program, the second cylinder is upwards contacted with the bottom surface of the shoes, and the second grinding wheel 251 is used for grinding and fluffing the positions of the shoes, on the ground, where glue is required, so that the glue is convenient to fix; more preferably, the flexible hinge assembly 255 comprises a vertical housing 2552 and a horizontal housing 2551, the vertical housing 2552 and the horizontal housing 2551 are in the same structure and are vertically arranged, the motor plate 253 is fixedly connected with two ends of the vertical housing 2552, two ends of the horizontal housing 2551 are fixedly connected with the hollow frame 256, the cross sections of the horizontal housing 2551 and the vertical housing 2552 are in a regular quadrilateral structure, a centering column 2553 is arranged in the horizontal housing 2551, the axis of the centering column 2553 is overlapped with the axis of the horizontal housing 2551, the diagonal line of the centering column 2553 is vertically arranged with the diagonal line of the horizontal housing 2551, an elastomer is arranged between the centering column 2553 and four sides of the horizontal shell 2551, the elastomer is made of rubber, polyethylene, silica gel and other materials with certain elasticity, two steel columns 2555 are embedded in the centering column 2553, the axis connecting line of the steel columns 2555 is overlapped with the diagonal line of the centering column 2553, threads are arranged at two ends of the steel columns 2555, connection with other parts is facilitated, the length of the elastomer is consistent with that of the horizontal shell 2551, the length of the centering column 2553 is greater than that of the horizontal shell 2551, two ends of the centering column 2553 slightly protrude out of the horizontal shell 2551, after an elastic hinging assembly is arranged, the second cylinder 254 drives the second electric spindle 252 to ascend, polishing the bottom surface of the shoe, after the output shaft of the second air cylinder 254 is retracted, under the action of the flexible hinging piece, the second electric spindle 252 is buffered to a certain extent, so that the vibration of the electric spindle is reduced, the service life of the electric spindle is prolonged, the precision of the electric spindle is ensured, the electric spindle has higher cost, and the maintenance cost of the electric spindle can be reduced by the aid of the structure, and the production cost of the whole equipment is reduced; more preferably, the upper end of the hollow frame 256 is provided with a first air suction opening 2561, one side of the hollow frame 256 provided with the second electric spindle 252 is provided with a first air suction hole, the first air suction opening 2562 is connected with the dust collector 28 on the tray base 21, dust or hair generated in the polishing process enters the hollow frame 256 through the first air suction opening 2561 and is then absorbed by the dust collector 28, and the cleanliness in the polishing process is ensured.
The heel polishing assembly 26 comprises a polishing base 261, a polishing shell and a rotary cylinder 263, wherein the polishing base 261 is fixedly arranged on the tray bottom plate 21, one end of the polishing shell is hinged on the polishing base 261, the other end of the polishing shell is hinged with an output shaft of the rotary cylinder 263 through a connecting shaft 264, the rotary cylinder 263 is fixed on one side of the polishing base 261, an output shaft of the rotary cylinder 263 is hinged with one end of the connecting shaft 264, the other end of the connecting shaft 264 is fixedly connected with the polishing shell, and the rotary cylinder 263 acts to drive the polishing shell to rotate within a certain angle range;
The grinding shell 262 is internally provided with a driving wheel 2621 and a deflection adjusting wheel 2622, the tension wheel 2623 extends out of the grinding shell 262, the grinding belt is arranged around the outer ring of the driving wheel 2621, the deflection adjusting wheel 2622 and the tension wheel 2623 and is driven to rotate by the driving wheel 2621, the driving wheel 2621 is rotated by a driving motor 2626 arranged outside the grinding shell, the deflection adjusting wheel 2622 realizes the adjustment of the grinding belt through the extension and retraction of a third cylinder 2627, the tension wheel 2623 is arranged at one end far away from the rotating cylinder 263, the axis of the tension wheel 2623 is horizontally arranged, the tension wheel 2623 is rotatably connected to an adjusting rod 2624, a strip hole is arranged on the adjusting rod 2624, the front and back positions of the tension wheel 2623 relative to the grinding shell 262 are conveniently adjusted, the tightness of the grinding belt is ensured, a certain machining error is also made up, the output shaft of the rotating cylinder 263 extends or retracts in the actual working process, the grinding shell 262 is driven to swing up and down relative to the grinding base 261 in a certain angle range, the upper front and lower front and back of the grinding belt of the tension wheel 2623 in a small range is realized, and the front and back of the grinding belt of the tension wheel 2623 is conveniently pasted with the sole;
More preferably, the grinding shell 262 is provided with a second air suction opening 2625 near the lower part of one end of the rotary cylinder 263, the second air suction opening 2625 is also connected with the dust collector 28, the processing neatness of the grinding position is ensured, the grinding precision is prompted, and the service life of the machine is prolonged and the failure rate is reduced because impurities do not enter the machine.
In whole work position of polishing, all cylinder structures all can adopt hydro-cylinder or electric putter and other equivalent structure to replace, set for and adjust according to the difference of load and actual use condition, as long as can be accurate the execution preset action can, still be equipped with dust catcher 28 on the tray bottom plate 21, guarantee the clean and tidy degree of processing environment, avoid the course of working, cause the influence to the vamp, be favorable to guaranteeing the machining precision of each part simultaneously, in polishing station 20, realized polishing of vamp each angle, the side, the bottom surface, the polishing of heel and shoe tip, for the preparation of glue is done to the back face rubberizing station 30, promote the fastness of viscose.
As shown in fig. 11 to 14, the glue spreading station 30 includes a tray bottom plate 21 and a protective cover 211 with the same specification as the polishing station 20, so as to promote the commonality among parts, reduce the processing cost, and the six-axis manipulator 22 on the tray bottom plate 21 of the glue spreading station 30 is different from the six-axis manipulator 22 on the polishing station 20 in that a fork 31 is arranged on a clamping component 221 at the front end of the six-axis manipulator 22 on the glue spreading station 30, and the fork 31 is a door-shaped structure arranged vertically downwards and is used for realizing the limit of the shoe tree 102 in the glue state and improving the positioning precision in the shoe glue spreading process; more preferably, the lower end of the tray bottom plate 21 of the gluing station 30 is provided with a supporting roller 345 and a foot screw 346, the supporting roller 345 facilitates the movement of the gluing station 30, the foot screw 346 facilitates the adjustment of the levelness of the tray bottom plate 21, the glue is placed to flow, and the gluing precision and the gluing quality are improved.
The upper end of the tray bottom plate 21 of the gluing station 30 is provided with a gluing component 34, a glue dispensing component and a laser scanning component 27 which is the same as that on the polishing station 20, the principle of the laser scanning component 27 is the same as that described above, repeated description is not carried out here, the types of glue used for different positions of shoes are different in the gluing process, the glue used for different positions is different, the glue used for gluing the sole is larger, the glue used for gluing the heel, the side surface of the shoe and the tip of the shoe are completed by adopting the gluing component 34, the glue used is smaller, the glue used and the coating area are controlled to a certain extent, the glue used is too large, the glue overflow site can be formed, the qualification rate of the shoe is reduced, the glue overflow part is also required to be treated, the procedure is increased, the waste time is wasted, the serious part directly causes the disqualification of the product, the glue dispenser is completed by adopting a glue dispenser, the precision of the glue dispenser is higher, and the speed is easier to control.
The glue dispensing assembly comprises an automatic glue dispensing machine 32 and a bottom plate assembly 33, the bottom plate assembly 33 is arranged on a station of the automatic glue dispensing machine 32, the automatic glue dispensing machine 32 is directly a commercially available glue dispensing machine, the Y-axis horizontal movement can be realized, the glue dispensing requirement of a plurality of shoes can be met, for example, a source Shang Quan can be realized by the automatic glue dispensing machine 32 glue filling machine, other brands can be used, the application is not limited, and one side of the automatic glue dispensing machine 32 close to the bottom plate assembly 33 is provided with a laser scanning assembly 27 for detecting the quality of glue; more preferably, the bottom plate assembly 33 includes a bottom plate 331, an upper plate 332 and an outsole 333 which are arranged from bottom to top, the bottom plate 331 is fixedly connected with the automatic dispensing machine 32, the upper plate 332 is arranged on the bottom plate 331, a positioning groove 3321 is arranged at a position corresponding to the upper plate 332 and the outsole 333, the outsole 333 is consistent with the specification of the sole, dispensing requirements of shoes with different specifications can be realized by changing the specification of the upper plate 332, the specification is more convenient and quick to change, the laser scanning assembly 27 is arranged on the dispensing assembly, the dispensing position can be detected, the dispensing quality is ensured, and the stability of the subsequent process is ensured.
The glue coating assembly 34 comprises a glue coating machine 341 and a glue coating spray head which are integrally arranged, wherein a fixed square pipe 342 is arranged on one side of the glue coating machine 341, a fixed column 343 is arranged on one side of the fixed square pipe 342, the fixed column 343 is vertically arranged, the glue coating spray head is arranged at one end of an integral rod 344, the integral rod 344 is horizontally arranged, a hollow column 3441 is arranged at the other end of the integral rod 344, the hollow column 3441 is sleeved on the outer ring of the fixed column 343, the hollow column 3441 and the fixed column 343 are fixed through at least two stop screws 3442, the upper and lower position adjustment of the glue coating spray head relative to the glue coating machine 341 is conveniently realized, the glue coating machine 341 and the glue coating spray head can be arranged in the existing market, and are mature equipment, a direct hundred-degree or online shopping platform can be searched for related factories, and the glue coating machine 341 is not particularly limited in the application.
In the actual use process, the shoe last 102 sequentially passes through the following stations, namely the last sleeving station 10, under the navigation of the AGV navigation trolley, and is used for sleeving the vamp on the shoe last 102; a polishing station 20 for increasing the roughness of the matched part of the vamp and the sole, so as to facilitate gluing; a gluing station 30 for applying glue to the matching area of the vamp and the sole; a baking station 40 for baking the glue; a sole applying station 50 for applying the sole to the upper; a sole pressing station 60 for pressing the vamp and the sole together; the shoe comprises a rear hammer massage station 70 and an inspection station 80, wherein the rear hammer massage station 70 is used for increasing the bonding strength of the heel of the shoe upper and the sole, the inspection station 80 is used for detecting the bonding strength of the shoe upper and the sole, and the freezing station 90 is used for gluing and shaping the shoe upper and the shoe upper; the last removing station 100 is used for separating the vamp from the last 102, and is automatically completed from last sleeving to last removing, and the feeding and discharging of each station are completed through the six-axis mechanical arm 22, and the inspection station 80 is arranged, so that the automatic detection of shoes is realized, the whole production line is not required to be manually operated, the labor cost of about 70% is saved, the influence of human factors is reduced, the working efficiency is greatly improved, and the precision of shoemaking is improved.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (7)
1. Modularized reconfigurable flexible shoemaking production line is characterized in that: the automatic shoe last machine comprises a plurality of stations which are arranged in a production line, wherein the number of each station is at least one and the stations are arranged independently, and the stations are respectively a shoe last sleeving station, a polishing station, a gluing station, a baking station, a bottom feeding station, a bottom pressing station, a freezing station and a shoe last removing station; the shoe last sleeving station is used for sleeving the shoe upper on the shoe last;
The polishing station is used for increasing the roughness of the matched part of the exterior of the vamp and the sole, so that the gluing is convenient; the polishing station comprises a tray bottom plate, a six-axis mechanical arm arranged on the tray bottom plate, a hand reversing table support, a shoe side polishing assembly, a sole polishing assembly, a heel polishing assembly and a laser scanning assembly, wherein the hand reversing table support comprises a support column, a positioning column consistent with a fixing plate is arranged on the support column, the positioning column is correspondingly arranged with a positioning hole on the upper side of a shoe tree, the shoe side polishing assembly comprises a first polishing wheel for polishing the side surface of the shoe, the sole polishing assembly comprises a second polishing wheel for polishing the bottom of the shoe, the heel polishing assembly comprises a tensioning wheel, the outer side of the tensioning wheel is provided with a polishing belt, the polishing belt swings up and down to polish the heel under the action of a polishing shell, the first polishing wheel is driven to rotate by a first electric spindle, the first electric spindle is fixedly connected with the tray bottom plate by the support column with the same structure in the hand reversing table support, the second polishing wheel is driven to rotate by a second electric spindle, the second electric spindle is fixedly arranged on a motor plate, the side surface of the motor plate is hinged with a hollow frame, the hollow frame is fixedly arranged on a tray bottom plate, one side of the hollow frame, which is provided with the second electric spindle, is provided with a second cylinder, the lower end of the motor plate is provided with a hinged column, a power output shaft of the second cylinder is hinged with the hinged column, the heel polishing assembly also comprises a grinding base and a rotary cylinder, the grinding base is fixedly arranged on the tray bottom plate, the rotary cylinder is arranged on one side of the grinding base and drives a grinding shell to swing relative to the grinding base, one end of the grinding shell, which is far away from the rotary cylinder, is hinged with the grinding base, a driving wheel and an expanding wheel are arranged in the grinding shell, the expanding wheel extends out of the grinding shell, the grinding abrasive belt is wound on the outer ring of the driving wheel, the expanding wheel and is driven to rotate by the driving wheel, the driving wheel is rotated by a driving motor arranged outside the grinding shell, the deviation adjusting wheel adjusts the grinding belt through the extension and contraction of a third cylinder, the tensioning wheel is arranged at one end far away from the rotating cylinder, the axis of the tensioning wheel is horizontally arranged, the tensioning wheel is rotatably connected to an adjusting rod, and a strip hole is formed in the adjusting rod;
the gluing station is used for smearing glue on the matched area of the vamp and the sole;
A baking station for baking the glue;
a sole mounting station for attaching the sole to the vamp;
The sole pressing station is used for pressing the vamp and the sole together;
The freezing station is used for shaping the shoes and the vamps after gluing;
the last removing station is used for separating the vamp from the last;
The material transferring assembly is matched with the assembly line, so that the transfer and the transmission of materials between adjacent stations are realized.
2. A modular reconfigurable flexible shoemaking line according to claim 1, characterized in that: the shoe last sleeving and polishing machine comprises a shoe last sleeving station, a polishing station, a bottom pressing station, a freezing station, a back hammer massage station and an inspection station, wherein the back hammer massage station is arranged between the shoe last sleeving station and the polishing station, the inspection station is used for detecting the bonding strength of a shoe upper and a sole, and the back hammer massage station is used for increasing the bonding strength of a shoe upper heel and a shoe last.
3. A modular reconfigurable flexible shoemaking line according to claim 1, characterized in that: the pipeline is arranged in a U shape, a ring shape or an S shape.
4. A modular reconfigurable flexible shoemaking line according to claim 1, characterized in that: the side of motor board is articulated with hollow frame through flexible articulated assembly, flexible articulated assembly includes vertical casing and horizontal casing, the inner structure in vertical casing and the horizontal casing is the same and the two sets up perpendicularly, the motor board is with the both ends fixed connection of vertical casing, the both ends and the hollow frame fixed connection of horizontal casing, the section of horizontal casing and vertical casing is regular tetragonal structure, the inside of horizontal casing is equipped with the centering post, the axis coincidence setting of centering post and horizontal casing, the diagonal of centering post sets up perpendicularly with the diagonal of horizontal casing, be equipped with the elastomer between centering post and the four sides of horizontal casing, the inside of centering post is inlayed and is equipped with two steel columns, the axis line of steel column sets up with the diagonal coincidence of centering post, the both ends of steel column are equipped with the screw thread of being used with other part connection.
5. A modular reconfigurable flexible shoemaking line according to claim 1, characterized in that: the gluing station comprises a tray bottom plate with the same specification as the polishing station, and the six-axis manipulator arranged on the tray bottom plate of the gluing station is different from the polishing station in that a door-shaped fork is arranged at the rear side of the clamping assembly, and the tray bottom plate of the gluing station is provided with a gluing assembly, a dispensing assembly and a laser scanning assembly which is the same as the polishing station.
6. A modular reconfigurable flexible shoemaking line according to claim 5, characterized in that: the gluing assembly comprises a gluing machine and a gluing spray head which are integrally arranged, one side of the gluing machine is provided with a fixed square pipe, one side of the fixed square pipe is provided with a fixed column, the fixed column is vertically arranged, the gluing spray head is arranged at one end of an integral rod, the integral rod is horizontally arranged, the other end of the integral rod is provided with a hollow column body, the hollow column body is sleeved on an outer ring of the fixed column, and the hollow column body and the fixed column are fixed through at least two stop screws.
7. A modular reconfigurable flexible shoemaking line according to claim 5, characterized in that: the dispensing assembly comprises an automatic dispensing machine and a bottom plate assembly, the bottom plate assembly is arranged on a station of the automatic dispensing machine, the Y-axis of the automatic dispensing machine moves horizontally, one side of the automatic dispensing machine, which is close to the bottom plate assembly, is provided with a laser scanning assembly for detecting the quality of the dispensed glue, the bottom plate subassembly includes lower plate, upper plate and the outsole that from the bottom up set up, lower plate and automatic point gum machine fixed connection, and the upper plate sets up on the lower plate, and the position that upper plate corresponds with the outsole is equipped with the constant head tank.
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| CN201911385173.9A CN110959959B (en) | 2019-12-28 | 2019-12-28 | Modularized reconfigurable flexible shoemaking production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111487943A (en) * | 2020-05-14 | 2020-08-04 | 上海电机***节能工程技术研究中心有限公司 | Process treatment method and device for motor shaft |
| CN114128961A (en) * | 2021-12-22 | 2022-03-04 | 丽荣鞋业(深圳)有限公司 | Automatic baking system |
| CN114224029B (en) * | 2021-12-29 | 2023-04-11 | 丽荣鞋业(深圳)有限公司 | Shoe midsole position correction and nailing system |
| CN118319102A (en) * | 2024-06-12 | 2024-07-12 | 泉州华数机器人有限公司 | Intelligent shoemaking production line |
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| CN209610044U (en) * | 2018-12-13 | 2019-11-12 | 天创时尚股份有限公司 | Shoemaking brush coating pastes bottom annular production line |
| CN211672695U (en) * | 2019-12-28 | 2020-10-16 | 复旦大学 | Modular reconfigurable flexible shoemaking production line |
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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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| CN209610044U (en) * | 2018-12-13 | 2019-11-12 | 天创时尚股份有限公司 | Shoemaking brush coating pastes bottom annular production line |
| CN109397079A (en) * | 2018-12-21 | 2019-03-01 | 浙江硕和机器人科技有限公司 | A kind of polishing work station |
| CN211672695U (en) * | 2019-12-28 | 2020-10-16 | 复旦大学 | Modular reconfigurable flexible shoemaking production line |
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