Full-automatic shoemaking system

Abstract

The invention relates to the technical field of automatic shoemaking, in particular to a full-automatic shoemaking system which comprises a rotary conveying mechanism, a shoe tree jig, a shoe tree fixing and locking mechanism, an upper roughing mechanism, a liquid medicine spraying mechanism, a first glue brushing mechanism, a second glue brushing mechanism, a glue rolling mechanism and a transferring mechanism. The rotary conveying mechanism is used for circularly conveying shoe tree jigs and enabling the shoe tree jigs to sequentially pass through the shoe upper roughing mechanism, the medicine spraying mechanism, the first glue brushing mechanism, the second glue brushing mechanism and the glue rolling mechanism; the shoe tree fixing and locking mechanism is arranged at the feeding end of the rotary conveying mechanism and used for locking and fixing shoe tree jigs, and the shoe upper roughing mechanism, the medicine liquid spraying mechanism, the first glue brushing mechanism, the second glue brushing mechanism and the glue rolling mechanism are all provided with transferring mechanisms which are in butt joint with the rotary conveying mechanism so as to be used for transferring the shoe tree jigs. By means of the efficient production process, precise process treatment and high automation, efficient, high-quality and stable shoemaking production is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic shoemaking, in particular to a full-automatic shoemaking system. BACKGROUND

[0002] With the development of global economy and the improvement of people's living standards, the demand for footwear products is increasing, and the shoemaking industry is facing unprecedented development opportunities. At the same time, the market has put forward higher requirements for the quality, style and production efficiency of footwear products. In order to meet market demand and improve the competitiveness of enterprises, shoemaking enterprises have introduced automation production technology to reduce production cost, improve production efficiency and product quality.

[0003] In recent years, with the rapid development of robot technology, sensor technology, automation control technology and other technologies, the automation level of shoemaking has been significantly improved. Some advanced shoemaking enterprises have realized full automation production from raw material processing, upper making, sole forming to whole shoe assembly. In the shoemaking process, glue brushing and glue spraying are very critical processes, which directly affect the quality and service life of shoes. The purpose of glue brushing and glue spraying is to firmly bond the sole and the upper together to ensure the stability of the overall structure of the shoe. The existing glue brushing and glue spraying automation equipment has poor adaptability to different types of glue and shoes, and frequent equipment replacement or parameter adjustment is required, which increases production cost and production difficulty. SUMMARY

[0004] To solve the above problems, the present application realizes an efficient, high-quality and stable full-automatic shoemaking system through efficient production process, precise process treatment and high automation.

[0005] The technical scheme adopted by the present application is: a full-automatic shoemaking system, comprising a rotary conveying mechanism, a last jig, a last fixing and locking mechanism, an upper roughening mechanism, a medicine spraying mechanism, a first glue brushing mechanism, a second glue brushing mechanism, a glue rolling mechanism and a transfer mechanism; the rotary conveying mechanism is used for circulating transmission of the last jig and for the last jig to pass through the upper roughening mechanism, the medicine spraying mechanism, the first glue brushing mechanism, the second glue brushing mechanism and the glue rolling mechanism in sequence; the last fixing and locking mechanism is arranged at the feeding end of the rotary conveying mechanism and is used for locking and fixing the last jig; the upper roughening mechanism, the medicine spraying mechanism, the first glue brushing mechanism, the second glue brushing mechanism and the glue rolling mechanism are all arranged with the transfer mechanism to be connected with the rotary conveying mechanism to transfer the last jig; a plurality of oven mechanisms are arranged on the rotary conveying mechanism, and the oven mechanisms are located behind the medicine spraying mechanism, the first glue brushing mechanism and the glue rolling mechanism; the upper roughening mechanism is used for roughening the upper transferred by the transfer mechanism; the medicine spraying mechanism is used for spraying medicine on the roughened upper; the first glue brushing mechanism and the second glue brushing mechanism are used for spraying glue on the upper; and the glue rolling mechanism is used for rolling glue on the sole.

[0006] Further improvement of the above scheme is that the transfer mechanism comprises a transfer transmission device and a transfer grabbing device, the transfer transmission device is used for driving the transfer grabbing device to move relatively towards the rotary conveying mechanism, so as to grab and transfer the last jig; one end of the last jig is provided with a positioning shaft sleeve, the transfer grabbing device comprises a grabbing support, a grabbing driving assembly and a grabbing opening assembly, the grabbing support is arranged on the transfer transmission device, the grabbing driving assembly is arranged on the grabbing support, and the grabbing opening assembly is provided with a plurality of opening clamping arms; the plurality of opening clamping arms are uniformly distributed in a ring shape, and the grabbing driving assembly is used for driving the opening clamping arms to open in a columnar shape; the positioning shaft sleeve is provided with a positioning shaft hole; when the grabbing and transferring are performed, the grabbing opening assembly is inserted into the positioning shaft hole, and the opening clamping arms are matched with the inner wall of the positioning shaft hole under the action of the grabbing driving assembly, so that the last jig is grabbed and transferred.

[0007] Further improvement of the above scheme is that the last jig comprises a jig base, a jig support, a clamping device and a clamping driving device, the jig support is arranged on the jig base, and the clamping device and the clamping driving device are arranged at two ends of the jig support respectively, the clamping driving device is used for driving the clamping device to clamp and fix the last, and the jig base is used for conveying on the rotary conveying mechanism.

[0008] Further improvement of the above scheme is that the two sides of the jig base are provided with conveying pads for matching conveying stations, one side of the conveying pad in contact with the conveying station is a chromium-plated surface, a plurality of lightening grooves are formed in the two sides of the jig base, and a plurality of positioning shaft sleeves are arranged on the jig base.

[0009] Further improvement of the above scheme is that the last fixing and locking mechanism comprises a jig positioning device, a locking support, a locking driving device and a locking pressing device, the jig positioning device is used for positioning the last jig, the locking driving device is arranged on the locking support, and the locking pressing device is used for pressing and fixing the last on the jig positioning device.

[0010] The present application has the following beneficial effects: Compared with the existing shoemaking system, the present application realizes the circulation transmission of the last jig in the production efficiency aspect, so that the roughening of the upper, the spraying of the medicine water, the brushing of the glue and other shoemaking processes can be sequentially and orderly carried out, forming a continuous production line. Each mechanism closely cooperates, reduces the manual handling and waiting time, greatly improves the overall efficiency of shoemaking, and compared with the traditional shoemaking method, more shoes can be made in a shorter time. In the product quality control, the upper roughening mechanism can accurately roughen the upper, increase the roughness of the upper surface, and facilitate the better adhesion of the medicine water and glue. The medicine water spraying mechanism can uniformly spray the medicine water on the roughened upper, providing a good foundation for the paste of the glue. The first glue brushing mechanism and the second glue brushing mechanism can uniformly distribute the glue, ensure the paste of the upper and the sole, and improve the quality and durability of the shoes. The last jig fixing and locking mechanism automatically locks and fixes the last jig at the feeding end, the docking of each mechanism and the transfer mechanism realizes the automatic transfer of the last jig, reduces the manual intervention, reduces the influence of human factors on the production process, and improves the stability and consistency of the production. The multiple oven mechanisms arranged on the rotary conveying mechanism are located behind the key process, can timely dry the upper and the sole after spraying the medicine water and the glue, accelerate the drying and curing of the medicine water and the glue, and further improve the production efficiency and the product quality. The present application realizes the efficient, high-quality and stable shoemaking production through the efficient production process, accurate process treatment and high automation. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 is a perspective view of the full-automatic shoemaking system of the present application; Figure 2 is a top view of the full-automatic shoemaking system of the present application; Figure 1 Figure 3 is a perspective view of the rotary conveying mechanism of the full-automatic shoemaking system of the present application; Figure 1 is a perspective view of the conveying and positioning device of the full-automatic shoemaking system of the present application; Figure 4 Figure 1 is a perspective view of the transfer mechanism of the full-automatic shoemaking system of the present application; Figure 5 is a perspective view of the last jig and the transfer mechanism of the full-automatic shoemaking system of the present application; Figure 1 is a schematic view of the partial structure of the transfer mechanism of the full-automatic shoemaking system of the present application; Figure 6 Figure 1 is a schematic view of the partial structure of the transfer mechanism of the full-automatic shoemaking system of the present application; Figure 7 is a schematic view of the partial structure of the transfer mechanism of the full-automatic shoemaking system of the present application; Figure 1 is a schematic view of the partial structure of the transfer mechanism of the full-automatic shoemaking system of the present application; Figure 8 Figure 1 ​​​​A top view of the transfer mechanism section of a fully automated shoe-making system. Figure 9 for Figure 8 Sectional view of AA; Figure 10 for Figure 1 A top view of the shoe last fixture in a fully automated shoe-making system; Figure 11 for Figure 10 Sectional view of AA; Figure 12 for Figure 11 Enlarged diagram of point A in the diagram; Figure 13 for Figure 10 Sectional view of BB; Figure 14 for Figure 10 A three-dimensional schematic diagram of the clamping device of the shoe last fixture; Figure 15 for Figure 10 An explosive schematic diagram of the clamping device of a shoe last fixture; Figure 16 for Figure 1 A three-dimensional view of the shoe last fixing and locking mechanism of a fully automated shoe-making system; Figure 17 for Figure 1 A 3D view of the upper roughening mechanism of a fully automated shoe-making system; Figure 18 for Figure 1 A 3D view of the spraying mechanism of a fully automated shoe-making system; Figure 19 for Figure 1 A three-dimensional view of the first glue-applying mechanism in a fully automated shoe-making system; Figure 20 for Figure 1 A three-dimensional view of the glue-rolling mechanism in a fully automated shoe-making system; Figure 21 for Figure 1 A three-dimensional view of the glue supply mechanism of a fully automated shoe-making system.

[0012] Explanation of reference numerals in the attached drawings: 1. Rotary conveyor mechanism; 11. Oven mechanism; 12. First linear conveyor line; 13. Second linear conveyor line; 14. First conveyor rotary device; 15. Second conveyor rotary device; 16. Conveyor positioning device; 161. Conveyor positioning base plate; 162. Conveyor positioning cylinder; 163. Conveyor lifting cylinder; 164. Conveyor lifting base plate; 165. Lifting guide rod. Shoe last jig 2, alignment shaft sleeve 21, alignment shaft hole 211, jig base 22, conveying cushion block 221, jig support 23, bottom plate 231, positioning sliding groove 2311, support rod 232, end plate 233, panel 234, through hole 2341, boss 235, clamping device 24, first pull rod 241, threaded part 2411, clamping fixing seat 242, guide sliding groove 2421, guide sliding groove 2422, clamping sliding block 243, guide sliding block 2431, reset groove 2432, clamping plate 244, second pull rod 245, inner diameter clamping block 246, pull rod sliding groove 2461, fixed sliding block 247, clamping driving device 25, clamping output shaft 251, synchronous driving wheel 252, clamping driven wheel 253, synchronous belt 254, shoe last support assembly 26, height adjusting rod 261; Shoe last fixing and locking mechanism 3, jig positioning device 31, locking support 32, locking base plate 321, locking support column 322, locking guide rod 323, locking top plate 324, locking driving device 33, locking lifting base plate 331, locking lifting module 332, locking docking assembly 333, output connector 3331, input interface 3332, locking driving module 334, locking pressing device 34; Shoe upper roughening mechanism 4, roughening machine box 41, roughening detection device 42, roughening robot 43, roughening processing device 44, polishing assembly 441, dust collection assembly 442; medicine spraying mechanism 5, medicine spraying machine box 51, medicine spraying detection device 52, medicine spraying robot 53, spraying device 54; first glue brushing mechanism 6, glue brushing machine box 61, glue brushing detection device 62, glue brushing robot 63, glue brushing processing device 64; second glue brushing mechanism 7, Glue rolling mechanism 8, glue rolling machine box 81, glue blocking device 82, side baffle 821, rolling brush device 83, rolling brush support 831, rolling brush driving module 832, rolling brush buffer module 833, glue brushing driving module 834, glue brushing roller 835; Transfer mechanism 9, transfer transmission device 91, transfer grabbing device 92, grabbing support 921, grabbing driving assembly 922, grabbing opening assembly 923, fixing sleeve 9231, opening shaft seat 9232, merging spring 9233, opening clamping arm 924, driving connection hole 9241, opening inclined surface 9242, grabbing driving cylinder 925, grabbing pull rod 926, opening driving inclined surface 9261; Shoe last loosening mechanism 10, glue supply mechanism 20, glue storage tank 201, weighing module 202, constant temperature module 203. DETAILED DESCRIPTION

[0013] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0014] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0015] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Figures 1-21As shown, in an embodiment of the present application, a full-automatic shoemaking system is involved, which comprises a rotary conveying mechanism 1, a last jig 2, a last fixing and locking mechanism 3, a roughening mechanism 4 for upper, a medicine water spraying mechanism 5, a first glue brushing mechanism 6, a second glue brushing mechanism 7, a glue rolling mechanism 8 and a transfer mechanism 9; the rotary conveying mechanism 1 is used for cyclic transmission of the last jig 2 and for the last jig 2 to pass through the roughening mechanism 4 for upper, the medicine water spraying mechanism 5, the first glue brushing mechanism 6, the second glue brushing mechanism 7 and the glue rolling mechanism 8 in turn; the last fixing and locking mechanism 3 is arranged at the feeding end of the rotary conveying mechanism 1 and is used for locking and fixing the last jig 2; the roughening mechanism 4 for upper, the medicine water spraying mechanism 5, the first glue brushing mechanism 6, the second glue brushing mechanism 7 and the glue rolling mechanism 8 are all arranged in butt joint with the rotary conveying mechanism 1 through the transfer mechanism 9 so as to transfer the last jig 2; a plurality of oven mechanisms 11 are arranged on the rotary conveying mechanism 1 and are located behind the medicine water spraying mechanism 5, the first glue brushing mechanism 6 and the glue rolling mechanism 8; the roughening mechanism 4 for upper is used for roughening the upper transferred by the transfer mechanism 9; the medicine water spraying mechanism 5 is used for spraying medicine water on the roughened upper; the first glue brushing mechanism 6 and the second glue brushing mechanism 7 are used for spraying glue on the upper; and the glue rolling mechanism 8 is used for rolling glue on the sole. In terms of production efficiency, the rotary conveying mechanism 1 realizes cyclic transmission of the last jig 2, so that multiple shoemaking processes such as roughening of upper, spraying of medicine water and brushing of glue can be sequentially and orderly performed to form a continuous production line. The close cooperation of various mechanisms reduces manual handling and waiting time and greatly improves the overall efficiency of shoemaking. Compared with the traditional shoemaking method, more shoes can be made in a shorter time. In terms of product quality control, the roughening mechanism 4 for upper can accurately roughen the upper to increase the roughness of the surface of the upper, which is conducive to better adhesion of the subsequent medicine water and glue. The medicine water spraying mechanism 5 can uniformly spray medicine water on the roughened upper to provide a good basis for the adhesion of glue. The glue spraying of the first glue brushing mechanism 6 and the second glue brushing mechanism 7 on the upper and the glue rolling of the glue rolling mechanism 8 on the sole can make the glue uniformly distributed to ensure firm adhesion of the upper and the sole and improve the quality and durability of the shoes. The last fixing and locking mechanism 3 automatically locks and fixes the last jig 2 at the feeding end, the butt joint of various mechanisms with the transfer mechanism 9 realizes automatic transfer of the last jig 2, reduces manual intervention, reduces the influence of human factors on the production process, and improves the stability and consistency of production. The plurality of oven mechanisms 11 arranged on the rotary conveying mechanism 1 are located behind the key processes and can timely dry the upper and the sole after spraying of medicine water and glue to accelerate drying and solidification of the medicine water and the glue, further improving production efficiency and product quality. Through efficient production process, accurate process treatment and high automation, the embodiment realizes efficient, high-quality and stable shoemaking production.

[0016] Referring to Figure 3As shown, the rotary conveying mechanism 1 comprises a first linear conveying line 12, a second linear conveying line 13, a first conveying rotary device 14, and a second conveying rotary device 15. The first linear conveying line 12 and the second linear conveying line 13 are arranged in parallel. The first conveying rotary device 14 is arranged at one end of the first linear conveying line 12 and the second linear conveying line 13, and is used to connect the first linear conveying line 12 and the second linear conveying line 13. The second conveying rotary device 15 is arranged at the other end of the first linear conveying line 12 and the second linear conveying line 13, and is used to connect the first linear conveying line 12 and the second linear conveying line 13. Both the first linear conveying line 12 and the second linear conveying line 13 are double-layer conveying devices. Specifically, a plurality of conveying positioning devices 16 are arranged on the first linear conveying line 12 and the second linear conveying line 13, and are used to position the last jig 2. The plurality of conveying positioning devices 16 correspond to the last fixing and locking mechanism 3, the upper roughening mechanism 4, the medicine water spraying mechanism 5, the first glue brushing mechanism 6, the second glue brushing mechanism 7, the glue rolling mechanism 8, and the transfer mechanism 9, respectively. In this embodiment, the first linear conveying line 12 and the second linear conveying line 13 are arranged in parallel and connected into a circulation loop through the first conveying rotary device 14 and the second conveying rotary device 15, realizing the circulation transmission of the last jig 2. The circulation conveying mode enables the shoemaking process to continue without the need for manual frequent carrying and adjustment of the position of the last jig 2, greatly improving the production efficiency. The design of the double-layer conveying device further increases the conveying capacity, enabling more last jigs 2 to be processed at the same time, further improving the overall shoemaking output. The plurality of conveying positioning devices 16 correspond to the upper roughening mechanism 4, the medicine water spraying mechanism 5, and other key processes, respectively, and can accurately position the last jig 2 at the operation position of each process. This ensures that each process can accurately process the upper and the sole, improving the precision and quality of shoemaking. For example, the upper roughening mechanism 4 can uniformly roughen the upper under accurate positioning, avoiding the problem of uneven roughening due to inaccurate positioning, thereby providing a good foundation for subsequent medicine water spraying and glue pasting. The existence of the conveying positioning device 16 makes the connection between processes more closely and smoothly. The last jig 2 can pass through each process in a predetermined order, reducing the waiting time and error between processes, and ensuring the continuity and stability of the shoemaking process.

[0017] Referring to Figure 4As shown, the conveying positioning device 16 comprises a conveying positioning base plate 161 arranged on the first linear conveying line 12 and the second linear conveying line 13, a conveying positioning cylinder 162 arranged on the conveying positioning base plate 161 for positioning the shoe tree jig 2 on the conveying line in the conveying direction, a conveying lifting cylinder 163 arranged on the lifting base plate, and a lifting guide rod 165, one end of which is arranged on the conveying lifting base plate 164 and the other end is movably arranged on the conveying positioning base plate 161 through a shaft sleeve. The conveying lifting base plate 164 is used for positioning the shoe tree jig 2 to be grabbed by the transfer mechanism 9. In this embodiment, the conveying positioning cylinder 162 arranged on the conveying positioning base plate 161 can accurately position the shoe tree jig 2 on the conveying line in the conveying direction. During the circulation transmission of the shoe tree jig 2 driven by the rotary conveying mechanism 1, the shoe tree jig 2 may

[0018] Referring to Figures 5-9As shown, the transfer mechanism 9 comprises a transfer drive device 91 for driving the transfer gripping device 92 to move relative to the rotary conveying mechanism 1 for gripping and transferring the last jig 2; one end of the last jig 2 is provided with an alignment shaft sleeve 21, the transfer gripping device 92 comprises a gripping support 921, a gripping drive assembly 922 and a gripping opening assembly 923, the gripping support 921 is arranged on the transfer drive device 91, the gripping drive assembly 922 is arranged on the gripping support 921, and the gripping opening assembly 923 is provided with a plurality of opening clamping arms 924; the plurality of opening clamping arms 924 are evenly distributed in a ring shape, and the gripping drive assembly 922 is used to drive the opening clamping arms 924 to open in a columnar shape; the alignment shaft sleeve 21 is provided with an alignment shaft hole 211; during gripping and transferring, the gripping opening assembly 923 is inserted into the alignment shaft hole 211, and the opening clamping arms 924 cooperate with the inner wall of the alignment shaft hole 211 under the action of the gripping drive assembly 922 to grip and transfer the last jig 2. In this embodiment, the transfer drive device 91 can drive the transfer gripping device 92 to move relative to the rotary conveying mechanism 1, realizing the rapid transfer of the last jig 2 between different processes. After the rotary conveying mechanism 1 sequentially conveys the last jig 2 to each processing position, the transfer mechanism 9 can quickly grip and transfer the last jig 2 to the next required process, reducing the residence time of the last jig 2 between processes, greatly improving the production efficiency of the entire shoemaking process, and making the shoemaking process more compact and coherent. In terms of gripping stability, the alignment shaft sleeve 21 arranged at one end of the last jig 2 and the alignment shaft hole 211 thereon are ingeniously matched with the transfer gripping device 92. After the gripping opening assembly 923 of the transfer gripping device 92 is inserted into the alignment shaft hole 211, the plurality of opening clamping arms 924 evenly distributed in a ring shape open in a columnar shape under the action of the gripping drive assembly 922, and tightly cooperate with the inner wall of the alignment shaft hole 211. The gripping force is uniformly distributed on the last jig 2, avoiding the shaking or falling of the last jig 2 during gripping, ensuring the stability of the last jig 2 during transfer, and reducing production accidents and defective rates caused by unstable gripping. Since the standardized alignment shaft sleeve 21 and alignment shaft hole 211 design is adopted, as long as the last jig 2 meets the corresponding specifications, the transfer mechanism 9 can accurately grip and transfer. The full-automatic shoemaking system can be applied to the production of shoes of different styles and specifications, improving the flexibility and applicability of the system.

[0019] The grabbing driving assembly 922 comprises a grabbing driving cylinder 925 arranged on the grabbing support 921 and a grabbing pull rod 926, one end of which is connected with the driving end of the grabbing driving cylinder 925; the grabbing opening assembly 923 is provided with a fixed sleeve 9231, an opening shaft seat 9232 and a merging spring 9233, one end of the fixed sleeve 9231 is arranged on the grabbing support 921, the opening shaft seat 9232 is used for arranging the opening clamping arm 924 on the fixed sleeve 9231, and the merging spring 9233 is arranged on the opening shaft seat 9232 to reset the opening clamping arm 924; a plurality of driving connection holes 9241 are arranged at the shaft centers of the opening clamping arms 924, the end portions of the driving connection holes 9241 are provided with opening inclined surfaces 9242, one end of the end plate of the grabbing pull rod 926 penetrates through the driving connection holes 9241 and is provided with an opening driving inclined surface 9261, and the grabbing driving cylinder 925 is used for driving the grabbing pull rod 926 to drive the opening clamping arms 924 to open under the cooperation of the opening inclined surfaces 9242 and the opening driving inclined surface 9261 to grab the inner wall of the alignment shaft hole 211. In the embodiment, the grabbing driving cylinder 925 drives the grabbing pull rod 926 to move, and the opening of the opening clamping arms 924 is controlled through the cooperation of the opening inclined surfaces 9242 and the opening driving inclined surface 9261. The design of the inclined surface cooperation can accurately convert the linear motion of the cylinder into the opening action of the opening clamping arms 924, so that the opening clamping arms 924 can open in a predetermined manner and amplitude and accurately cooperate with the inner wall of the alignment shaft hole 211. This ensures that when the shoe last jig 2 is grabbed, appropriate grabbing force can be accurately applied, avoiding the situation that the shoe last jig 2 falls or is not firmly grabbed due to inaccurate grabbing, greatly improving the reliability and stability of the grabbing operation, and further improving the continuity and stability of the entire shoemaking production process. The fast response characteristics of the grabbing driving cylinder 925 enable the opening clamping arms 924 to open and close rapidly. When the shoe last jig 2 reaches the designated position, the grabbing driving cylinder 925 can drive the grabbing pull rod 926 in a short time, so that the opening clamping arms 924 open rapidly and complete the grabbing action; after being transferred to the target position, it can be quickly released. The efficient grabbing and releasing process reduces the residence time of the shoe last jig 2 in the transfer process, improves the working efficiency of the transfer mechanism 9, and thus speeds up the production rhythm of the entire shoemaking system. The arrangement of the merging spring 9233 provides reliable guarantee for the resetting of the opening clamping arms 924. After completing a grabbing and transferring task, the merging spring 9233 can quickly restore the opening clamping arms 924 to the initial state, ready for the next grabbing.

[0020] Referring to Figures 10-15As shown, the last jig 2 includes a jig base 22, a jig support 23, a clamping device 24 and a clamping driving device 25, the jig support 23 is arranged on the jig base 22, the clamping device 24 and the clamping driving device 25 are respectively arranged at both ends of the jig support 23, and the clamping driving device 25 is used to drive the clamping device 24 to clamp and fix the last; the jig base 22 is used for transmission on the rotary conveying mechanism 1; conveying pads 221 for matching the conveying station transmission are arranged on both sides of the jig base 22, one side of the conveying pad 221 in contact with the conveying station transmission is a chromium plated surface; a plurality of weight reduction grooves are arranged on both sides of the jig base 22; a plurality of positioning shaft sleeves are arranged on the jig base 22; specifically, the jig support 23 is provided with a bottom plate 231, a support rod 232, an end plate 233 and a face plate 234, the support rod 232 is used to connect the face plate 234 and the bottom plate 231, the end plate 233 is arranged at one end of the bottom plate 231 and the face plate 234, the end plate 233 is provided with a boss 235, and the boss 235 is used to connect the bottom plate 231 and the face plate 234; the positioning shaft sleeve 21 is arranged on the end plate 233; the last support assembly 26 is arranged on the face plate 234, and the last support assembly 26 is used for last support; the last support assembly 26 is provided with a height adjusting rod 261 for supporting lasts of different sizes and heights. In this embodiment, the conveying pads 221 on both sides of the jig base 22 play a key role. One side of the conveying pad 221 in contact with the conveying station transmission is a chromium plated surface, which has the characteristics of low friction coefficient and high wear resistance. When transmitting on the rotary conveying mechanism 1, the low friction coefficient enables the last jig 2 to move smoothly, reduces the jamming and resistance in the transmission process, and improves the conveying efficiency. At the same time, the high wear resistance ensures that the conveying pad 221 will not be easily worn out during long-term use, prolongs the service life of the last jig 2, and reduces the maintenance cost of the equipment. Moreover, the conveying pad 221 enables the last jig 2 to be placed stably on the conveying station, avoiding the influence of subsequent shoemaking processes caused by shaking or deviation, and ensuring the continuity and stability of the entire shoemaking process. The plurality of weight reduction grooves arranged on both sides of the jig base 22 play a role in reducing weight. Reducing the weight of the last jig 2 can reduce the load of the rotary conveying mechanism 1, reduce energy consumption, and improve the operating efficiency of the equipment; on the other hand, it is also convenient for operators to carry and adjust the last jig 2 when necessary, improving the convenience of operation. The positioning of the positioning shaft sleeve provides a guarantee for the accurate positioning of the last jig 2 in each process. Through cooperation with the conveying positioning device 16 and the like, the positioning shaft sleeve can ensure that the last jig 2 accurately reaches the designated position, so that the processes such as roughening of the upper, spraying of medicine water, and brushing of glue can be accurately and correctly performed, improving the precision and quality of shoemaking. The design of the last support assembly 26 embodies strong universality. The arrangement of the height adjusting rod 261 enables the last support assembly 26 to support lasts of different sizes and heights.The present application can be applied to the production of shoes of various specifications, and the enterprise does not need to equip different shoe tree jigs 2 for different styles of shoes, thereby reducing production cost and improving equipment utilization.

[0021] The clamping driving device 25 comprises a clamping output shaft 251, a synchronous driving wheel 252 and a clamping driven wheel 253. Bearings are arranged at both ends of the clamping output shaft 251, and the bearings are connected with the bottom plate 231 and the panel 234, respectively. One end of the clamping output shaft 251 extends to the outside of the panel 234. The synchronous driving wheel 252 is arranged on the clamping output shaft 251. The clamping driven wheel 253 is arranged on the clamping device 24. A synchronous belt 254 is arranged between the synchronous driving wheel 252 and the clamping driven wheel 253. The clamping output shaft 251 drives the clamping output shaft 251 through the synchronous driving wheel 252 and the synchronous belt 254, so as to drive the clamping device 24 to clamp and fix the shoe tree. In the embodiment, the bearings are arranged at both ends of the clamping output shaft 251, and the bearings are connected with the bottom plate 231 and the panel 234, respectively, so as to ensure the stability of the clamping output shaft 251 during rotation. The bearings can reduce the friction between the shaft and the supporting part, reduce energy loss, and make the power transmission more efficient. At the same time, stable rotation also ensures that the synchronous driving wheel 252 can accurately transmit power to the synchronous belt 254, and then drive the clamping driven wheel 253 and the clamping device 24 to work. This avoids the problems of uneven clamping force or inaccurate clamping action caused by unstable power transmission, and ensures the stable clamping of the shoe tree during the entire shoemaking process. The synchronous belt 254 transmission has an accurate transmission ratio, which can ensure that the speed ratio between the synchronous driving wheel 252 and the clamping driven wheel 253 is constant. The rotation of the clamping output shaft 251 can be accurately converted into the action of the clamping device 24, so as to realize the accurate clamping of the shoe tree. Moreover, the synchronous belt 254 transmission has high efficiency, which can effectively transmit power from the clamping output shaft 251 to the clamping device 24, reduce energy loss, and improve the energy utilization efficiency of the entire shoemaking system.

[0022] The clamping device 24 comprises a first pull rod 241, a clamping fixed seat 242, a clamping sliding block 243 and a clamping plate 244. The surface plate 234 is provided with a through hole 2341, and the bottom plate 231 is provided with a positioning sliding groove 2311. The through hole 2341 is opposite to the positioning sliding groove 2311. The first pull rod 241 is axially arranged on the through hole 2341 and one end is slidingly arranged on the positioning sliding groove 2311. The inner diameter of the clamping driven wheel 253 is a threaded inner diameter. The outer diameter of the first pull rod 241 is provided with a threaded portion 2411. The threaded inner diameter of the clamping driven wheel 253 cooperates with the threaded portion 2411 to drive the first pull rod 241 to ascend and slide along the positioning sliding groove 2311. The clamping fixed seat 242 is arranged on the surface of the surface plate 234. The clamping sliding block 243 is arranged in the clamping fixed seat 242. One end of the first pull rod 241 is connected with the clamping sliding block 243 and is driven to slide downward under the action of the clamping driven wheel 253 to drive the clamping sliding block 243 to slide in the clamping fixed seat 242. The clamping plate 244 is arranged on one side of the clamping sliding block 243 to clamp and fix the shoe tree under the action of the clamping sliding block 243. The clamping fixed seat 242 is provided with a guide sliding groove 2422. The clamping sliding block 243 is provided with a guide sliding block 2431 and is slidingly fitted on the guide sliding groove 2422 through the guide sliding block 2431. The clamping sliding block 243 is provided with a reset groove 2432 with the first pull rod 241 as the axis. One side of the through hole 2341 towards the reset groove 2432 is provided with a spring groove 2433. The reset spring is arranged in the spring groove 2433. The other end of the reset spring is used to abut the groove bottom surface of the reset groove 2432 for reset assistance of the clamping sliding block 243. Specifically, the clamping device 24 further comprises a second pull rod 245, an inner diameter clamping block 246 and a fixed sliding block 247. The upper surface of the clamping fixed seat 242 is provided with a fixed sliding groove 2421. The fixed sliding block 247 is provided with two and is arranged at both ends of the fixed sliding groove 2421 respectively to form an inner diameter clamping groove with the first pull rod 241 as the axis. The inner diameter clamping block 246 is provided with two and is oppositely arranged on the fixed sliding groove 2421. One side of the two inner diameter clamping blocks 246 is provided with a pull rod sliding groove 2461 with the first pull rod 241 as the axis. The pull rod sliding groove 2461 is provided with a pull rod inclined surface at the opening. The second pull rod 245 is arranged on the pull rod sliding groove 2461 and one end is connected with the first pull rod 241 and the other end is provided with an inclined surface pushing part. The inclined surface pushing part is used to push the inner diameter clamping block 246 to move towards the fixed sliding block 247 to clamp and fix the inner diameter hole of the shoe tree. The inner diameter sliding spring is arranged between the inner diameter clamping block 246 and the fixed sliding block 247 for reset of the inner diameter clamping block 246. The inner diameter clamping block 246 comprises a sliding part and a semi-cylindrical clamping pushing block.In this embodiment, in terms of stability of clamping, the first pull rod 241 is threadedly connected with the clamping driven wheel 253, which can accurately convert the rotation of the driven wheel into the linear lifting motion of the first pull rod 241. This makes the sliding of the first pull rod 241 on the positioning sliding groove 2311 stable and controllable, thereby driving the clamping sliding block 243 to slide smoothly in the clamping fixed seat 242. The clamping plate 244 clamps the shoe tree under the action of the clamping sliding block 243. Due to the stability of the movement, it can ensure that a uniform clamping force is applied to the shoe tree, avoid the shoe tree from shaking or shifting during shoemaking, and ensure the accurate performance of subsequent roughening of the upper, spraying of medicine, brushing of glue and other processes, thereby greatly improving the shoemaking quality. The cooperation of the guide sliding groove 2422 and the guide sliding block 2431 further enhances the stability and accuracy of the movement of the clamping sliding block 243. The guide structure makes the clamping sliding block 243 only slide along the predetermined trajectory, reduces unnecessary deviation, and further improves the clamping accuracy. The setting of the reset spring ensures the continuity and reliability of the clamping action. After completing a clamping operation, the reset spring can quickly reset the clamping sliding block 243, making it ready for the next clamping, thereby improving the working efficiency of the shoemaking system. For clamping the inner diameter hole of the shoe tree, the cooperative work of the second pull rod 245, the inner diameter clamping block 246 and the fixed sliding block 247 plays a key role. The cooperation of the inclined surface pushing part and the inclined surface of the pull rod can cleverly convert the movement of the first pull rod 241 into the relative movement of the inner diameter clamping block 246, thereby effectively clamping the inner diameter hole of the shoe tree. The inner diameter sliding spring ensures that the inner diameter clamping block 246 can be reset smoothly after clamping, thereby ensuring the cyclic work of the entire clamping device 24. The design of the semicylindrical clamping pushing block can better fit the shape of the inner diameter hole of the shoe tree, thereby providing more stable clamping force.

[0023] Referring to Figure 16As shown, the shoe last fixing and locking mechanism 3 comprises a jig positioning device 31 for positioning the shoe last jig 2, a locking support 32, a locking driving device 33 arranged on the locking support 32, and a locking pressing device 34 for pressing and fixing the shoe last on the jig positioning device 31. Specifically, the locking support 32 comprises a locking base plate 321, a locking support column 322, a locking guide rod 323, and a locking top plate 324, the locking support column 322 and the locking guide rod 323 are both used to connect the locking base plate 321 and the locking top plate 324, the locking driving device 33 comprises a locking lifting base plate 331, a locking lifting module 332, a locking docking assembly 333, and a locking driving module 334, the locking lifting base plate 331 is arranged on the locking guide rod 323, the locking lifting module 332 is arranged on the locking top plate 324 and is used to drive the locking lifting base plate 331 to slide axially along the locking guide rod 323, the locking docking assembly 333 is provided with an output connector 3331 and an input interface 3332, the output connector 3331 is used to dock the shoe last jig 2 and drive the shoe last jig 2 to clamp and fix the shoe last, the locking driving module 334 is arranged on the locking top plate 324 and is used to connect the input interface 3332 to drive the shoe last jig 2 to clamp and fix the shoe last, and the locking pressing device 34 is arranged on the locking top plate 324 and has a driving end facing the jig positioning device 31 for pressing and fixing the shoe last jig 2. The shoe last loosening mechanism 10 is located behind the rubber rolling mechanism 8 and has the same structure as the shoe last fixing and locking mechanism 3. In this embodiment, in terms of shoe last positioning and fixing, the jig positioning device 31 can accurately position the shoe last jig 2, laying a good foundation for subsequent shoemaking processes. The cooperative work of the locking driving device 33 and the locking pressing device 34 ensures that the shoe last can be stably fixed on the jig positioning device 31. The locking lifting module 332 drives the locking lifting base plate 331 to slide axially along the locking guide rod 323, so that the output connector 3331 can accurately dock the shoe last jig 2, and through the driving of the locking driving module 334, the shoe last jig 2 can tightly clamp and fix the shoe last. The locking pressing device 34 further presses the shoe last jig 2 to prevent the shoe last from shifting or shaking during processes such as roughening of the upper, spraying of medicine, and brushing of glue, thereby ensuring the precision and quality of shoemaking. In terms of structural design rationality, the structure of the locking support 32 is stable and reliable. The locking base plate 321, the locking support column 322, the locking guide rod 323, and the locking top plate 324 are connected with each other, providing solid support for the entire locking mechanism. The stable structure can withstand various forces during the shoemaking process, ensuring the normal operation of the mechanism. In terms of the continuity of the shoemaking process, the setting of the shoe last loosening mechanism 10 is very crucial. Located behind the rubber rolling mechanism 8, it has the same structure as the shoe last fixing and locking mechanism 3.When the shoe last completes the rolling glue process and the like, the shoe last loosening mechanism 10 can timely and accurately loosen the shoe last, so that the shoe last can smoothly enter the next process. The continuity of the shoemaking process is ensured, and the production efficiency is improved. Since the shoe last fixing and locking mechanism 3 and the shoe last loosening mechanism 10 have the same structure, the types and quantities of parts can be reduced during the manufacturing, installation and maintenance of the equipment, the cost is reduced, and the reliability and maintainability of the equipment are improved.

[0024] Referring to Figures 17-19As shown, the roughening mechanism 4 includes a roughening box 41, a roughening detection device 42, a roughening robot 43, and a roughening processing device 44. The roughening box 41 is provided with a transfer mechanism 9 for moving the last jig 2 towards the driving end of the roughening robot 43. The roughening detection device 42 is arranged on the roughening box 41 and close to the rotary conveying mechanism 1 for detecting the shoes before polishing. The roughening robot 43 is arranged on the roughening box 41. The roughening processing device 44 is arranged at the driving end of the roughening robot 43. The roughening robot 43 drives the roughening processing device 44 to polish the upper. The roughening processing device 44 includes a polishing assembly 441 and a dust suction assembly 442 for polishing the upper. Specifically, the medicine spraying mechanism 5 includes a medicine spraying box 51, a medicine spraying detection device 52, a medicine spraying robot 53, and a spraying device 54. The medicine spraying box 51 is provided with a transfer mechanism 9 for moving the last jig 2 towards the driving end of the medicine spraying robot 53. The medicine spraying detection device 52 is arranged on the medicine spraying box 51 and close to the rotary conveying mechanism 1 for detecting the shoes before spraying medicine. The medicine spraying robot 53 is arranged on the medicine spraying box 51. The spraying device 54 is arranged at the driving end of the medicine spraying robot 53. The medicine spraying robot 53 drives the spraying device 54 to spray medicine on the shoes. The first glue brushing mechanism 6 includes a glue brushing box 61, a glue brushing detection device 62, a glue brushing robot 63, and a glue brushing processing device 64. The glue brushing box 61 is provided with a transfer mechanism 9 for moving the last jig 2 towards the driving end of the glue brushing robot 63. The glue brushing detection device 62 is arranged on the glue brushing box 61 and close to the rotary conveying mechanism 1 for detecting the shoes before brushing glue. The glue brushing robot 63 is arranged on the glue brushing box 61. The glue brushing processing device 64 is arranged at the driving end of the glue brushing robot 63. The second glue brushing mechanism 7 has the same structure as the first glue brushing mechanism 6. The medicine spraying detection device 52 and the glue brushing detection device 62 are both laser line scanning detection devices for detecting the profile of the shoes. In this embodiment, the transfer mechanism 9 on the roughening box 41 can accurately grasp the last jig 2 and move it to the driving end of the roughening robot 43, realizing efficient transfer of the last and improving the continuity of the shoemaking process. The roughening detection device 42 detects the shoes before polishing, which can detect potential problems on the surface of the shoes in advance and provide accurate data basis for subsequent polishing operations, ensuring the accuracy of polishing. The roughening robot 43 drives the roughening processing device 44 to polish the upper. The polishing assembly 441 can effectively remove impurities and uneven parts on the surface of the upper. The dust suction assembly 442 can timely suck away the dust generated during polishing, which not only improves the working environment but also avoids the pollution of dust to the shoes and equipment, improving the polishing quality. In the medicine spraying mechanism 5, the transfer mechanism 9 on the medicine spraying box 51 also realizes efficient transfer of the last jig 2.The spray water detection device 52 adopts a laser line scanning detection device to detect the shoe contour, which can accurately determine the shape and size of the shoe, so that the spraying device 54 is more accurate when spraying water, ensuring that the water is evenly covered on the surface of the shoe, improving the effect of water spraying and enhancing the performance of the shoe. The spray water robot 53 drives the spraying device 54 to complete the spraying operation, ensuring the stability and consistency of the spraying. In terms of the glue brushing mechanism, the transfer mechanism 9, the detection device and the robot of the first glue brushing mechanism 6 and the second glue brushing mechanism 7 work together. The glue brushing detection device 62 detects the shoe contour through laser line scanning to provide accurate position information for glue brushing. The glue brushing robot 63 drives the glue brushing processing device 64 to brush glue, ensuring that the glue is evenly applied on the shoe, improving the adhesion and fit of the glue.

[0025] Referring to Figure 20As shown, the glue rolling mechanism 8 includes a glue rolling box 81, a glue blocking device 82, and a rolling brush device 83. The glue rolling box 81 is provided with a transfer mechanism 9 for grabbing the shoe last jig 2 through the glue blocking device 82. The rolling brush device 83 rolls glue on the shoes. The glue blocking device 82 includes side baffles 821 provided with two glue blocking brushes opposite to each other on both sides of the transfer mechanism 9. The rolling brush device 83 is located above the glue blocking device 82 and includes a rolling brush support 831, a rolling brush driving module 832, a rolling brush buffering module 833, a glue brushing driving module 834, and a glue brushing roller 835. The rolling brush driving module 832 is arranged on the rolling brush support 831, the rolling brush buffering module 833 is arranged on the rolling brush driving module 832, the glue brushing roller 835 is arranged on the rolling brush buffering module 833, and the driving end of the glue brushing driving module 834 is connected with the glue brushing roller 835 for driving the glue brushing roller 835 to rotate and brush glue on the shoes. In this embodiment, the glue blocking device 82 plays a key role in glue control. The side baffles 821 are opposite to each other on both sides of the transfer mechanism 9 and are provided with glue blocking brushes. When the transfer mechanism 9 grabs the shoe last jig 2, the glue blocking brushes can effectively block the splashing and overflowing of glue. This not only avoids the pollution of the surrounding environment by glue, maintains the cleanliness of the shoemaking workshop, but also reduces the waste of glue and lowers the production cost. At the same time, precise glue control ensures that only the parts that need to be brushed with glue can contact the glue, improving the quality and precision of glue brushing. The design of the rolling brush device 83 greatly improves the efficiency and effect of glue brushing. The rolling brush driving module 832 provides power for the entire rolling brushing process, ensuring the smooth operation of the glue brushing operation. The presence of the rolling brush buffering module 833 enables the glue brushing roller 835 to have a certain buffer when contacting the shoes, avoiding damage to the shoes due to excessive pressure, and also better adapting to shoes of different shapes and materials, ensuring the uniformity of glue brushing. The glue brushing driving module 834 drives the glue brushing roller 835 to rotate and roll glue on the shoes. This rolling brushing method can make the glue more evenly cover the surface of the shoes, enhance the adhesion of the glue, and improve the fit and durability of the shoes. The transfer mechanism 9 realizes the efficient movement of the shoe last jig 2 in the glue rolling mechanism 8, making the entire glue brushing process coherent and orderly. It accurately sends the shoe last jig 2 to the glue blocking device 82 and the rolling brush device 83, closely cooperates with the glue blocking device 82 and the rolling brush device 83, and improves the overall operation efficiency of the shoemaking system.

[0026] Referring to Figure 21As shown, the shoe manufacturing system further comprises glue supply mechanisms 20, which are provided in multiple groups corresponding to the first glue brushing mechanism 6, the second glue brushing mechanism 7 and the glue rolling mechanism 8 respectively for supplying glue; the glue supply mechanisms 20 comprise glue storage tanks 201, weighing modules 202 and constant temperature modules 203, the glue storage tanks 201 are used for storing glue, the weighing modules 202 are used for obtaining the weight of the glue in the glue storage tanks 201, and the constant temperature modules 203 are used for constant temperature of the glue. In this embodiment, from the stability of glue supply, the setting of the glue storage tanks 201 provides sufficient glue reserve for the shoe manufacturing process. A large amount of glue can be stored at one time, reducing the operation of frequent addition of glue, ensuring the continuity of the shoe manufacturing process, avoiding production interruption caused by insufficient glue supply, and improving production efficiency. The weighing modules 202 can obtain the weight of the glue in the glue storage tanks 201 in real time, through accurate monitoring of the weight of the glue, the workers can timely understand the use of the glue. When the weight of the glue approaches the preset lower limit value, the glue can be replenished in advance to avoid the shortage of glue. At the same time, the data of the weighing modules 202 are also helpful for the statistics and analysis of the usage of the glue, so as to optimize the usage strategy of the glue and reduce the production cost. The constant temperature module 203 plays an important role in ensuring the quality and performance of the glue. The performance of the glue is often affected by temperature, and under different temperature conditions, the viscosity, flowability and adhesion of the glue may change. The constant temperature module 203 can keep the glue in a constant temperature range, ensuring that the glue is always in the best use state. When the first glue brushing mechanism 6, the second glue brushing mechanism 7 and the glue rolling mechanism 8 perform glue brushing operation, the glue can be uniformly applied on the shoes, improving the adhesion and fit of the glue, and thus improving the manufacturing quality of the shoes. Multiple groups of glue supply mechanisms 20 correspond to different glue brushing mechanisms to realize precise glue supply. According to the different needs of each glue brushing mechanism, the glue supply mechanisms 20 can provide appropriate amount and quality of glue, avoiding the problems of waste and insufficient supply of glue. The precise glue supply mode improves the running efficiency and stability of the entire shoe manufacturing system.

[0027] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, several modifications and improvements can be made, which belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A fully automatic shoe making system characterized by: The application relates to a shoe manufacturing device, which comprises a rotary conveying mechanism, a shoe last jig, a shoe last fixing and locking mechanism, a shoe upper roughening mechanism, a medicine water spraying mechanism, a first glue brushing mechanism, a second glue brushing mechanism, a glue rolling mechanism and a transfer mechanism; the rotary conveying mechanism is used for cyclic transmission of the shoe last jig and sequentially passing through the shoe upper roughening mechanism, the medicine water spraying mechanism, the first glue brushing mechanism, the second glue brushing mechanism and the glue rolling mechanism; the shoe last fixing and locking mechanism is arranged at the feeding end of the rotary conveying mechanism and is used for locking and fixing the shoe last jig; the shoe upper roughening mechanism, the medicine water spraying mechanism, the first glue brushing mechanism, the second glue brushing mechanism and the glue rolling mechanism are all arranged with the transfer mechanism and the rotary conveying mechanism for docking to transfer the shoe last jig; a plurality of oven mechanisms are arranged on the rotary conveying mechanism and located behind the medicine water spraying mechanism, the first glue brushing mechanism and the glue rolling mechanism; the shoe upper roughening mechanism is used for roughening the shoe upper transferred by the transfer mechanism; the medicine water spraying mechanism is used for spraying medicine water on the roughened shoe upper; the first glue brushing mechanism and the second glue brushing mechanism are used for spraying glue on the shoe upper; and the glue rolling mechanism is used for rolling glue on the shoe sole.

2. The fully automatic shoemaking system according to claim 1, characterized in that: The rotary conveying mechanism comprises a first straight conveying line, a second straight conveying line, a first conveying rotary device and a second conveying rotary device; the first straight conveying line and the second straight conveying line are arranged in parallel; the first conveying rotary device is arranged at one end of the first straight conveying line and the second straight conveying line and is used for connecting the first straight conveying line and the second straight conveying line; the second conveying rotary device is arranged at the other end of the first straight conveying line and the second straight conveying line and is used for connecting the first straight conveying line and the second straight conveying line; and the first straight conveying line and the second straight conveying line are both double-layer conveying devices. A plurality of conveying positioning devices are arranged on the first straight conveying line and the second straight conveying line and are used for positioning the shoe last jig; and the plurality of conveying positioning devices correspond to the shoe last fixing and locking mechanism, the shoe upper roughening mechanism, the medicine water spraying mechanism, the first glue brushing mechanism, the second glue brushing mechanism, the glue rolling mechanism and the transfer mechanism respectively. The conveying positioning device comprises a conveying positioning base plate, a conveying positioning cylinder, a conveying jacking cylinder, a conveying jacking base plate and a jacking guide rod; the conveying positioning base plate is arranged on the first straight conveying line and the second straight conveying line; the conveying positioning cylinder is arranged on the conveying positioning base plate and is used for positioning the shoe last jig on the conveying line in the conveying direction; the conveying jacking cylinder is arranged on the jacking base plate; one end of the jacking guide rod is arranged on the conveying jacking base plate and the other end is movably arranged on the conveying positioning base plate through a shaft sleeve; and the conveying jacking base plate is used for positioning the shoe last jig to correspond to the transfer mechanism to grasp the shoe last jig.

3. The fully automatic shoemaking system according to claim 1, characterized in that: The transfer mechanism comprises a transfer transmission device and a transfer grabbing device, the transfer transmission device is used to drive the relative movement of the transfer grabbing device towards the rotary conveying mechanism for grabbing and transferring the last jig, one end of the last jig is provided with an alignment shaft sleeve, the transfer grabbing device comprises a grabbing support, a grabbing driving assembly and a grabbing opening assembly, the grabbing support is arranged on the transfer transmission device, the grabbing driving assembly is arranged on the grabbing support, and the grabbing opening assembly is provided with a plurality of opening clamping arms; the opening clamping arms are evenly distributed in a ring shape, and the grabbing driving assembly is used to drive the columnar opening of the opening clamping arms; the alignment shaft sleeve is provided with an alignment shaft hole; when grabbing and transferring, the grabbing opening assembly is inserted into the alignment shaft hole, and the opening clamping arms cooperate with the inner wall of the alignment shaft hole under the action of the grabbing driving assembly to grab and transfer the last jig. The grabbing driving assembly comprises a grabbing driving cylinder and a grabbing pull rod, the grabbing driving cylinder is arranged on the grabbing support, and one end of the grabbing pull rod is connected with the driving end of the grabbing driving cylinder; the grabbing opening assembly is provided with a fixing sleeve, an opening shaft seat and a combination spring, one end of the fixing sleeve is arranged on the grabbing support, the opening shaft seat is used to arrange the opening clamping arms on the fixing sleeve, and the combination spring is arranged on the opening shaft seat to reset the opening clamping arms; the shaft centers of the opening clamping arms are provided with driving connection holes, the end portions of the driving connection holes are provided with opening inclined surfaces, one end of the end plate of the grabbing pull rod penetrates through the driving connection hole and is provided with an opening driving inclined surface, and the grabbing driving cylinder is used to drive the grabbing pull rod to drive the opening clamping arms to open under the cooperation of the opening inclined surface and the opening driving inclined surface to grab the inner wall of the alignment shaft hole.

4. The fully automatic shoemaking system according to claim 3, characterized in that: The last jig comprises a jig base, a jig support, a clamping device and a clamping driving device, the jig support is arranged on the jig base, the clamping device and the clamping driving device are arranged at two ends of the jig support respectively, and the clamping driving device is used to drive the clamping device to clamp and fix the last; the jig base is used to be conveyed on the rotary conveying mechanism; Both sides of the jig base are provided with conveying pads for cooperating with the conveying station transmission, one side of the conveying pad in contact with the conveying station transmission is a chromium plated surface; a plurality of lightening grooves are formed in both sides of the jig base; a plurality of positioning shaft sleeves are arranged on the jig base; The jig support is provided with a bottom plate, a support rod, an end plate and a panel, the support rod is used to connect the panel and the bottom plate, the end plate is arranged at one end of the bottom plate and the panel, the end plate is provided with a boss, and the boss is used to connect the bottom plate and the panel; the alignment shaft sleeve is arranged on the end plate; the panel is provided with a last supporting assembly, and the last supporting assembly is used for last supporting; the last supporting assembly is provided with a height adjusting rod for supporting last of different sizes and heights.

5. The fully automatic shoemaking system according to claim 4, characterized in that: The clamping driving device comprises a clamping output shaft, a synchronous driving wheel and a clamping driven wheel, both ends of the clamping output shaft are provided with bearings and are connected with a bottom plate and a panel respectively, one end of the clamping output shaft extends to the outside of the panel, the synchronous driving wheel is arranged on the clamping output shaft, the clamping driven wheel is arranged on the clamping device, and a synchronous belt connection is arranged between the synchronous driving wheel and the clamping driven wheel; the clamping output shaft drives the clamping device to clamp and fix the shoe tree through the synchronous driving wheel and the synchronous belt. The clamping driving device comprises a clamping output shaft, a synchronous driving wheel and a clamping driven wheel, both ends of the clamping output shaft are provided with bearings and are connected with a bottom plate and a panel respectively, one end of the clamping output shaft extends to the outside of the panel, the synchronous driving wheel is arranged on the clamping output shaft, the clamping driven wheel is arranged on the clamping device, and a synchronous belt connection is arranged between the synchronous driving wheel and the clamping driven wheel; the clamping output shaft drives the clamping device to clamp and fix the shoe tree through the synchronous driving wheel and the synchronous belt.

6. The fully automatic shoemaking system according to claim 5, characterized in that: The clamping device comprises a first pull rod, a clamping fixing seat, a clamping sliding block and a clamping plate, the panel is provided with a through hole, the bottom plate is provided with a positioning sliding groove, and the through hole is opposite to the positioning sliding groove; the first pull rod is arranged axially on the through hole and one end thereof is arranged slidingly on the positioning sliding groove; the inner diameter of the clamping driven wheel is a threaded inner diameter, and the outer diameter of the first pull rod is provided with a threaded portion, the threaded inner diameter of the clamping driven wheel is matched with the threaded portion to drive the first pull rod to slide up and down along the positioning sliding groove; the clamping fixing seat is arranged on the surface of the panel, the clamping sliding block is arranged in the clamping fixing seat, one end of the first pull rod is connected with the clamping sliding block and slides downward under the action of the clamping driven wheel to drive the clamping sliding block to slide in the clamping fixing seat, and the clamping plate is arranged on one side of the clamping sliding block to clamp and fix the shoe tree under the action of the clamping sliding block; The clamping fixing seat is provided with a guide sliding groove, the clamping sliding block is provided with a guide sliding block and is slidingly matched on the guide sliding groove, the clamping sliding block is provided with a reset recess around the first pull rod, one side of the through hole facing the reset recess is provided with a spring recess, a reset spring is arranged in the spring recess, and the other end of the reset spring is used for abutting against the groove bottom surface of the reset recess to assist the reset of the clamping sliding block. The clamping device further comprises a second pull rod, an inner diameter clamping block and a fixed sliding block, an upper surface of the clamping fixing seat is provided with a fixed sliding groove, the fixed sliding block is provided with two and is respectively arranged at two ends of the fixed sliding groove, the fixed sliding groove is formed with an inner diameter clamping groove with the first pull rod as the axis, the inner diameter clamping block is provided with two and is oppositely arranged on the fixed sliding groove, the two inner diameter clamping blocks are provided with a pull rod sliding groove on the opposite side, the pull rod sliding groove has the first pull rod as the axis, the pull rod sliding groove is provided with a pull rod inclined surface at the opening, the second pull rod is arranged on the pull rod sliding groove and one end is connected with the first pull rod and the other end is provided with an inclined surface pushing part, the inclined surface pushing part is used to push the inner diameter clamping block to move relatively towards the fixed sliding block to clamp and fix the inner diameter hole of the shoe tree; an inner diameter sliding spring is arranged between the inner diameter clamping block and the fixed sliding block to reset the inner diameter clamping block; the inner diameter clamping block comprises a sliding part and a semi-cylindrical clamping pushing block.

7. The fully automatic shoemaking system according to claim 1, characterized in that: The shoe tree fixing locking mechanism comprises a jig positioning device, a locking support, a locking driving device and a locking pressing device, the jig positioning device is used for positioning the shoe tree jig, the locking driving device is arranged on the locking support, and the locking pressing device is used for pressing and fixing the shoe tree on the jig positioning device; The locking support comprises a locking base plate, a locking support column, a locking guide rod and a locking top plate, the locking support column and the locking guide rod are used for connecting the locking base plate and the locking top plate, the locking driving device comprises a locking lifting base plate, a locking lifting module, a locking docking assembly and a locking driving module, the locking lifting base plate is arranged on the locking guide rod, the locking lifting module is arranged on the locking top plate and is used for driving the locking lifting base plate to slide axially along the locking guide rod; the locking docking assembly is provided with an output connector and an input interface, the output connector is used for docking the shoe tree jig and is used for driving the shoe tree jig to clamp and fix the shoe tree, the locking driving module is arranged on the locking top plate and is used for connecting the input interface to drive the shoe tree jig to clamp and fix the shoe tree; the locking pressing device is arranged on the locking top plate and the driving end faces the jig positioning device to press and fix the shoe tree jig; The shoe tree loosening mechanism is located behind the glue rolling mechanism, and the structure of the shoe tree loosening mechanism is the same as that of the shoe tree fixing locking mechanism.

8. The fully automatic shoemaking system according to claim 1, characterized in that: The upper roughening mechanism comprises a roughening machine box, a roughening detection device, a roughening robot and a roughening processing device, the roughening machine box is provided with a transfer mechanism for moving the shoe tree jig towards the driving end of the roughening robot; the roughening detection device is arranged on the roughening machine box and is close to the rotary conveying mechanism, and is used for detecting the shoes before being polished, the roughening robot is arranged on the roughening machine box, the roughening processing device is arranged on the driving end of the roughening robot, and the roughening robot is used to drive the roughening processing device to polish the upper; the roughening processing device comprises a polishing assembly and a dust collection assembly for polishing the upper; The medicine spraying water mechanism comprises a medicine spraying water case, a medicine spraying water detection device, a medicine spraying water robot and a spraying device, the medicine spraying water case is provided with a transfer mechanism for moving the shoe tree fixture towards the driving end of the medicine spraying water robot; the medicine spraying water detection device is arranged on the medicine spraying water case and close to the rotary conveying mechanism, and is used for detecting the shoes before spraying medicine water; the medicine spraying water robot is arranged on the medicine spraying water case, and the spraying device is arranged at the driving end of the medicine spraying water robot; the medicine spraying water robot is used for driving the spraying device to spray medicine water on the shoes; The first glue brushing mechanism comprises a glue brushing case, a glue brushing detection device, a glue brushing robot and a glue brushing processing device, the glue brushing case is provided with a transfer mechanism for moving the shoe tree fixture towards the driving end of the glue brushing robot; the glue brushing detection device is arranged on the glue brushing case and close to the rotary conveying mechanism, and is used for detecting the shoes before brushing glue; the glue brushing robot is arranged on the glue brushing case, and the glue brushing processing device is arranged at the driving end of the glue brushing robot; The structure of the second glue brushing mechanism is the same as that of the first glue brushing mechanism; The medicine spraying water detection device and the glue brushing detection device are both laser line scanning detection devices, and are used for detecting the outline of the shoes.

9. The fully automatic shoemaking system according to claim 1, characterized in that: The glue rolling mechanism comprises a glue rolling case, a glue blocking device and a rolling brush device, the glue rolling case is provided with a transfer mechanism, the transfer mechanism is used for grabbing the shoe tree fixture through the glue blocking device, and the rolling brush device is used for rolling glue on the shoes; The glue blocking device comprises side baffles, the side baffles are arranged on both sides of the transfer mechanism in pairs and oppositely, and the side baffles are provided with glue blocking brushes; The rolling brush device is located above the glue blocking device, and the rolling brush device comprises a rolling brush support, a rolling brush driving module, a rolling brush buffering module, a glue brushing driving module and a glue brushing roller, the rolling brush driving module is arranged on the rolling brush support, the rolling brush buffering module is arranged on the rolling brush driving module, the glue brushing roller is arranged on the rolling brush buffering module, the driving end of the glue brushing driving module is connected with the glue brushing roller, and is used for driving the glue brushing roller to rotate and brush glue on the shoes.

10. The fully automatic shoemaking system according to claim 1, characterized in that: The glue supply mechanism is arranged in multiple groups, and each group of glue supply mechanisms corresponds to the first glue brushing mechanism, the second glue brushing mechanism and the glue rolling mechanism, so as to supply glue; the glue supply mechanism comprises a glue storage tank, a weighing module and a constant temperature module, the glue storage tank is used for storing glue, the weighing module is used for obtaining the weight of the glue in the glue storage tank, and the constant temperature module is used for constant temperature of the glue.

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