Shoe upper gluing method and gluing device

Abstract

The invention discloses a shoe upper gluing method and a gluing device, and aims to adjust the flow rate of glue according to the smooth degree of a to-be-glued position of a shoe upper so as to control the gluing amount, avoid glue waste and guarantee a shoe finished product, the method comprises the following steps: step 1, obtaining a shoe upper picture, and marking a to-be-glued area; 2, carrying out image processing on the upper picture, and calculating the smoothness degree of the to-be-glued area; and step 3, obtaining a glue flow rate according to the smoothness degree, and gluing the shoe uppers by virtue of a mechanical arm, belonging to the technical field of image processing.

Description

Technical Field

[0001] The present invention belongs to the technical field of image processing, and more specifically, relates to a method and device for applying glue to the shoe upper. Background Art

[0002] The combination of the shoe upper and the sole generally relies on glue. To improve efficiency and reduce harm to the human body, the existing glue application process basically relies on a robotic arm to complete. The robot controls the glue application tool to move along a preset trajectory according to the contour of the shoe upper and apply the glue to the shoe upper.

[0003] In practice, for a pair of shoes, the duration of applying glue to the shoe upper is fixed, and the glue flow rate during glue application is also fixed. The amount of glue that can be applied to the shoe upper by the glue application tool within the specified duration is the same, resulting in the same amount of glue applied to each shoe upper and similar glue application thickness. However, the smoothness of the position to be glued on each shoe upper after grinding is different. If the grinding position is relatively smooth, the amount of glue applied can be less; if the grinding position is relatively rough, the amount of glue applied needs to be more. However, the existing technology does not adjust the glue flow rate according to the actual situation and sets it to be the same, which will affect the quality of the shoes and waste glue. Summary of the Invention

[0004] The main purpose of the present invention is to provide a method and device for applying glue to the shoe upper, aiming to adjust the glue flow rate according to the smoothness of the position to be glued on the shoe upper, thereby controlling the amount of glue applied, avoiding glue waste, and ensuring the quality of the shoes.

[0005] According to the first aspect of the present invention, a method for applying glue to the shoe upper is provided, including the following steps:

[0006] Step 1: Obtain a picture of the shoe upper and mark the area to be glued;

[0007] Step 2: Perform image processing on the picture of the shoe upper and calculate the smoothness of the area to be glued;

[0008] Step 3: Obtain the glue flow rate according to the smoothness and apply glue to the shoe upper by relying on a robotic arm.

[0009] In the above method for applying glue to the shoe upper, in Step 2, perform gray-level co-occurrence matrix analysis on the picture of the shoe upper to obtain the contrast of the area to be glued.

[0010] In the above method for applying glue to the shoe upper, obtain the roughness coefficient according to the contrast and calculate the glue flow rate according to the roughness coefficient;

[0011] Roughness coefficient D = C / C Max ; where C is the contrast value, and C Max is 40000;

[0012] The glue flow rate V = 20D + 10.

[0013] In the above-mentioned shoe upper gluing method, glue is stored in a glue cylinder, and a peristaltic pump is used to transport the glue in the glue cylinder.

[0014] The glue cylinder pressure P = (0.5 + 0.1×D)×1000000.

[0015] In the above-mentioned shoe upper gluing method, a brush head is provided at the end of the robotic arm. The brush head is rotatable, and the outer periphery of the brush head contacts the shoe upper, so as to apply the glue to the shoe upper.

[0016] The rotational speed N of the brush head = 50000 + 20000×D;

[0017] The moving speed S of the end of the robotic arm = 2000 - 200×D.

[0018] According to the second aspect of the present invention, there is provided a shoe upper gluing device for implementing the method described in the first aspect, including a robotic arm, a glue cylinder, a peristaltic pump, and a brush head. An installation seat is provided at the end of the robotic arm. The brush head is rotatably connected to the installation seat. A servo motor is provided on the installation seat. The servo motor drives the brush head to rotate so that the outer periphery of the brush head contacts the shoe upper. The glue cylinder is used to store glue, and the peristaltic pump transports the glue to the brush head so that the brush head applies the glue to the shoe upper.

[0019] In the above-mentioned shoe upper gluing device, the installation seat includes a substrate connected to the end of the robotic arm and an adjustment plate rotatably provided on the substrate. A cylinder is connected between the substrate and the adjustment plate. One end of the cylinder is hinged to the substrate, and the other end of the cylinder is hinged to the adjustment plate.

[0020] A positioning block is provided on the adjustment plate. The brush head is rotatably connected to the positioning block. The servo motor is fixed on the positioning block. The rotation axis of the brush head is parallel to the adjustment plate. The cylinder adjusts the included angle between the substrate and the adjustment plate.

[0021] In the above-mentioned shoe upper gluing device, a cover body is provided at one end of the positioning block away from the servo motor. A receiving groove is provided on the cover body. The receiving groove is open towards the circumferential direction of the brush head. A connecting shaft is provided on the brush head. The connecting shaft is rotatably connected to the positioning block. The connecting shaft is inserted into the receiving groove so that part of the brush head is located in the receiving groove.

[0022] In the above-mentioned shoe upper gluing device, an annular groove is provided on the outer wall of the brush head. The annular groove is arranged around the rotation axis of the brush head.

[0023] In the above-mentioned shoe upper gluing device, two covering mechanisms are provided on the outer peripheral wall of the cover body, and the two covering mechanisms are symmetrically arranged;

[0024] The covering mechanism includes a sliding block and a baffle hinged to the sliding block. A first spring is provided between the sliding block and the baffle to make the baffle tend to approach the cover body; the two baffles are connected by a second spring;

[0025] A cable is provided on the sliding block, and a winding device is provided on the adjusting plate, and the winding device is connected to the cable;

[0026] When the cable is not wound, the two baffles cooperate to cover the exposed part of the brush head under the drive of the second spring; when the cable is wound, the two baffles do not cover the exposed part of the brush head.

[0027] One of the technical solutions in the above technical solutions of the present invention has at least one of the following advantages or beneficial effects:

[0028] In the present invention, relying on image processing, the contrast of the area to be glued on the shoe upper is obtained, and the smoothness of the area to be glued is judged according to the contrast, so as to calculate the corresponding glue flow rate. When the robotic arm glues the shoe upper, within a fixed time, the shoe upper can be glued according to the preset trajectory and the calculated glue flow rate, and the amount of glue applied is also appropriate, without wasting glue, and the quality of the shoes can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described below in conjunction with the drawings and embodiments;

[0030] Figure 1 is a flowchart of Embodiment 1 of the present invention;

[0031] Figure 2 is a schematic structural diagram of Embodiment 2 of the present invention;

[0032] Figure 3 is of Embodiment 2 of the present invention Figure 2 partial enlarged view of A;

[0033] Figure 4 is a schematic structural diagram of the brush head and the cover body of Embodiment 2 of the present invention;

[0034] Figure 5 is a schematic structural diagram of Embodiment 3 of the present invention after removing the robotic arm;

[0035] Figure 6 is a top view of Embodiment 3 of the present invention when the covering mechanism does not cover the brush head;

[0036] Figure 7It is a top view when the shielding mechanism in Embodiment 3 of the present invention shields the brush head.

[0037] Among them, the reference numerals in each figure are as follows:

[0038] 1. Robotic arm; 2. Peristaltic pump; 3. Brush head; 31. Annular groove; 4. Mounting seat; 41. Substrate; 42. Adjusting plate; 43. Cylinder; 44. Positioning block; 45. Cover body; 5. Servo motor; 6. Electro-hydraulic proportional valve; 7. Shielding mechanism; 71. Sliding block; 72. Flap; 73. First spring; 74. Second spring; 8. Rewinding device. Detailed implementation manners

[0039] The following details the implementation manners of the present invention. The examples of the implementation manners are shown in the drawings, where the same or similar reference numerals always represent the same or similar elements or elements with the same or similar functions. The implementation manners described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0040] Embodiment 1

[0041] In practice, for a pair of shoes, the gluing duration of the shoe upper is fixed, and the glue flow rate during gluing is also fixed. The amount of glue that can be applied to the shoe upper by the gluing tool within the specified duration is the same, resulting in the same amount of glue applied to each shoe upper and similar gluing thickness. However, the smoothness of the polished position of each shoe upper to be glued is different. If the polished position is relatively smooth, less glue can be applied; if the polished position is relatively rough, more glue is required. The prior art does not adjust the glue flow rate according to the actual situation and sets it to be the same, which will affect the quality of the shoes and waste glue.

[0042] According to the first aspect of the present invention, a method for gluing a shoe upper is proposed. By analyzing pictures, the smoothness of the polished position of the shoe upper is judged, and then the glue flow rate and the rotational speed of the brush head are calculated, so as to control the amount of glue applied, ensure that the amount of glue applied matches the smoothness of the polished position of the shoe upper, save glue while ensuring the quality of the shoes, and avoid glue waste.

[0043] Referring to Figure 1 As shown, a method for gluing a shoe upper, which involves a brush head that rotates to apply glue to the shoe upper, includes the following steps:

[0044] Step 1: Obtain a picture of the shoe upper and mark the area to be glued;

[0045] The shoe upper is photographed by an industrial camera to obtain a picture of the shoe upper;

[0046] Preset a contour template adapted to the area to be glued on the shoe upper, and mark the area to be glued on the shoe upper picture according to the contour template;

[0047] Step 2: Perform image processing on the shoe upper picture and calculate the smoothness of the area to be glued;

[0048] Generally speaking, perform gray-level co-occurrence matrix (GLCM) analysis on the shoe upper picture, then extract features, obtain the contrast of the area to be glued, and the extracted feature is the contrast C. The contrast formula is as follows:

[0049]

[0050] Among them, i and j respectively represent the gray values of two pixels (usually 0-255);

[0051] P(i,j) represents the probability (normalized frequency) of the pixel pair with gray values i and j appearing in the GLCM;

[0052] When the gray change in the image is intense (that is, the difference between i and j is large), the contrast value is high, indicating that the texture is rough; when the gray change in the image is gentle (that is, the difference between i and j is small), the contrast is low, indicating that the surface texture is smooth;

[0053] Step 3: Obtain the glue flow rate according to the smoothness, and rely on the robotic arm to glue the shoe upper;

[0054] Specifically, first establish a calculation model for the roughness coefficient D, and its formula is as follows:

[0055] D = C / C Max ;

[0056] The glue is stored in the glue barrel, and the glue output is controlled by a peristaltic pump. Establish a calculation model for the glue flow rate, with the unit of ml / min, and its formula is as follows:

[0057] V = 20D + 10;

[0058] The calculation model for the supplied glue quantity Q is as follows:

[0059] Q = V·T;

[0060] V is the above glue flow rate, and T is the time, with the unit of min; T is determined according to the style of the shoes and is a fixed value; the supplied glue quantity is the glue quantity supplied to the brush head;

[0061] Before establishing the calculation model, it is necessary to conduct tests to obtain the mapping relationship between the glue flow rate and the smoothness of the shoe upper;

[0062] The glue is supplied to the brush head, and the brush head then applies the glue to the shoe upper. Therefore, when applying the glue, there will inevitably be some losses. Not all the supplied glue can be applied to the shoe upper by the brush head. According to the previous glue application data, the loss amount during application by the brush head can be known; the supplied glue amount must be more than the glue application amount on the shoe upper;

[0063] Use a batch of shoe uppers for testing. First, collect shoe upper pictures and collect the contrasts of multiple to-be-glued areas of the shoe uppers. The maximum value of the obtained contrast is about 40000, so C Max is 40000; perform manual glue application according to experience. According to the weight difference of the shoe upper before and after glue application, obtain the glue application amount of the shoe upper at each contrast. Then, combined with the loss amount, the supplied glue amount can be obtained. Combining with the roughness coefficient, a glue flow rate model based on the roughness coefficient can be obtained;

[0064] Based on this, the corresponding glue flow rate can be calculated according to the smoothness of the shoe. When the robotic arm applies glue to the shoe upper, within a fixed time, it can apply glue according to the preset trajectory. The glue application amount on the shoe upper will be appropriate, without wasting glue, and the quality of the finished shoes can be guaranteed.

[0065] In this embodiment, for different glue flow rates, the pressure in the glue cylinder needs to be adjusted. Otherwise, the glue flow rate is unstable. Therefore, an electronically controlled proportional valve is used to control the pressure and make pressure adjustments. The calculation model of the pressure in the glue cylinder is as follows:

[0066] P = (0.5 + 0.1×D)×1000000;

[0067] The unit of P is pa. In the preliminary test, the glue cylinder pressure data will be collected, and the pressure will be adjusted according to the glue flow rate to obtain the value suitable for actual production, and the corresponding calculation model is obtained based on the roughness coefficient.

[0068] In this embodiment, the brush head is moved by a robotic arm. The brush head can rotate. The glue cylinder transports the glue to the brush head through a hose and a peristaltic pump. The outer periphery of the brush head contacts the shoe upper, thereby applying the glue to the shoe upper;

[0069] In order to make the glue application uniform and form an appropriate thickness on the shoe upper, it is necessary to control the rotation speed of the brush head and the moving speed of the end of the robotic arm;

[0070] The calculation model of the rotation speed of the brush head is as follows:

[0071] N = 50000 + 20000×D;

[0072] The calculation model of the moving speed of the end of the robotic arm is as follows:

[0073] S = 2000 - 200×D;

[0074] The unit of N is RPM, and the unit of S is mm / min.

[0075] The rougher the shoe upper, the greater the contrast, and the greater the amount of glue required. Therefore, it is necessary to reduce the moving speed of the end of the robotic arm and increase the amount of glue in the same area. Since the amount of glue has increased, in order to make the glue more uniform, it is necessary to increase the rotational speed of the brush head to apply the glue evenly. Therefore, when the contrast is large, the rotational speed of the brush head should be increased and the moving speed of the end of the robotic arm should be reduced. According to the roughness coefficient, the corresponding calculation model is listed.

[0076] After establishing each calculation model through preliminary data statistics, the subsequent glue application process becomes simpler and more precise. After obtaining the shoe upper image, the contrast is obtained, and then the glue flow rate, cartridge pressure, rotational speed of the brush head, and moving speed of the end of the robotic arm are calculated. During the fixed glue application time, based on each data, the robotic arm performs the glue application operation, which can accurately output the appropriate glue flow rate and evenly apply the glue on the shoe upper.

[0077] Embodiment 2

[0078] Refer to Figures 2 to 4 As shown, according to the second aspect of the present invention, a shoe upper glue application device is proposed, including a robotic arm 1, a glue cartridge, a peristaltic pump 2, and a brush head 3. An installation seat 4 is provided at the end of the robotic arm 1, and the brush head 3 is rotatably connected to the installation seat 4. A servo motor 5 is provided on the installation seat 4, and the servo motor 5 drives the brush head 3 to rotate so that the outer periphery of the brush head 3 contacts the shoe upper. The glue is stored in the glue cartridge, and the peristaltic pump 2 is used to deliver the glue to the brush head 3. Therefore, the brush head 3 can apply the glue to the shoe upper to complete the glue application operation.

[0079] In this embodiment, the brush head 3 is made of horsehair or nylon.

[0080] In this embodiment, the robotic arm 1 is a six-axis robotic arm 1, so that the brush head 3 can be adjusted at multiple angles to make the brush head 3 follow a preset trajectory.

[0081] In this embodiment, the peristaltic pump 2 is operated by a servo motor, and by controlling the rotational speed of the servo motor, the glue flow rate can be controlled.

[0082] In this embodiment, an electro-control proportional valve 6 is further provided. The electro-control proportional valve 6 is used to adjust the pressure of the glue cartridge. When the glue flow rate is adjusted, the pressure of the glue cartridge can be adjusted accordingly to ensure the stability of the glue flow rate.

[0083] In this embodiment, the mounting base 4 includes a substrate 41 connected to the end of the robotic arm 1, an adjustment plate 42 rotatably arranged on the substrate 41, and also includes a cylinder 43. One end of the cylinder 43 is hinged to the substrate 41, and the other end of the cylinder 43 is hinged to the adjustment plate 42. A positioning block 44 is provided on the adjustment plate 42, and the brush head 3 is rotatably arranged on the positioning block 44. The servo motor 5 is fixed on the positioning block 44. The rotation axis of the brush head 3 is parallel to the adjustment plate 42. The cylinder 43 can adjust the angle between the adjustment plate 42 and the substrate 41, thereby adjusting the angle between the rotation axis of the brush head 3 and the vertical axis, changing the inclination angle of the outer periphery of the brush head 3, so that the outer periphery of the brush head 3 can better fit the shoe upper, and the cylinder 43 can have a buffering effect to ensure that the brush head 3 will not bounce off when the outer periphery of the brush head 3 contacts the shoe upper.

[0084] In this embodiment, a cover body 45 is provided at one end of the positioning block 44 away from the servo motor 5. A receiving groove is provided on the cover body 45. A connecting shaft is provided on the brush head 3. The connecting shaft is rotatably connected to the positioning. The servo motor 5 drives the connecting shaft to rotate. The receiving groove is open towards the circumference of the brush head 3. The connecting shaft is inserted into the receiving groove so that part of the brush head 3 is located in the receiving groove.

[0085] The glue cylinder is connected to the cover body 45 through a hose. Under the action of the peristaltic pump 2, the glue will be conveyed into the receiving groove. Since part of the brush head 3 is located in the receiving groove, the brush head 3 will adhere to the glue. The brush head 3 rotates to apply the glue to the shoe upper; before applying the glue, it is necessary to first fill the gap between the cover body 45 and the brush head 3 with glue. During operation, after the glue is injected into the receiving groove, it will adhere to the brush head 3 under the extrusion of the brush head 3 and be applied to the shoe upper as the brush head 3 rotates, ensuring that the input glue volume is close to the glue volume applied to the shoe upper.

[0086] In this embodiment, an annular groove 31 is provided on the outer wall of the brush head 3. The annular groove 31 is arranged around the rotation axis of the brush head 3. The annular groove 31 can store the glue, facilitating the glue in the receiving groove to be brought to the outside to contact the shoe upper.

[0087] In this embodiment, the bottom end of the cover body 45 is a slope, which slopes downward along the direction away from the opening of the receiving groove. In this way, part of the overflowing glue can flow along the direction away from the shoe upper and will not flow onto the shoe upper, ensuring that the glue volume applied to the shoe upper is close to the calculated glue volume.

[0088] Embodiment 3

[0089] Refer to Figures 5 to 7 As shown, it is substantially the same as Embodiment 2. The difference is that a shielding mechanism 7 is provided on the outer peripheral wall of the cover body 45. The two sides of the outer peripheral wall of the cover body 45 along the opening direction of the receiving groove are inclined walls, which are connected by an arc-shaped wall. The arc-shaped wall protrudes along the direction of the receiving opening direction.

[0090] The shielding mechanisms 7 are two and symmetrically arranged. The shielding mechanism 7 includes a sliding block 71 slidably disposed on the outer peripheral wall of the cover body 45 and a flap 72 hinged to the sliding block 71. Specifically, the sliding block 71 is slidably disposed on the arc-shaped wall and can slide along the bending direction of the arc-shaped wall. A first spring 73 is provided between the sliding block 71 and the flap 72, so that the flap 72 has a tendency to approach the inclined wall. The two flaps 72 are connected by a second spring 74. The second spring 74 bypasses the arc-shaped wall, so that the flap 72 has a tendency to move in a direction away from the arc-shaped wall. A winding device 8 is provided on the adjustment plate 42. The winding device 8 includes a winding wheel and a motor. The motor drives the winding wheel to rotate. A cable is connected to the sliding block 71 and is wound onto the winding wheel.

[0091] When the brush head 3 is not applying glue, the winding wheel releases the cable. Under the action of the second spring 74, the flap 72 moves in a direction away from the arc-shaped wall. Restricted by the first spring 73, the end of the flap 72 away from the sliding block 71 will approach the inclined wall. Therefore, the two flaps 72 cooperate to shield the part of the brush head 3 exposed outside the receiving groove, reducing the contact area between the exposed part of the brush head 3 and the air. When the brush head 3 is to apply glue to the shoe upper, the winding wheel winds the cable, pulling the sliding block 71 to slide, causing the flap 72 to move in a direction close to the arc-shaped wall and compressing the second spring 74. At this time, the flap 72 will not shield the part of the brush head 3 exposed outside the receiving groove, and the brush head 3 can apply glue normally.

[0092] The reason for this is that in the glue application work, the shoe upper is provided intermittently. After applying glue to one shoe upper, there may be a time interval before the next shoe upper arrives. And part of the brush head 3 is exposed. After the glue on the brush head 3 contacts the air, it is easy to solidify or form a nearly solidified state. Then, when applying glue later, the amount of glue that can be applied to the shoe upper in the same time may vary, and there will be a difference from the previously calculated loss amount. Therefore, in order to make the calculated glue flow rate and other parameters conform to actual production, it is necessary to prevent the glue from solidifying as much as possible. When waiting for the shoe upper, reduce the contact area between the brush head 3 and the air. Thus, the shielding mechanism 7 is designed to shield the exposed part of the brush head 3 during the waiting interval of the brush head 3, reducing the contact area between the brush head 3 and the air.

[0093] In this embodiment, arc-shaped guide rails are provided on the arc-shaped wall, and the sliding block 71 is slidably engaged with the arc-shaped guide rails. A roller is provided between the two arc-shaped guide rails. The cable bypasses the roller and is connected to the winding wheel, which can assist the movement of the cable.

[0094] In this embodiment, the flap 72 has a certain arc to adapt to the shape of the brush head 3.

[0095] In this embodiment, a top column is provided at one end of the inclined wall away from the arc-shaped wall. The baffle 72 contacts the top column, and the top column can support the movement of the baffle 72.

[0096] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for applying glue to a shoe upper, characterized in that, It includes the following steps: Step 1: Obtain the upper part of the shoe picture and identify the area to be glued; Step 2: Perform image processing on the upper part of the shoe picture and calculate the smoothness of the area to be glued; Step 3: Obtain the glue flow rate according to the smoothness, and rely on the robotic arm to glue the upper part of the shoe.

2. The method for applying glue to the shoe upper according to claim 1, wherein In Step 2, perform gray-level co-occurrence matrix analysis on the upper part of the shoe picture to obtain the contrast of the area to be glued.

3. The method for applying glue to the shoe upper according to claim 2, characterized in that, Obtain the roughness coefficient according to the contrast, and calculate the glue flow rate according to the roughness coefficient; Roughness coefficient D = C / C Max ; where C is the contrast value, and C Max is 40,000; The glue flow rate V = 20D + 10.

4. The method for applying glue to the shoe upper according to claim 3, characterized in that, Store the glue in a glue cylinder, and use a peristaltic pump to transport the glue in the glue cylinder; The pressure P of the glue cylinder = (0.5 + 0.1×D)×1000000.

5. The method for applying glue to the shoe upper according to claim 3 or 4, characterized in that, A brush head is provided at the end of the robotic arm, the brush head can rotate, and the outer periphery of the brush head contacts the upper part of the shoe, so as to apply the glue to the upper part of the shoe; The rotation speed N of the brush head = 50000 + 20000×D; The moving speed S of the end of the robotic arm = 2000 - 200×D.

6. A vamp gluing device for implementing the method according to any one of claims 1-5 above, characterized in that, It includes a robotic arm, a glue cylinder, a peristaltic pump and a brush head. An installation seat is provided at the end of the robotic arm. The brush head is rotatably connected to the installation seat. A servo motor is provided on the installation seat. The servo motor drives the brush head to rotate so that the outer periphery of the brush head contacts the upper part of the shoe. The glue cylinder is used to store the glue, and the peristaltic pump transports the glue to the brush head so that the brush head applies the glue to the upper part of the shoe.

7. The shoe upper gluing device according to claim 6, wherein, The installation seat includes a substrate connected to the end of the robotic arm and an adjustment plate rotatably arranged on the substrate. A cylinder is connected between the substrate and the adjustment plate. One end of the cylinder is hinged to the substrate, and the other end of the cylinder is hinged to the adjustment plate; A positioning block is provided on the adjustment plate. The brush head is rotatably connected to the positioning block. The servo motor is fixed on the positioning block. The rotation axis of the brush head is parallel to the adjustment plate, and the cylinder adjusts the included angle between the substrate and the adjustment plate.

8. The shoe upper gluing device according to claim 6, characterized in that, A cover body is provided at one end of the positioning block away from the servo motor. A receiving groove is provided on the cover body. The receiving groove is open towards the circumference of the brush head. A connecting shaft is provided on the brush head. The connecting shaft is rotatably connected to the positioning block, and the connecting shaft is inserted into the receiving groove so that part of the brush head is located in the receiving groove.

9. The shoe upper gluing device according to claim 6, wherein An annular groove is provided on the outer wall of the brush head, and the annular groove is arranged around the rotation axis of the brush head.

10. The shoe upper gluing device according to claim 7, characterized in that, Two covering mechanisms are provided on the outer peripheral wall of the cover body, and the two covering mechanisms are symmetrically arranged; The covering mechanism includes a sliding block and a baffle hinged to the sliding block. A first spring is provided between the sliding block and the baffle so that the baffle has a tendency to move closer to the cover body; the two baffles are connected by a second spring; A cable is provided on the sliding block, and a winding device is provided on the adjustment plate. The winding device is connected to the cable; When the cable is not wound, the two baffles cooperate to cover the exposed part of the brush head under the drive of the second spring; When the cable is wound, the two baffles do not cover the exposed part of the brush head.

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