A shoe upper bidirectional following gluing device and a control method thereof

Abstract

The application discloses a shoe upper bidirectional following gluing device and a control method thereof. The shoe upper bidirectional following gluing device comprises a rack, a first moving mechanism, a tray, a retreat stopping mechanism, a blocking mechanism, a jacking mechanism and a second moving mechanism. The rack is provided with two first guide plates. The first moving mechanism is provided with two load parts. The tray is suitable for fixing a workpiece and is located on the two load parts, and the two sides of the tray along a second direction are guided by the two first guide plates respectively. The retreat stopping mechanism is suitable for blocking the backward movement of the tray. The blocking mechanism is suitable for blocking the forward movement of the tray, and cooperates with the retreat stopping mechanism to make the tray stop at a first position relative to the rack. The jacking mechanism is suitable for moving along a third direction to jack up the tray so that the bottom surface of the tray is higher than or flat with the first guide plate along the third direction. The second moving mechanism pushes the tray out of the jacking mechanism when the bottom surface of the tray is higher than or flat with the first guide plate. The structure realizes the guidance of the tray transportation and the transfer of the tray, that is, realizes the guidance of the workpiece transportation and the transfer of the workpiece.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of shoe processing, in particular to a shoe upper bidirectional following gluing equipment and a control method thereof. BACKGROUND

[0002] When the workpiece is processed, it is often necessary to transfer the workpiece from one assembly line to another process, such as gluing, drying, or removing NG products, etc. If the above work is realized by manpower, the labor cost is high. The two sides of the assembly line are provided with guide plates for guidance, and the objects on the assembly line cannot be directly pushed out. If there is no first guide plate, the objects on the assembly line are easy to deviate, affecting the subsequent work. SUMMARY

[0003] The present application aims to overcome the problems in the background art that when the workpiece is processed, it is often necessary to transfer the workpiece from one assembly line to another process, such as gluing, drying, or removing NG products, etc. If the above work is realized by manpower, the labor cost is high. The two sides of the assembly line are provided with guide plates for guidance, and the objects on the assembly line cannot be directly pushed out. If there is no first guide plate, the objects on the assembly line are easy to deviate, affecting the subsequent work. The present application provides a shoe upper bidirectional following gluing equipment and a control method thereof.

[0004] To achieve the above purpose, the present application adopts the following technical scheme:

[0005] Scheme one, a shoe upper bidirectional following gluing equipment, comprising

[0006] a rack, provided with two first guide plates extending along a first direction and spaced apart along a second direction perpendicular to the first direction;

[0007] a first transfer mechanism, provided with two load carrying parts spaced apart along the second direction and adapted to move forward along the first direction;

[0008] a tray adapted to fix the workpiece and seated on the two load carrying parts and guided by the two first guide plates on both sides along the second direction;

[0009] a retreat prevention mechanism adapted to block the tray from moving backward along the first direction;

[0010] a blocking mechanism located behind the retreat prevention mechanism along the first direction and adapted to block the tray from moving forward along the first direction, and cooperates with the retreat prevention mechanism to make the tray stop at a first position relative to the rack;

[0011] a lifting mechanism between the two spaced apart carriers and adapted to move in a third direction perpendicular to the first and second directions to lift the tray to a position where the bottom surface of the tray is higher than or level with the first guide plate when the tray is parked in the first position;

[0012] a second transfer mechanism adapted to push the tray out of the lifting mechanism to disengage the tray from the rack when the bottom surface of the tray is higher than or level with the first guide plate.

[0013] Option II, based on Option I, further comprises a base, the lifting mechanism is provided with two guide surfaces extending in the second direction and spaced apart in the first direction, the two sides of the tray in the first direction are respectively abutted against the two guide surfaces; the base is provided with two second guide plates extending in the second direction and spaced apart in the first direction, the second guide plates correspond to the guide surfaces one by one so that when the second transfer mechanism pushes the tray out of the lifting mechanism to the base in the second direction, the two sides of the tray in the first direction are respectively guided by the two second guide plates.

[0014] Option III, based on Option II, the lifting mechanism comprises a horizontal roller group and two vertical roller groups, the horizontal roller group comprises a plurality of horizontal rollers for carrying the tray and arranged in the second direction and rotating around an axis extending in the first direction, the two vertical roller groups comprise a plurality of vertical rollers arranged in the second direction and rotating around an axis extending in the third direction; the end surfaces of the two vertical roller groups facing each other form the guide surfaces.

[0015] Option IV, based on Option II, further comprises a positioning mechanism and a third transfer mechanism, the second transfer mechanism comprises a lead screw servo motor, the lead screw servo motor pushes the tray onto the base and parks the tray in a second position relative to the base; the positioning mechanism comprises a first driving member and a clamping plate, the first driving member is installed on the base, the output end of the first driving member is fixedly connected with the clamping plate and is adapted to move in the third direction relative to the tray to drive the clamping plate to clamp the tray when the tray is parked in the second position; the base is fixedly provided on the third transfer mechanism, the third transfer mechanism is adapted to move in the second direction when the positioning mechanism clamps the tray.

[0016] Option V, based on Option IV, the two ends of the tray in the first direction are symmetrically provided with first inclined surfaces extending in the third direction and inclined in the first direction and upward, the clamping plate is provided with second inclined surfaces adapted to cooperate with the first inclined surfaces.

[0017] Scheme six, based on scheme one, the retreat prevention mechanism is located between the two intervals of the object carrying parts, the retreat prevention mechanism includes a base, a rotating member and a reset member, the rotating member is rotationally connected with the base and is adapted to rotate around an axis extending in the second direction between a first position for retreat prevention and a second position for passage, the rotating member is provided with a third inclined surface and a limiting surface, when in the first position, the third inclined surface extends in the third direction and is inclined in the first direction and faces forward, the third inclined surface is at least partially higher than the object carrying part in the third direction, the limiting surface is perpendicular to the first direction and faces forward; the tray is adapted to abut against the third inclined surface to make the rotating member rotate from the first position to the second position, the reset member acts on the base and the rotating member to keep the tray in the first position when the tray is disengaged from the third inclined surface.

[0018] Scheme seven, based on scheme four or scheme five, further comprising a dispensing mechanism, the dispensing mechanism includes a multi-axis manipulator and a dispensing member, the dispensing member is installed on the multi-axis manipulator, the multi-axis manipulator is adapted to drive the dispensing member to rotate around an axis extending in the third direction; the third transfer mechanism is a lead screw servo motor, when the third transfer mechanism moves in the second direction and towards the dispensing mechanism, the multi-axis manipulator moves around the workpiece in a first circumferential direction to drive the dispensing member to apply glue to one side of the workpiece in the first direction, when the third transfer mechanism moves in the second direction and away from the dispensing mechanism, the multi-axis manipulator continues to move around the workpiece in the first circumferential direction to drive the dispensing member to apply glue to the other side of the workpiece in the first direction.

[0019] Scheme eight, based on scheme seven, the second transfer mechanism includes a second driving member, a third driving member, a mounting plate and a push-pull member; the output end of the second driving member is fixedly connected with the mounting plate and is adapted to move in the third direction, the third driving member is installed on the mounting plate, the output end of the third driving member is fixedly connected with the push-pull member and is adapted to move in the second direction, one of the push-pull member and the tray is provided with a push-pull hole extending in the third direction, and the other is provided with a push-pull column extending in the third direction, the push-pull column is adapted to be inserted into the push-pull hole.

[0020] Scheme nine, based on scheme eight, the blocking mechanism is located between the two intervals of the object carrying parts and is adapted to move in the third direction to abut against the tray in the first direction or to form a gap in the first direction with the tray.

[0021] Scheme ten, a control method of a shoe upper bidirectional following glue applying device, based on controlling any one of the shoe upper bidirectional following glue applying device according to schemes one to nine, comprising the following steps:

[0022] After fixing the workpiece and the tray, the tray is seated on the two object carrying parts of the first transfer mechanism and the two sides of the tray in the second direction are guided by the two first guide plates respectively;

[0023] The control moving device moves the tray along the first direction to move forward until the tray stops at the first position relative to the frame after the stop mechanism and the blocking mechanism are contacted.

[0024] The lifting mechanism lifts the tray at the first position to make the bottom surface of the tray higher or flat to the first guide plate, and the second moving device pushes the tray out of the lifting mechanism to make the tray separate from the frame.

[0025] From the above description of the present application, the present application has the following beneficial effects relative to the prior art:

[0026] 1. Scheme one, a shoe upper bidirectional following gluing equipment includes a frame provided with two first guide plates extending along a first direction and spaced apart along a second direction; a first moving device provided with two moving parts, a tray adapted to fix a workpiece and located on the two moving parts and guided by the two first guide plates on both sides, so that the workpiece is not shaken along the second direction during being moved by the first moving device along a direction, ensuring stable transportation; a stop mechanism blocking the tray from moving backward along the first direction; a blocking mechanism located behind the stop mechanism along the first direction and adapted to block the tray from moving forward along the first direction, so that the tray stops at the first position relative to the frame, realizing positioning of the tray along the first direction, and thus the tray is positioned in the first position along the first direction and the second direction, facilitating subsequent lifting mechanism and pushing and pulling mechanism;

[0027] The lifting mechanism is located between the interval of the two moving parts and is adapted to move along a third direction to lift the tray when the tray stops at the first position to make the bottom surface of the tray higher or flat to the first guide plate along the third direction, and the second moving device is adapted to push the tray out of the lifting mechanism when the bottom surface of the tray is higher or flat to the first guide plate to make the tray separate from the frame, so that the tray separates from the frame. During lifting, the first guide plate guides the tray along the third direction to prevent running during lifting. The tray is guided by the first guide plate during transportation and can stop at the first position under the action of the stop mechanism and the blocking mechanism. The first position is determined in the first direction and the second direction, which can well ensure that the tray can accurately enter another process when pushed out by the lifting mechanism and the second moving device, thereby realizing the guidance of the tray during transportation and the transfer of the tray, i.e. realizing the guidance of the workpiece during transportation and the transfer of the workpiece.

[0028] 2. Scheme two, the lifting mechanism is provided with two guide surfaces extending along the second direction, and the tray along the first direction is in contact with the two guide surfaces on both sides; the base is provided with two second guide plates extending along the second direction;

[0029] In the process of pushing out the tray by the second transfer mechanism, if the machine table shakes, the tray will also displace in the process of pushing out, so as to fail to be transferred to the base in an accurate posture. The guiding surface is arranged by the jacking mechanism, the base is provided with a second guiding plate, the second guiding plate corresponds to the guiding surface one by one, so that when the second transfer mechanism pushes the tray out of the jacking mechanism to the base along the second direction, the two sides of the tray along the first direction are guided by the two second guiding plates respectively, and the tray enters the base in an accurate posture.

[0030] 3. In the third scheme, the jacking mechanism comprises a horizontal rolling group and two vertical rolling groups. The horizontal rolling group comprises a plurality of horizontal rolls for bearing the tray and arranged along the second direction and rotating around an axis extending along the first direction. The two vertical rolling groups comprise a plurality of vertical rolls arranged along the second direction and rotating around an axis extending along the third direction. The end faces of the two vertical rolling groups facing each other form the guiding surface, so as to convert the surface friction of the tray in sliding into rolling friction, thereby reducing the friction in sliding.

[0031] 4. In the fourth scheme, the second transfer mechanism comprises a lead screw servo motor. The movement stroke of the lead screw servo motor is accurate, so as to well push the tray out of the base and make the tray stop at the second position relative to the base.

[0032] The positioning mechanism comprises a first driving member and a clamping plate. The first driving member is arranged on the base, the output end of the first driving member is fixedly connected with the clamping plate, and the base is fixedly arranged on the third transfer mechanism. Therefore, when the third transfer mechanism moves along the second direction, the positioning mechanism and the base can be simultaneously driven to move.

[0033] The output end of the first driving member is adapted to move along the third direction relative to the tray, so as to drive the clamping plate to clamp the tray when the tray stops at the second position. Therefore, the tray will not shake in the process of being transported to the corresponding work station by the third transfer mechanism, so that the position of the tray relative to the work station is determined when stopping at the corresponding work station, and the tray can be directly machined. In addition, the tray will not displace when the workpiece is machined at the corresponding work station.

[0034] 5. In the fifth scheme, the two ends of the tray along the first direction are symmetrically provided with first inclined surfaces extending along the third direction and inclined along the first direction and upward. The clamping plate is provided with second inclined surfaces adapted to be matched with the first inclined surfaces. The first direction position adjustment of the tray by the clamping plate is realized through the action of the inclined surfaces, so as to prevent the positioning from being not accurate enough when there is a gap along the first direction between the second guiding plate and the tray due to machining or for the purpose of facilitating the tray to enter the base from the jacking mechanism, thereby affecting the precision machining of the subsequent work station.

[0035] 6. Option Six: The anti-reverse mechanism is located between the two loading sections. The anti-reverse mechanism includes a base, a rotating member, and a resetting member. The rotating member is rotatably connected to the base and is adapted to rotate about an axis extending in a second direction between a first position for anti-reverse and a second position for passage. The rotating member has a third inclined surface and a limiting surface. In the first position, the third inclined surface extends in a third direction and is inclined in the first direction and faces forward. At least part of the third inclined surface is higher than the loading section in the third direction. The limiting surface is perpendicular to the first direction and faces forward. The tray is adapted to abut against the third inclined surface to rotate the rotating member from the first position to the second position. The resetting member acts on the base and the rotating member to keep the tray in the first position when it is disengaged from the third inclined surface, thereby achieving the functions of anti-reverse and passage.

[0036] 7. Option 7 also includes a dispensing mechanism, which includes a multi-axis robot and a dispensing component. The dispensing component is mounted on the multi-axis robot, which is suitable for driving the dispensing component to rotate around an axis extending along a third direction. The third transfer mechanism is a lead screw servo motor. The lead screw servo motor has a precise stroke and can better cooperate with the multi-axis robot to dispense the workpiece.

[0037] When the third transfer mechanism moves along the second direction toward the dispensing mechanism, the multi-axis robot moves around the workpiece in the first circumferential direction to drive the dispensing component to apply glue to one side of the workpiece in the first direction. When the third transfer mechanism moves along the second direction away from the dispensing mechanism, the multi-axis robot continues to move around the workpiece in the first circumferential direction to drive the dispensing component to apply glue to the other side of the workpiece in the first direction. The multi-axis robot and the third transfer mechanism work together to apply glue to the workpiece. Compared with the third transfer mechanism alone driving the dispensing component to apply glue, this method reduces the motion components of the multi-axis robot and increases the glue application efficiency.

[0038] 8. Option 8: Due to the positioning mechanism, when the third transfer mechanism moves along the second direction and away from the dispensing mechanism, the tray remains in the second position relative to the base.

[0039] The second transfer mechanism comprises a second driving member, a third driving member, a mounting plate and a push-pull member. The output end of the second driving member is fixedly connected with the mounting plate and is adapted to move in a third direction. The third driving member is arranged on the mounting plate. The output end of the third driving member is fixedly connected with the push-pull member. One of the push-pull member and the tray is provided with a push-pull hole extending in the third direction. The other is provided with a push-pull column extending in the third direction. The push-pull column is adapted to be inserted into the push-pull hole. The insertion or withdrawal of the push-pull column into or out of the push-pull hole is realized by the movement of the second driving member. When the push-pull column is inserted into the push-pull hole, the tray can be pushed or pulled back by the movement of the output end of the third driving member and the push-pull member in a second direction, so that the tray is abutted by the hole wall of the push-pull hole through the push-pull column. When the tray is pushed to the second position, the tray is separated from the push-pull column by withdrawing the push-pull column from the push-pull hole, so as to allow the tray to be driven by the third transfer mechanism for transfer. The push-out and pull-back of the tray are realized by one mechanism, the structure is simple, and the use is more convenient. When the tray is pulled back, a user on the side of the first transfer mechanism away from the third transfer mechanism can carry the tray.

[0040] 9. Scheme nine, the blocking mechanism is located between the interval of the two load parts and is adapted to move in a third direction to abut the tray in a first direction or form a clearance with the tray in the first direction. When the tray is pulled back to the jacking mechanism, the jacking mechanism is lowered and then returned to the first transfer mechanism. At this time, the blocking mechanism moves in the third direction to form a clearance with the tray in the first direction. Then, the tray can be transferred to the next station by the first transfer mechanism, reducing manual work and improving efficiency.

[0041] 10. Scheme ten, the upper bidirectional following gluing equipment can accurately push the tray into another process by the control method, so as to realize the guiding and transfer of the tray during transportation, that is, the guiding and transfer of the workpiece. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort based on these drawings.

[0043] Figure 1 It is a perspective view of the upper bidirectional following gluing equipment in embodiment one.

[0044] Figure 2 It is a perspective view of the tray in embodiment one. Figure 1 It is an enlarged view of the rack.

[0045] Figure 3 It is a perspective view of the tray in embodiment one.

[0046] Figure 4 It is a perspective view of the stop mechanism, the jacking mechanism and the blocking mechanism in embodiment one.

[0047] Figure 5 isometric view of the second transfer mechanism in embodiment one;

[0048] Figure 6 isometric view of the second transfer mechanism in embodiment one;

[0049] Figure 7 isometric view of the second transfer mechanism in embodiment one;

[0050] Figure 8 isometric view of the second transfer mechanism in embodiment one;

[0051] Figure 9 isometric view of the second transfer mechanism in embodiment one;

[0052] Figure 10 isometric view of the second transfer mechanism in embodiment one;

[0053] Explanation of main reference signs:

[0054] frame 1; first guide plate 11; first transfer mechanism 2; carrying part 21; tray 3; fixing part 31; first inclined surface 311; sitting part 32; push-pull hole 33; retreat-preventing mechanism 4; base 41; rotating part 42; third inclined surface 421; limiting surface 422; blocking mechanism 5; jacking mechanism 6; horizontal rolling group 61; horizontal roller 611; vertical rolling group 62; vertical roller 621; guide surface 622; second transfer mechanism 7; second driving part 71; third driving part 72; mounting plate 73; push-pull part 74; push-pull column 741; base 8; second guide plate 81; positioning mechanism 9; first driving part 91; clamping plate 92; second inclined surface 921; third transfer mechanism 10; dispensing mechanism 20; multi-axis robot 201; dispensing part 202; DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are preferred embodiments of the present application, and should not be seen as excluding other embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0056] In the claims, specification, and above drawings of the present application, unless otherwise explicitly limited, the use of the terms "first", "second", or "third" etc. is intended to distinguish different objects, and is not intended to describe a particular order.

[0057] In the claims, the specification, and the drawings of the present application, terms such as "front", "back", "top", "bottom", "over", "under", "right", "left", "horizontal", "vertical", "up", "down", "clockwise", "counter clockwise", etc., are used as a matter of convenience and are in no way intended to imply or infer that the present application must be constructed and operated in any particular orientation or configuration.

[0058] In the claims, the specification, and the drawings of the present application, unless otherwise expressly specified, all of the terms indicating directions such as "fixedly connected" or "fixedly connected" shall be construed in a broad sense, that is, any connection mode without displacement relationship and relative rotation relationship between the two, that is, it includes irremovable fixed connection, detachable fixed connection, integration and fixed connection through other devices or elements.

[0059] In the claims, the specification, and the drawings of the present application, the terms "include", "have" and their variants are intended to mean "include but not limited to".

[0060] Reference Figures 1-10 A shoe upper bidirectional following gluing device, in the embodiment, the workpiece is a shoe tree, the shoe upper bidirectional following gluing device is used for moving and gluing the shoe tree. The shoe upper bidirectional following gluing device comprises a rack 1, a first moving mechanism 2, a tray 3, a retreat prevention mechanism 4, a blocking mechanism 5, a jacking mechanism 6, a second moving mechanism 7, a base 8, a positioning mechanism 9, a third moving mechanism 10 and a dispensing mechanism 20.

[0061] Reference Figures 1-2 The rack 1 is provided with two first guide plates 11 extending along a first direction and spaced apart along a second direction perpendicular to the first direction, in the embodiment, the first direction refers to front and back, and the second direction refers to left and right.

[0062] Reference Figures 1-2 The first moving mechanism 2 is provided with two carrying parts 21 spaced apart along the second direction and adapted to move forward along the first direction, in the embodiment, the first moving mechanism 2 is two conveying belts, the two conveying belts are installed on the rack 1 and move synchronously, and the two conveying belts form the carrying part 21; of course, the first moving mechanism 2 can also be two synchronous sliding frames to meet the requirement of moving the articles forward along the first direction.

[0063] Reference Figure 3, the tray 3 is adapted to fix the workpiece so as to transport the workpiece to each station, the tray 3 is adapted to be seated on the two carriers 21, the lifting mechanism 6 and the base 8; when being seated on the two carriers 21 and being driven by the carriers 21 to move forward in the first direction, the two sides of the tray 3 in the second direction are guided by the two first guide plates 11 respectively, the tray 3 in the second direction will not shake, which ensures the stable transportation. In the preferred embodiment, the two first guide plates 11 abut against the two sides of the tray 3 in the second direction.

[0064] The two ends of the tray 3 in the first direction are symmetrically provided with first inclined surfaces 311 extending in a third direction and inclined upward in the first direction, the third direction is the up-down direction, wherein the down means toward the ground. Specifically, the tray 3 comprises a fixing part 31 and a seating part 32, the projection of the tray 3 on the plane perpendicular to the second direction is "T" shape, the fixing part 31 is used to fix the workpiece and is provided with the first inclined surfaces 311, and the seating part 32 is seated on the carrier 21.

[0065] Reference Figure 4 The retreat prevention mechanism 4 is adapted to block the tray 3 from moving backward in the first direction to prevent the tray 3 from retreating after hitting the blocking mechanism 5, in the embodiment, the retreat prevention mechanism 4 is located between the interval of the two carriers 21, the retreat prevention mechanism 4 comprises a base 41, a rotating part 42 and a reset part, the rotating part 42 is rotationally connected with the base 41 and is adapted to rotate around the axis extending in the second direction between the first position for backward retreat of the tray 3 and the second position for forward passing of the tray 3,

[0066] Specifically, the rotating part 42 is provided with a third inclined surface 421 and a limiting surface 422 connected with the third inclined surface 421, in the first position, the third inclined surface 421 extends in the third direction and is inclined upward in the first direction and forward, the third inclined surface 421 is at least partially higher than the carrier 21 in the third direction, and the limiting surface 422 is perpendicular to the first direction and forward, when the tray 3 is about to move backward, the tray 3 abuts against the limiting surface 422 to realize the backward retreat;

[0067] When the tray 3 moves forward, the tray 3 will abut against the third inclined surface 421 to make the rotating part 42 rotate from the first position to the second position, so that the tray 3 can continue to move forward; in the embodiment, the seating part 32 of the tray 3 cooperates with the third inclined surface 421 and the limiting surface 422.

[0068] The reset part acts on the base 41 and the rotating part 42 to keep the tray 3 in the first position when the tray 3 is disengaged from the third inclined surface 421, so as to realize the reset of the rotating part 42 in the retreat state. Thus, the functions of retreat prevention and allowing passing are realized.

[0069] Reference Figure 4, the blocking mechanism 5 is located behind the retreat-stop mechanism 4 along the first direction and is adapted to block the tray 3 from moving along the first direction, so as to work together with the retreat-stop mechanism 4 to stop the tray 3 relative to the rack 1 at the first position, realizing the positioning of the tray 3 along the first direction, and thus the tray 3 is positioned along the first direction and the second direction at the first position, facilitating the subsequent operation of the jacking mechanism 6 and the push-pull mechanism. The blocking mechanism 5 is located between the intervals of the two load parts 21 and is adapted to move along the third direction to abut against the tray 3 along the first direction or to form a gap for the tray 3 along the first direction, and in this embodiment, the blocking mechanism 5 is realized by a motor or a pneumatic cylinder.

[0070] With reference to Figure 5 , the jacking mechanism 6 is located between the intervals of the two load parts 21 and is adapted to move along the third direction and is located below the first position, and has two functions, one is to jack up the tray 3 when the tray 3 is stopped at the first position so that the bottom surface of the tray 3 is higher than or level with the first guide plate 11 along the third direction, and the other is to reset the workpiece after processing to the first position from the position higher than or level with the first guide plate 11. When jacking up and lowering, the first guide plate 11 guides the tray 3 along the third direction to prevent the tray 3 from running during jacking up or lowering.

[0071] The jacking mechanism 6 includes a horizontal roller 611 group and two vertical roller 621 groups, the horizontal roller 611 group includes a plurality of horizontal rollers 611 for carrying the tray 3 and arranged along the second direction and rotating around an axis extending along the first direction, and the two vertical roller 621 groups include a plurality of vertical rollers 621 arranged along the second direction and rotating around an axis extending along the third direction; the end faces of the two vertical roller 621 groups form guide surfaces 622, the two guide surfaces 622 extend along the second direction and are spaced apart along the first direction, and the two sides of the tray 3 along the first direction abut against the two guide surfaces 622 respectively, and in this embodiment, the seating part 32 of the tray 3 is seated on the horizontal roller 611 group, and the two sides of the seating part 32 along the first direction abut against the two vertical roller 621 groups respectively, converting the surface friction of the tray 3 during sliding into rolling friction, thereby reducing the friction during sliding.

[0072] With reference to Figure 6 , the second transfer mechanism 7 is adapted to push the tray 3 out of the jacking mechanism 6 onto the base 8 when the bottom surface of the tray 3 is higher than or level with the first guide plate 11 and to stop the tray 3 relative to the base 8 at the second position or to pull the tray 3 on the base 8 back to the jacking mechanism 6. The tray 3 is guided by the first guide plate 11 during transportation and can be stopped at the first position under the action of the retreat-stop mechanism 4 and the blocking mechanism 5, and the first position is determined along the first direction and the second direction, which can well ensure that the tray 3 can accurately enter another process when the tray 3 is pushed out by the jacking mechanism 6 and the second transfer mechanism 7, thereby realizing the guiding and transfer of the tray 3 during transportation, i.e. realizing the guiding and transfer of the workpiece during transportation.

[0073] Specifically, the second transfer mechanism 7 comprises a second driving member 71, a third driving member 72, a mounting plate 73 and a push-pull member 74;

[0074] The output end of the second driving member 71 is fixedly connected with the mounting plate 73 and is adapted to move up and down along the third direction, the third driving member 72 is arranged on the mounting plate 73 and the output end of the third driving member 72 is fixedly connected with the push-pull member 74 and is adapted to move left and right along the second direction, wherein the direction of pushing out is right and the direction of pulling back is left. One of the push-pull member 74 and the tray 3 is provided with a push-pull hole 33 extending along the third direction, and the other is provided with a push-pull column 741 extending along the third direction, the push-pull column 741 is adapted to be inserted into the push-pull hole 33, in this embodiment, the push-pull column 741 is arranged on the push-pull member 74 and the push-pull hole 33 is arranged on the tray 3. The third driving member 72 is a servo motor with a lead screw, which has higher precision and can ensure that the tray 3 is parked at the second position.

[0075] The push-pull column 741 is inserted into or withdrawn from the push-pull hole 33 through the movement of the second driving member 71, when inserted, the output end of the third driving member 72 and the push-pull member 74 can move along the second direction to abut the hole wall of the push-pull hole 33 through the push-pull column 741 to push or pull back the tray 3, when pushed to the second position, the push-pull column 741 is withdrawn from the push-pull hole 33 to be separated from the tray 3 to allow the tray 3 to be transferred by the third transfer mechanism 10, the pushing out and pulling back of the tray 3 are realized by one mechanism, which is simple in structure and convenient to use.

[0076] Reference Figure 6 The base 8 is provided with two second guide plates 81 extending along the second direction and arranged along the first direction, the second guide plates 81 correspond to the guide surfaces 622 of the jacking mechanism 6 one by one, so that when the tray 3 is pushed out of the jacking mechanism 6 by the second transfer mechanism 7 along the second direction, the two sides of the tray 3 along the first direction are guided by the two second guide plates 81 respectively, thereby realizing the guidance during the transfer, in this embodiment, the two second guide plates 81 abut the two sides of the tray 3 along the first direction. During the process of pushing out the tray 3 by the second transfer mechanism 7, if the machine table vibrates, the tray 3 will also displace during the process of pushing out, so that the tray 3 cannot be transferred to the base 8 in an accurate posture, through the arrangement of the guide surfaces 622 of the jacking mechanism 6 and the second guide plates 81 of the base 8, the second guide plates 81 correspond to the guide surfaces 622 one by one, so that when the tray 3 is pushed out of the jacking mechanism 6 by the second transfer mechanism 7 along the second direction, the two sides of the tray 3 along the first direction are guided by the two second guide plates 81 respectively, and the tray 3 enters the base 8 in an accurate posture.

[0077] Reference Figure 6The positioning mechanism 9 includes a first driving member 91 and a clamping plate 92. The first driving member 91 is fixedly arranged on the base 8. An output end of the first driving member 91 is fixedly connected with the clamping plate 92 and is adapted to move relative to the tray 3 along a third direction to drive the clamping plate 92 to clamp the tray 3 when the tray 3 is parked at the second position. The clamping plate 92 is provided with a second inclined surface 921 adapted to be matched with the first inclined surface 311, so as to prevent the second guide plate 81 from being not accurately positioned and affecting the precision machining of the subsequent workstations when there is a gap between the second guide plate 81 and the tray 3 along the first direction due to machining reasons or for the purpose of facilitating the tray 3 to enter the base 8 from the jacking mechanism 6.

[0078] With reference to Figure 7 The third transfer mechanism 10 is a screw servo motor. The third transfer mechanism 10 is adapted to move along a second direction when the positioning mechanism 9 clamps the tray 3. The positioning mechanism 9 includes a first driving member 91 and a clamping plate 92. The first driving member 91 is arranged on the base 8. An output end of the first driving member 91 is fixedly connected with the clamping plate 92. The base 8 is fixedly arranged on the third transfer mechanism 10. Therefore, when the third transfer mechanism 10 moves along the second direction, the positioning mechanism 9 and the base 8 can be simultaneously driven to move. The clamping plate 92 clamps the tray 3, so as to prevent the tray 3 from shaking during the process in which the third transfer mechanism 10 transports the tray 3 to the corresponding workstation. When the tray 3 is parked at the corresponding workstation, the position of the tray 3 relative to the workstation is also determined. The tray 3 can be directly machined. When the workpiece is machined at the corresponding workstation, the tray 3 will not be displaced.

[0079] With reference to Figure 8 The dispensing mechanism 20 includes a multi-axis manipulator 201 and a dispensing member 202. The dispensing member 202 is arranged on the multi-axis manipulator 201. In this embodiment, the multi-axis manipulator 201 is a six-axis manipulator and is adapted to drive the dispensing member 202 to rotate around an axis extending along the third direction, so that the dispensing opening of the dispensing member 202 is always in contact with the workpiece and sprays glue on the workpiece. Figures 9-10 When the third transfer mechanism 10 moves along the second direction and towards the dispensing mechanism 20, the multi-axis manipulator 201 moves around the workpiece along a first circumferential direction to drive the dispensing member 202 to glue one side of the workpiece. When the third transfer mechanism 10 moves along the second direction and away from the dispensing mechanism 20, the multi-axis manipulator 201 continues to move around the workpiece along the first circumferential direction to drive the dispensing member 202 to glue the other side of the workpiece. The multi-axis manipulator 201 cooperates with the third transfer mechanism 10 to realize the gluing of the workpiece. Compared with the case in which only the third transfer mechanism 10 drives the dispensing member 202 to glue, the movement component of the multi-axis manipulator 201 is reduced, and the gluing efficiency is improved.

[0080] In this embodiment, the gluing is first performed from the heel to the toe of the shoe tree, and then the gluing is performed from the toe to the heel.

[0081] The control method of the shoe upper bidirectional following gluing equipment, after the workpiece is fixed with the tray 3, the tray 3 is seated on the two load parts 21 of the first moving mechanism 2 and guided by the two first guide plates 11 on both sides in the second direction;

[0082] The moving part is controlled to move forward in the first direction to drive the tray 3 to move forward, the blocking mechanism 5 is controlled to move upward in the third direction, the tray 3 moves forward until the tray 3 abuts against the blocking mechanism 5 after passing the stop mechanism 4 to stop at the first position relative to the rack 1;

[0083] The jacking mechanism 6 is controlled to jack up the tray 3 at the first position to make the bottom surface of the tray 3 higher than or level with the first guide plate 11 and make the push-pull column 741 of the push-pull piece 74 inserted into the push-pull hole 33 of the tray 3, then the output end of the third driving piece 72 is driven to move rightward in the second direction, the tray 3 is guided in the second direction through the guide surface 622 of the jacking mechanism 6 and the second guide plate 81 of the base 8, and then pushed out by the jacking mechanism 6 to the base 8 and stopped at the second position relative to the base 8;

[0084] The output end of the first driving piece 91 is controlled to move downward in the third direction to make the clamping plate 92 move toward the tray 3 and clamp the tray 3;

[0085] The output end of the second driving piece 71 is controlled to move upward in the third direction to make the push-pull column 741 disengage from the push-pull hole 33;

[0086] The third moving mechanism 10 is controlled to move rightward in the second direction, and the multi-axis mechanical hand 201 is controlled to move in the first circumferential direction around the workpiece to drive the glue dispensing piece 202 to glue the workpiece on one side in the first direction,

[0087] The third moving mechanism 10 is controlled to move leftward in the second direction, and the multi-axis mechanical hand 201 is controlled to continue to move in the first circumferential direction around the workpiece to drive the glue dispensing piece 202 to glue the workpiece on the other side in the first direction;

[0088] When the third moving mechanism 10 moves leftward and returns to the initial position, the output end of the second driving piece 71 is controlled to move downward in the third direction to make the push-pull column 741 engage with the push-pull hole 33, and the output end of the third driving piece 72 is controlled to move leftward in the second direction to pull the tray 3 back from the base 8 to the jacking mechanism 6;

[0089] The jacking mechanism 6 is controlled to descend to make the tray 3 reseat on the moving part, and the blocking mechanism 5 is controlled to move downward in the third direction to make the blocking mechanism 5 give way to the tray 3 in the first direction;

[0090] The moving part is controlled to move forward in the first direction to drive the tray 3 to continue to move forward.

[0091] The above description and the examples are intended to explain the scope of the present application, but not to limit the scope of the present application. Modifications, equivalent replacements or other improvements based on the conception of the present application or the above examples, which can be obtained by those skilled in the art with common knowledge, common technical knowledge and / or prior art, through logical analysis, reasoning or limited tests, shall be included in the scope of the present application.

Claims

1. A shoe upper bi-directional follow-on sizing apparatus, characterized by: Comprising a rack (1) provided with two first guide plates (11) extending along a first direction and spaced apart along a second direction perpendicular to the first direction; a first transfer mechanism (2) provided with two load carriers (21) spaced apart along the second direction and adapted to transfer forward along the first direction; a tray (3) adapted to fix workpieces and seated on the two load carriers (21) and guided by the two first guide plates (11) on both sides along the second direction; a retreat-preventing mechanism (4) adapted to block the tray (3) from moving backward along the first direction; a blocking mechanism (5) located behind the retreat-preventing mechanism (4) along the first direction and adapted to block the tray (3) from moving forward along the first direction, and cooperated with the retreat-preventing mechanism (4) to make the tray (3) stop at a first position relative to the rack (1); a jacking mechanism (6) located between the space between the two load carriers (21) and adapted to move along a third direction perpendicular to the first direction and the second direction to jack up the tray (3) when the tray (3) stops at the first position so that the bottom surface of the tray (3) is higher than or level with the first guide plates (11) along the third direction; a second transfer mechanism (7) adapted to push the tray (3) out of the jacking mechanism (6) when the bottom surface of the tray (3) is higher than or level with the first guide plates (11) so that the tray (3) is separated from the rack (1).

2. A shoe upper bi-directional follow-on sizing apparatus as claimed in claim 1, wherein: Further comprising a base (8), the jacking mechanism (6) is provided with two guide surfaces (622) extending along the second direction and spaced apart along the first direction, and the two sides of the tray (3) along the first direction are respectively in contact with the two guide surfaces (622); the base (8) is provided with two second guide plates (81) extending along the second direction and spaced apart along the first direction, and the second guide plates (81) correspond to the guide surfaces (622) one by one so that when the second transfer mechanism (7) pushes the tray (3) out of the jacking mechanism (6) onto the base (8) along the second direction, the two sides of the tray (3) along the first direction are guided by the two second guide plates (81) respectively.

3. A shoe upper bi-directional follow-on sizing apparatus as claimed in claim 2, wherein: The jacking mechanism (6) comprises a horizontal roller (611) group and two vertical roller (621) groups, the horizontal roller (611) group comprises a plurality of horizontal rollers (611) arranged along the second direction and rotating around an axis extending along the first direction, and the two vertical roller (621) groups comprise a plurality of vertical rollers (621) arranged along the second direction and rotating around an axis extending along the third direction; the end faces of the two vertical roller (621) groups facing each other form the guide surfaces (622).

4. A shoe upper bi-directional follow-on sizing apparatus as defined in claim 2, wherein: The positioning mechanism (9) and the third transfer mechanism (10) are further included, the second transfer mechanism (7) comprises a lead screw servo motor, the lead screw servo motor pushes the tray (3) out to the base (8) and makes the tray (3) stop at the second position relative to the base (8); the positioning mechanism (9) comprises a first driving member (91) and a clamping plate (92), the first driving member (91) is arranged on the base (8), the output end of the first driving member (91) is fixedly connected with the clamping plate (92) and is adapted to move along the third direction relative to the tray (3), so as to drive the clamping plate (92) to clamp the tray (3) when the tray (3) stops at the second position; the base (8) is fixedly arranged on the third transfer mechanism (10), and the third transfer mechanism (10) is adapted to move along the second direction when the positioning mechanism (9) clamps the tray (3).

5. A shoe upper bi-directional follow-on sizing apparatus as defined in claim 4, wherein: The tray (3) is symmetrically provided with a first inclined surface (311) extending along the third direction and inclined upward along the first direction at both ends along the first direction, and the clamping plate (92) is provided with a second inclined surface (921) adapted to cooperate with the first inclined surface (311).

6. A shoe upper bi-directional follow-on sizing apparatus as defined in claim 1, wherein: The retreat-stop mechanism (4) is located between the intervals of the two object carrying parts (21), the retreat-stop mechanism (4) comprises a base (41), a rotating member (42) and a reset member, the rotating member (42) is rotationally connected with the base (41) and is adapted to rotate around an axis extending along the second direction between a first position for retreat stopping and a second position for passing, the rotating member (42) is provided with a third inclined surface (421) and a limiting surface (422), when in the first position, the third inclined surface (421) extends along the third direction and is inclined upward along the first direction and faces forward, the third inclined surface (421) is at least partially higher than the object carrying part (21) along the third direction, and the limiting surface (422) is perpendicular to the first direction and faces forward; the tray (3) is adapted to abut against the third inclined surface (421) to make the rotating member (42) rotate from the first position to the second position, and the reset member acts on the base (41) and the rotating member (42) to keep the tray (3) in the first position when the tray (3) is disengaged from the third inclined surface (421).

7. A shoe upper bi-directional follow-on sizing apparatus as claimed in claim 4 or 5, wherein: Also included is a dispensing mechanism (20) comprising a multi-axis robot (201) and a dispensing element (202), the dispensing element (202) being mounted on the multi-axis robot (201), the multi-axis robot (201) being adapted to drive the dispensing element (202) to rotate around an axis extending in a third direction; the third transfer mechanism (10) is a lead screw servo motor, when the third transfer mechanism (10) moves in a second direction and towards the dispensing mechanism (20), the multi-axis robot (201) moves around the workpiece in a first circumferential direction to drive the dispensing element (202) to dispense glue on one side of the workpiece in a first direction, when the third transfer mechanism (10) moves in a second direction and away from the dispensing mechanism (20), the multi-axis robot (201) continues to move around the workpiece in a first circumferential direction to drive the dispensing element (202) to dispense glue on the other side of the workpiece in a first direction.

8. A shoe upper bi-directional follow-on sizing apparatus as defined in claim 7, wherein: The second transfer mechanism (7) comprises a second driving element (71), a third driving element (72), a mounting plate (73) and a push-pull element (74); the output end of the second driving element (71) is fixedly connected with the mounting plate (73) and is adapted to move in a third direction, the third driving element (72) is mounted on the mounting plate (73), the output end of the third driving element (72) is fixedly connected with the push-pull element (74) and is adapted to move in a second direction, one of the push-pull element (74) and the tray (3) is provided with a push-pull hole (33) extending in a third direction, and the other is provided with a push-pull column (741) extending in a third direction, the push-pull column (741) is adapted to be inserted into the push-pull hole (33).

9. A shoe upper bi-directional follow-on sizing apparatus as defined in claim 8, wherein: The blocking mechanism (5) is located between the two intervals of the two object carrying parts (21) and is adapted to move in a third direction to abut against the tray (3) in a first direction or form a gap in a first direction with the tray (3).

10. A control method for a shoe upper bi-directional follow-on sizing apparatus, the method comprising: Based on the control of the shoe upper bidirectional following glue applying equipment according to any one of claims 1-9, comprising the following steps: ​ After fixing the workpiece and the tray (3), the tray (3) is seated on the two object carrying parts (21) of the first transfer mechanism (2) and the two sides of the tray (3) in a second direction are guided by the two first guide plates (11) respectively; The transfer part is controlled to move forward in a first direction to drive the tray (3) to move forward until the tray (3) abuts against the blocking mechanism (5) after passing the stop mechanism (4) to stop at a first position relative to the rack (1); The lifting mechanism (6) is controlled to lift the tray (3) at the first position to make the bottom surface of the tray (3) higher or level with the first guide plate (11), and the second transfer mechanism (7) is controlled to push the tray (3) out of the lifting mechanism (6) to make the tray (3) separate from the rack (1).

Images