A sole gluing device and method based on template trajectory

Abstract

The present invention relates to the technical field of shoemaking equipment, and in particular to a sole gluing device and method based on a template trajectory. The device includes a trajectory mold frame, a mold opening and closing mechanism, a gluing mechanism, an accompanying mold, and a positioning mechanism. A set of trajectory mold frames includes a left half frame and a right half frame, and the mold opening and closing mechanism is used to move and splice the left half frame and the right half frame together; the gluing mechanism includes a driving motor, a transverse guide arm, a spring rod, a vertical rod, and a glue spraying head. The vertical rod passes through the trajectory mold frame, and the driving motor drives the transverse guide arm to rotate. At the same time, under the elastic force of the spring rod, the side of the vertical rod is pressed against the edge of the trajectory opening and moves along the path, thereby causing the glue spraying head to apply glue to the sole below. The present application provides a low-cost automated gluing solution, and can perform precise gluing that is not inferior to that of a high-precision robot, which is beneficial for the automation industry upgrade of small and medium-sized shoemaking companies.

Description

Technical Field

[0001] The present invention relates to the technical field of shoemaking equipment, and in particular to a sole gluing device and method based on template tracks. Background Art

[0002] In traditional shoemaking, the sole gluing process is mainly completed by manual handheld glue guns, which is time-consuming and labor-intensive, with high labor costs and uneven quality. Therefore, how to replace manual production with automated equipment is the main direction of upgrading and transformation in the industry.

[0003] Existing automated production equipment typically uses a combination of visual recognition and robotic arm operation. For example, Chinese patent application publication number CN 110881748A describes a robotic sole automatic gluing system and method based on 3D scanning. This system uses a combination of dual cameras and line laser scanning to obtain point cloud data of the soles. The system then uses the characteristics of line laser scanning to extract the gluing contours of the soles. Based on this data, the gluing trajectory is calculated, and the gluing process is then completed using a robotic arm. While existing equipment automates the gluing process, the visual recognition equipment, multi-axis robotic arm, and control system employed are expensive, leading to high initial investment costs for intelligent upgrades. This significantly hinders industrial upgrading for small and medium-sized shoemaking companies.

[0004] Therefore, how to design a low-cost solution to achieve automated sole gluing becomes the problem to be solved in this case. Summary of the Invention

[0005] In order to overcome the deficiencies in the prior art, the present invention provides a template track-based sole gluing device and method with high adaptability and low-cost automated gluing solution.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions: a sole gluing device based on template trajectory, comprising

[0007] A track mold frame has a track opening therein, and a set of track mold frames includes a left half frame and a right half frame that can be assembled with each other;

[0008] The mold frame switching mechanism has several sets of track mold frames installed therein, including a left mold frame, a right mold frame, and a lifting assembly. The left half frames are arranged from top to bottom in the left mold frame, and the right half frames are arranged from top to bottom in the right mold frame. The left and right half frames of a set of track mold frames are arranged at the same horizontal height as the left and right mold frames, respectively. The lifting assembly synchronously drives the left and right mold frames to rise and fall and position, and places a set of track mold frames in the corresponding mold opening and closing positions;

[0009] The mold opening and closing mechanism includes two mold cylinders, which are respectively arranged on the outside of the left mold frame and the right mold frame. The mold opening and closing station is located between the two mold cylinders. The mold cylinder is used to drive the left and right half frames at the mold opening and closing stations to move toward each other and join together, or to move away from each other and return to the left mold frame or the right mold frame.

[0010] The gluing mechanism is arranged between the left mold frame and the right mold frame, and includes a drive motor, a transverse guide arm, a spring rod, a vertical rod, and a glue spraying head. The transverse guide arm has one end connected to the drive motor facing inward and the other end extending laterally outward. The transverse guide arm is provided with an elongated hole extending along its length. The upper portion of the vertical rod is located in the elongated hole and is restricted to only move laterally in the elongated hole and keep the vertical rod always in a vertical state. The spring rod applies an elastic force to push the vertical rod outward. The glue spraying head is located at the lower end of the vertical rod.

[0011] An accompanying mold, on which the sole is placed;

[0012] A positioning mechanism, used to position the accompanying mold below the gluing mechanism;

[0013] The vertical rod passes through the track opening of the assembled track mold frame, and the driving motor drives the horizontal guide arm to rotate. At the same time, under the elastic force of the spring rod, the side of the vertical rod is pressed against the edge of the track opening, so that the vertical rod moves along the path of the edge of the track opening, and then the glue spray head moves along the track to apply glue to the sole of the accompanying mold below.

[0014] Furthermore, a clamping block is provided at the end of the cylinder rod of the mold clamping cylinder, and the left half frame and the right half frame are respectively provided with a vertically penetrating bayonet groove on the outward side. The bayonet grooves of each left half frame located in the left mold frame are arranged longitudinally and correspond to the longitudinal position of the clamping block of the lower mold clamping cylinder in the retracted state; the bayonet grooves of each right half frame located in the right mold frame are arranged longitudinally and correspond to the longitudinal position of the clamping block of the lower mold clamping cylinder in the retracted state; when the lifting assembly drives the left and right mold frames to lift and lower, the clamping block can pass through each bayonet groove, and the bayonet groove of the left half frame or the right half frame at the mold opening and closing station forms an interlocking state with the clamping block of the corresponding mold clamping cylinder.

[0015] Furthermore, it also includes

[0016] A movable frame, wherein the mold frame switching mechanism, the mold opening and closing mechanism, and the glue applying mechanism are installed in the movable frame and are driven to move by the movable frame;

[0017] The conveyor belt passes under the mobile frame;

[0018] Servo linear module, used to drive the mobile frame to move forward and backward along the conveying direction of the conveyor belt;

[0019] The accompanying mold is placed on a conveyor belt for transportation, and positioning holes are provided at both ends of the accompanying mold;

[0020] The positioning mechanism is provided with two groups and is respectively provided on both sides of the conveyor belt. The positioning mechanism includes a vertical guide rod, a movable block, a first inclined plate, and a second inclined plate. The vertical guide rod is provided on the movable frame, and the movable block is sleeved on the vertical guide rod and is limited to move up and down relative to the vertical guide rod. The movable block includes a positioning rod and a side pushing block. The positioning rod is used to insert into the positioning hole of the accompanying mold. The side pushing block is provided with two groups, respectively provided on both sides of the movable block facing the first inclined plate and the second inclined plate. The first inclined plate and the second inclined plate are provided on one side of the conveyor belt, and the movable frame moves between the first inclined plate and the second inclined plate, and the first inclined plate and the second inclined plate are tilted downward toward one side of the movable frame; the side pushing block is squeezed by the first inclined plate or the second inclined plate and slides along the first inclined plate or the second inclined plate to make the movable block rise.

[0021] Furthermore, the positioning mechanism also includes a lifting platform. The two groups of lifting platforms of the two positioning mechanisms are respectively arranged on both sides of the conveyor belt. The lifting platforms are provided with adjustment side blocks and limiting rear blocks. When the lifting platforms are in a high position, the accompanying mold passes between the two groups of adjustment side blocks and is adjusted to the center position of the conveyor belt, and is stopped by the limiting rear block. The first inclined plate is installed on the lifting platform. The positioning mechanism also includes a vertical guide groove. The first inclined plate is provided with a vertical guide bar. The vertical guide bar is embedded in the vertical guide groove and can slide up and down relative to the vertical guide groove.

[0022] Furthermore, the two sets of adjustment side guards form a flared shape opposite to the conveying direction of the conveyor belt. A plurality of guide rollers are provided on the adjustment side guards. The guide rollers are arranged vertically and arranged along a side of the adjustment side guard facing the conveyor belt.

[0023] Furthermore, a first NFC card is embedded in the accompanying mold, and the first NFC card is used to record the sole size information corresponding to the accompanying mold. The lifting platform is provided with a first NFC card reader for reading the information of the first NFC card; a second NFC card is embedded in the left half frame and the right half frame, and the second NFC card is used to record the track information corresponding to the track mold frame. The left mold frame and the right mold frame are provided with a plurality of second NFC card readers, and the second NFC card readers are used to read the information of each second NFC card in the left mold frame and the right mold frame.

[0024] Furthermore, a support plate is provided at the bottom of the vertical guide rod, the support plate is fixedly connected to the movable frame, the movable block is sleeved outside the vertical guide rod and is located above the support plate, and a spring is provided outside the vertical guide rod, which applies an elastic force toward the support plate to the movable block.

[0025] Furthermore, a movable frame is provided inside the movable frame, and a first servo electric cylinder is provided on the movable frame. The first servo electric cylinder drives the movable frame to move up and down relative to the movable frame. The mold frame switching mechanism, mold opening and closing mechanism, and glue application mechanism are installed on the movable frame.

[0026] Furthermore, the lifting assembly includes two groups of guide frames and a group of second servo electric cylinders. The two groups of guide frames are arranged on a movable frame. The left half frame and the right half frame can be moved up and down respectively in the two groups of guide frames. The second servo electric cylinder connects the left half frame and the right half frame to synchronously drive the left half frame and the right half frame to rise and fall synchronously. The two combined mold cylinders are respectively installed on the two groups of guide frames.

[0027] A sole gluing method based on a template track, based on the above-mentioned sole gluing device based on a template track, comprising:

[0028] Sole positioning: The sole is placed on the accompanying mold, and the accompanying mold is positioned below the gluing mechanism through the positioning mechanism;

[0029] Mold frame selection: The lifting assembly drives the left mold frame and the right mold frame to rise or fall until a set of track mold frames matching the soles are at the mold opening and closing station and stop and position;

[0030] Track mold frame closing: two combined mold cylinders push the left half frame and the right half frame at the mold opening and closing station to move toward each other and join together, forming a track opening in the track mold frame after joining;

[0031] Gluing: The vertical rod is in the track opening. Under the action of the elastic force of the spring rod, the outer wall of the vertical rod presses against the edge of the track opening. The driving motor drives the horizontal guide arm to rotate one circle. The vertical rod moves relative to the long hole of the horizontal guide arm and keeps its outer wall always in contact with the edge of the track opening, so that the vertical rod moves along the path of the edge of the track opening for one circle. During the rotation of the driving motor, the glue spraying head sprays glue downward, and sprays a circle of glue on the lower sole along the shape of the sole.

[0032] As can be seen from the above description of the present invention, compared with the prior art, the sole gluing device and method based on template trajectory provided by the present invention has the following advantages:

[0033] 1. The track opening of the track mold frame guides the gluing mechanism to execute the gluing action along the set track. The mold frame switching mechanism can automatically replace the track mold frame and thus change the gluing track, enabling the mixing and matching of different models and sizes of soles on a single production line. If new sizes of soles need to be glued, only a new track mold frame needs to be made to adapt, and the equipment has good scalability and adaptability. Therefore, this application provides a low-cost automated gluing solution that can achieve precision gluing comparable to that of high-precision robots, which is beneficial for the automation industry upgrade of small and medium-sized shoemaking companies.

[0034] 2. A mobile frame that moves along the conveyor belt is equipped with a positioning mechanism that positions the accompanying mold, keeping the relative position of the accompanying mold and the mobile frame fixed. This allows for accurate gluing while the mobile frame is moving. Continuous production on the production line is achieved by matching the conveyor belt speed with the gluing mechanism speed.

[0035] 3. The positioning mechanism adopts a mechanical structure that is linked with the mobile frame. The mobile frame can drive the movable block to rise and fall while moving, thereby realizing the insertion or separation of the positioning rod and the positioning hole. The structure is ingenious and the cost is low.

[0036] 4. The accompanying mold and track mold frame adopt NFC information interaction to realize the gluing track matching action of automatic mold frame switching, with a high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The figure is a structural schematic diagram of a sole gluing device based on template trajectory of the present invention.

[0038] Figure 2 This is a side structural schematic diagram of a sole gluing device based on template tracks according to the present invention.

[0039] Figure 3 For the present invention Figure 1 A partially enlarged schematic diagram.

[0040] Figure 4 It is a partial cross-sectional view of the working state of the gluing mechanism of the present invention.

[0041] Figure 5 This is a schematic diagram of the working state of the gluing mechanism of the present invention.

[0042] Figure 6 It is a partial structural schematic diagram of the lifting platform of the present invention.

[0043] Figure 7 FIG1 is a schematic diagram of the working state of the positioning mechanism of the present invention.

[0044] Figure 8 This is the second working state diagram of the positioning mechanism of the present invention.

[0045] Figure 9 This is the third working state diagram of the positioning mechanism of the present invention.

[0046] Figure 10 This is the fourth working state diagram of the positioning mechanism of the present invention.

[0047] The symbols in the figure correspond to the following: 1- conveyor belt, 2- mobile frame, 21- servo linear module, 22- movable frame, 23- first servo electric cylinder, 3- track mold frame, 31- left half frame, 32- right half frame, 4- mold frame switching mechanism, 41- left mold frame, 42- right mold frame, 43- lifting assembly, 431- guide frame, 432- second servo electric cylinder, 44- bayonet slot, 5- mold opening and closing mechanism, 51- mold clamping cylinder, 52- block, 6- glue application mechanism, 61- drive motor, 62 -Horizontal guide arm, 621-long hole, 63-spring rod, 64-vertical rod, 65-glue spray head, 7-accompanying mold, 71-positioning hole, 8-positioning mechanism, 81-vertical guide rod, 82-movable block, 821-positioning rod, 822-side push block, 83-first inclined plate, 831-vertical guide bar, 84-second inclined plate, 85-lifting platform, 851-adjusting side stop, 852-limiting rear stop, 853-guide roller, 86-vertical guide groove, 87-support plate, 88-spring. DETAILED DESCRIPTION

[0048] The present invention is further described below through specific embodiments.

[0049] Reference Figures 1 to 10 As shown, a sole gluing device based on template trajectory includes a conveyor belt 1, a movable frame 2, a trajectory mold frame 3, a mold frame switching mechanism 4, a mold opening and closing mechanism 5, a gluing mechanism 6, an accompanying mold 7, and a positioning mechanism 8.

[0050] The mold frame switching mechanism 4, the mold opening and closing mechanism 5, and the glue applying mechanism 6 are installed in the mobile frame 2 and are driven to move by the mobile frame 2; the conveyor belt 1 passes under the mobile frame 2; the servo linear module 21 is used to drive the mobile frame 2 to move back and forth along the conveying direction of the conveyor belt 1.

[0051] The track mold frame 3 has a track opening therein. A set of track mold frames 3 includes a left half frame 31 and a right half frame 32 that can be assembled with each other.

[0052] Several groups of track mold frames 3 are installed in the mold frame switching mechanism 4, including a left mold frame 41, a right mold frame 42, and a lifting assembly 43. The left half frames 31 are arranged from top to bottom in the left mold frame 41, and the right half frames 32 are arranged from top to bottom in the right mold frame 42. The left half frames 31 and the right half frames 32 of a group of track mold frames 3 are respectively arranged at the same horizontal height of the left mold frame 41 and the right mold frame 42. The lifting assembly 43 synchronously drives the left mold frame 41 and the right mold frame 42 to rise and fall and position, and makes a group of track mold frames 3 correspondingly located at the mold opening and closing positions.

[0053] The mold opening and closing mechanism 5 includes two mold combination cylinders 51, which are respectively arranged on the outside of the left mold frame 41 and the right mold frame 42. The mold opening and closing station is located between the two mold combination cylinders 51. The mold closing cylinder 51 is used to drive the left half frame 31 and the right half frame 32 in the mold opening and closing station to move toward each other for splicing, or to move back to the left mold frame 41 or the right mold frame 42. A clamping block 52 is provided at the end of the cylinder rod of the mold closing cylinder 51. The left half frame 31 and the right half frame 32 are respectively provided with a vertically penetrating bayonet groove 44 on the outward side. The left half frame 31 and the right half frame 32 are located in the left mold frame 41. The bayonet slots 44 are arranged longitudinally and correspond to the longitudinal position of the clamping block 52 of the lower mold clamping cylinder 51 in the retracted state; the bayonet slots 44 of each right half frame 32 located in the right mold frame 42 are arranged longitudinally and correspond to the longitudinal position of the clamping block 52 of the lower mold clamping cylinder 51 in the retracted state; when the lifting assembly 43 drives the left mold frame 41 and the right mold frame 42 to rise and fall, the clamping block 52 can pass through each bayonet slot 44, and the bayonet slots 44 of the left half frame 31 or the right half frame 32 in the mold opening and closing station form an interlocking state with the clamping block 52 of the corresponding mold clamping cylinder 51.

[0054] A movable frame 22 is disposed within the movable frame 2, and a first servo electric cylinder 23 is mounted on the movable frame 2. The first servo electric cylinder 23 drives the movable frame 22 to move up and down relative to the movable frame 2. The mold frame switching mechanism 4, the mold opening and closing mechanism 5, and the glue application mechanism 6 are mounted on the movable frame 22. A lifting assembly 43 includes two sets of guide frames 431 and a set of second servo electric cylinders 432. The two sets of guide frames 431 are mounted on the movable frame 22. The left and right half frames 31, 32 are respectively mounted within the two sets of guide frames 431, and are movable up and down. The second servo electric cylinder 432 connects the left and right half frames 31, 32 to synchronously drive the left and right half frames 31, 32 to move up and down. Two combined mold cylinders 51 are mounted on the two sets of guide frames 431. The first servo electric cylinder 23 drives the movable frame 2 to rise and fall, so as to adjust the height of the gluing mechanism 6 to correspond to soles of different thicknesses, or to make way during movement, or to adapt the gluing to soles with large height differences during the gluing process.

[0055] The gluing mechanism 6 is arranged between the left mold frame 31 and the right mold frame 32, and includes a driving motor 61, a transverse guide arm 62, a spring rod 63, a vertical rod 64, and a glue spraying head 65. The transverse guide arm 62 is connected to the driving motor 61 at one end facing inward, and the other end extends laterally outward. An elongated hole 621 extending along its length is provided in the transverse guide arm 62. The upper part of the vertical rod 64 is in the elongated hole 621 and is restricted to only move laterally in the elongated hole 621 and keep the vertical rod always in a vertical state. The spring rod 63 applies an elastic force to push the vertical rod 64 outward, and the glue spraying head 65 is arranged at the lower end of the vertical rod 64.

[0056] The sole is placed on the accompanying mold 7, and the accompanying mold 7 is placed on the conveyor belt 1 for transportation. Positioning holes 71 are provided at both ends of the accompanying mold 7. The positioning mechanism 8 is used to position the accompanying mold 7 below the gluing mechanism 6; there are two groups of positioning mechanisms 8, which are respectively arranged on both sides of the conveyor belt 1. The positioning mechanism 8 includes a vertical guide rod 81, a movable block 82, a first inclined plate 83, and a second inclined plate 84. The vertical guide rod 81 is arranged on the movable frame 2. The movable block 82 is sleeved on the vertical guide rod 81 and is limited to relative up and down movement along the vertical guide rod 81. The movable block 82 includes a positioning rod 821 and a side push block 822. The positioning rod 821 is used to insert into the positioning hole 71 of the accompanying mold 7. There are two groups of side pushing blocks 822, which are respectively arranged on both sides of the movable block 82 facing the first inclined plate 83 and the second inclined plate 84. The first inclined plate 83 and the second inclined plate 84 are arranged on one side of the conveyor belt 1, and the movable frame 2 moves between the first inclined plate 83 and the second inclined plate 84, and the first inclined plate 83 and the second inclined plate 84 are inclined downward toward the side of the movable frame 2; the side pushing blocks 822 are squeezed by the first inclined plate 83 or the second inclined plate 84 and slide along the first inclined plate 83 or the second inclined plate 84, so that the movable block 82 rises. The positioning mechanism 8 further includes a lifting platform 85. The two sets of lifting platforms 85 of the two positioning mechanisms 8 are respectively arranged on both sides of the conveyor belt 1. The lifting platforms 85 are provided with adjustment side stops 851 and a limiting rear stop 852. When the lifting platforms 85 are in the high position, the accompanying mold 7 passes between the two sets of adjustment side stops 851 and is adjusted to a position aligned with the conveyor belt 1. The limiting rear stop 852 stops the conveying. The first inclined plate 83 is mounted on the lifting platform 85. The positioning mechanism 8 further includes a vertical guide groove 86. The first inclined plate 83 is provided with a vertical guide bar 831. The vertical guide bar 831 is embedded in the vertical guide groove 86 and can slide up and down relative to the vertical guide groove 86. The two sets of adjustment side stops 851 form a flared shape opposite to the conveying direction of the conveyor belt 1. The adjustment side stops 851 are provided with a plurality of guide rollers 853. The guide rollers 853 are arranged vertically and arranged along the side of the adjustment side stops 851 facing the conveyor belt. A support plate 87 is provided at the bottom of the vertical guide rod 81, which is fixedly connected to the movable frame 2. A movable block 82 is sleeved on the outside of the vertical guide rod 81 and positioned above the support plate 87. A spring 88 is provided on the outside of the vertical guide rod 81, which applies an elastic force to the movable block 82 toward the support plate 87. A first NFC card is embedded in the accompanying mold 7, which is used to record the shoe sole size information corresponding to the accompanying mold. A first NFC card reader is provided on the lifting platform for reading the information on the first NFC card. A second NFC card is embedded in the left and right half frames, which is used to record the trajectory information corresponding to the trajectory mold frame. A plurality of second NFC card readers are provided in the left and right mold frames for reading the information on the second NFC cards in the left and right mold frames.

[0057] The vertical rod 64 passes through the track opening of the track mold frame 3 in the assembled state, and the driving motor 61 drives the horizontal guide arm 62 to rotate. At the same time, under the elastic force of the spring rod 63, the side of the vertical rod 64 is pressed against the edge of the track opening, so that the vertical rod 64 moves along the path of the edge of the track opening, and then the glue spraying head 65 moves along the track to apply glue to the sole of the accompanying mold 7 below.

[0058] This application is further explained with a specific working process

[0059] The first NFC card embedded in the accompanying mold 7 stores the sole information. The size and model of the sole placed on the accompanying mold 7 are consistent with the information recorded in the first NFC card of the accompanying mold 7. The sole is placed above the accompanying mold 7 and is fixed relative to the accompanying mold 7.

[0060] The track mold frame 3 has a second NFC card embedded in the left half frame 31 and the right half frame 32 . The second NFC card stores the sole information of the shoe that is adapted to be glued by the track opening of the track mold frame 3 .

[0061] a. A traveling mold 7 with a shoe sole placed on it is transported on the conveyor belt 1. It first reaches the position of the lifting platform 85. At this time, the lifting platform 85 is in the high position. The two ends of the traveling mold 7 contact the two sets of adjustment side blocks 851. The guide rollers 853 of the adjustment side blocks 851 guide the traveling mold 7 to move horizontally to the center position of the conveyor belt 1. Then, the traveling mold is stopped by the limit rear block and no longer transported backward; the first NFC card reader on the lifting platform reads the first NFC card information on the traveling mold and transmits the information to the control host.

[0062] b. The servo linear module 21 drives the movable frame 2 to move toward the position of the lifting platform 85. First, the side push block 822 will contact the first inclined plate 83. After continuing to move, the side push block 822 rises along the first inclined plate 83, causing the movable block 82 to move upward along the vertical guide rod 81. When the movable frame 2 reaches the position above the lifting platform, the lower side of the positioning rod 821 is facing the positioning hole 71 of the accompanying mold 7 (refer to Figure 7 Then the lifting platform 85 descends. During the descent, the movable block 82 moves downward to the support plate 87 under the elastic force of the spring 88, so that the positioning rod 821 is inserted into the positioning hole 71, and the limit rear stop 852 descends to the bottom of the accompanying mold 7 and no longer blocks it. At this time, the accompanying mold 7 is in the accurate position just below the glue applying mechanism 6 (reference Figure 8 shown).

[0063] When the mobile frame 2 moves to the lifting platform 85, the control host controls the mold frame selection action according to the information transmitted by the first NFC card reader on the lifting platform 85. The second NFC card readers of the left mold frame 41 and the right mold frame 42 have previously transmitted the second NFC card information of each track mold frame 3 thereon to the controller. The lifting component 43 drives the left mold frame 41 and the right mold frame 42 to rise or fall through the second servo electric cylinder 432 until the left half frame 31 and the right half frame 32 matching the sole move to the mold opening and closing station to stop and position. The bayonet groove 44 of the left half frame 31 or the right half frame 32 at the mold opening and closing station forms an interlocking state with the card block 52 of the corresponding mold closing cylinder 51. The two combined mold cylinders 51 push the left half frame 31 and the right half frame 32 at the mold opening and closing station to move toward each other and splice together, forming a track opening in the spliced ​​track mold frame 3.

[0064] c. The servo linear module 21 drives the movable frame 2 to move toward the second inclined plate 84. During the movement process before reaching the second inclined plate 84, the gluing action is performed at the same time. The driving motor 61 drives the transverse guide arm 62 to rotate one circle. The vertical rod 64 moves relative to the elongated hole 621 of the transverse guide arm 62 and keeps its outer wall always in contact with the edge of the track opening under the elastic force of the spring rod 63, so that the vertical rod 64 moves one circle along the path of the edge of the track opening. During the rotation of the driving motor 61, the glue spraying head 65 sprays glue downward, spraying a circle of glue on the lower sole along the shape of the sole.

[0065] d. When the moving frame 2 reaches the point where the side push block 822 contacts the second inclined plate 84, the gluing mechanism 6 has completed the gluing action. After continuing to move, the side push block 822 rises along the second inclined plate 84, causing the movable block 82 to move upward along the vertical guide rod 81, so that the positioning rod 821 is pulled upward from the positioning hole 71 and separated from the accompanying mold 7. The accompanying mold 7 is sent backward under the drive of the conveyor belt 1 (refer to Figure 9 Figure 10 shown).

[0066] The above steps are repeated, and through reasonable rate control, uninterrupted continuous operation can be achieved.

[0067] The above is only a specific implementation of the present invention, but the design concept of the present invention is not limited to this. Any non-substantial changes to the present invention using this concept shall be deemed as an infringement of the protection scope of the present invention.

Claims

1. A sole gluing device based on template trajectory, characterized by: include A track mold frame has a track opening therein, and a set of track mold frames includes a left half frame and a right half frame that can be assembled with each other; The mold frame switching mechanism has several sets of track mold frames installed therein, including a left mold frame, a right mold frame, and a lifting assembly. The left half frames are arranged from top to bottom in the left mold frame, and the right half frames are arranged from top to bottom in the right mold frame. The left and right half frames of a set of track mold frames are arranged at the same horizontal height as the left and right mold frames, respectively. The lifting assembly synchronously drives the left and right mold frames to rise and fall and position, and places a set of track mold frames in the corresponding mold opening and closing positions; The mold opening and closing mechanism includes two mold cylinders, which are respectively arranged on the outside of the left mold frame and the right mold frame. The mold opening and closing station is located between the two mold cylinders. The mold cylinder is used to drive the left and right half frames at the mold opening and closing stations to move toward each other and join together, or to move away from each other and return to the left mold frame or the right mold frame. The gluing mechanism is arranged between the left mold frame and the right mold frame, and includes a drive motor, a transverse guide arm, a spring rod, a vertical rod, and a glue spraying head. The transverse guide arm has one end connected to the drive motor facing inward and the other end extending laterally outward. The transverse guide arm is provided with an elongated hole extending along its length. The upper portion of the vertical rod is located in the elongated hole and is restricted to only move laterally in the elongated hole and keep the vertical rod always in a vertical state. The spring rod applies an elastic force to push the vertical rod outward. The glue spraying head is located at the lower end of the vertical rod. An accompanying mold, on which the sole is placed; A positioning mechanism, used to position the accompanying mold below the gluing mechanism; The vertical rod passes through the track opening of the assembled track mold frame, and the driving motor drives the horizontal guide arm to rotate. At the same time, under the elastic force of the spring rod, the side of the vertical rod is pressed against the edge of the track opening, so that the vertical rod moves along the path of the edge of the track opening, and then the glue spray head moves along the track to apply glue to the sole of the accompanying mold below.

2. The sole gluing device based on template trajectory according to claim 1, characterized in that: A clamping block is provided at the end of the cylinder rod of the mold clamping cylinder, and a vertically penetrating bayonet groove is provided on the outward side of the left half frame and the right half frame respectively. The bayonet grooves of each left half frame located in the left mold frame are arranged longitudinally and correspond to the longitudinal position of the clamping block of the lower mold clamping cylinder in the retracted state; the bayonet grooves of each right half frame located in the right mold frame are arranged longitudinally and correspond to the longitudinal position of the clamping block of the lower mold clamping cylinder in the retracted state; when the lifting assembly drives the left and right mold frames to lift and lower, the clamping block can pass through each bayonet groove, and the bayonet groove of the left half frame or the right half frame at the mold opening and closing station forms a chimeric state with the clamping block of the corresponding mold clamping cylinder.

3. The sole gluing device based on template trajectory according to claim 1, characterized in that: Also includes A movable frame, wherein the mold frame switching mechanism, the mold opening and closing mechanism, and the glue applying mechanism are installed in the movable frame and are driven to move by the movable frame; The conveyor belt passes under the mobile frame; Servo linear module, used to drive the mobile frame to move forward and backward along the conveying direction of the conveyor belt; The accompanying mold is placed on a conveyor belt for transportation, and positioning holes are provided at both ends of the accompanying mold; The positioning mechanism is provided with two groups and is respectively provided on both sides of the conveyor belt, the positioning mechanism includes a vertical guide rod, a movable block, a first inclined plate, and a second inclined plate, the vertical guide rod is provided on the movable frame, the movable block is sleeved on the vertical guide rod and is limited to move up and down relatively only along the vertical guide rod, the movable block includes a positioning rod and a side push block, the positioning rod is used to insert into the positioning hole of the accompanying mold, the side push block is provided with two groups, respectively provided on both sides of the movable block facing the first inclined plate and the second inclined plate, the first inclined plate and the second inclined plate are provided on one side of the conveyor belt, and the movable frame moves between the first inclined plate and the second inclined plate, and the first inclined plate and the second inclined plate are inclined downward toward one side of the movable frame; The side pushing block is pressed against the first inclined plate or the second inclined plate and slides along the first inclined plate or the second inclined plate, so that the movable block rises.

4. The sole gluing device based on template trajectory according to claim 3, characterized in that: The positioning mechanism also includes a lifting platform. The two groups of lifting platforms of the two positioning mechanisms are respectively arranged on both sides of the conveyor belt. The lifting platforms are provided with adjustment side blocks and limiting rear blocks. When the lifting platform is in a high position, the accompanying mold passes between the two groups of adjustment side blocks and is adjusted to the center position of the conveyor belt, and is stopped by the limiting rear block. The first inclined plate is installed on the lifting platform. The positioning mechanism also includes a vertical guide groove. The first inclined plate is provided with a vertical guide bar. The vertical guide bar is embedded in the vertical guide groove and can slide up and down relative to the vertical guide groove.

5. The sole gluing device based on template trajectory according to claim 4, characterized in that: The two sets of positioning side guards form a flared shape in the opposite direction of the conveying direction of the conveyor belt. A plurality of guide rollers are provided on the positioning side guards. The guide rollers are arranged vertically and arranged along a side of the positioning side guard facing the conveyor belt.

6. The sole gluing device based on template trajectory according to claim 4, characterized in that: A first NFC card is embedded in the accompanying mold, and the first NFC card is used to record the sole size information corresponding to the accompanying mold. A first NFC card reader is provided on the lifting platform, and is used to read the information of the first NFC card; a second NFC card is embedded in the left half frame and the right half frame, and the second NFC card is used to record the track information corresponding to the track mold frame. A plurality of second NFC card readers are provided in the left mold frame and the right mold frame, and the second NFC card readers are used to read the information of each second NFC card in the left half frame and the right half frame.

7. The sole gluing device based on template trajectory according to claim 3, characterized in that: A support plate is provided at the bottom of the vertical guide rod, which is fixedly connected to the movable frame. The movable block is sleeved outside the vertical guide rod and is located above the support plate. A spring is provided outside the vertical guide rod, which applies an elastic force toward the support plate to the movable block.

8. The sole gluing device based on template trajectory according to claim 3, characterized in that: A movable frame is provided in the movable frame, and a first servo electric cylinder is provided on the movable frame. The first servo electric cylinder drives the movable frame to move up and down relative to the movable frame. The mold frame switching mechanism, mold opening and closing mechanism, and glue applying mechanism are installed on the movable frame.

9. The sole gluing device based on template trajectory according to claim 8, characterized in that: The lifting assembly includes two sets of guide frames and a set of second servo electric cylinders. The two sets of guide frames are arranged on a movable frame. The left half frame and the right half frame can be moved up and down respectively in the two sets of guide frames. The second servo electric cylinder connects the left half frame and the right half frame to synchronously drive the left half frame and the right half frame to rise and fall synchronously. The two combined mold cylinders are respectively installed on the two sets of guide frames.

10. A method for gluing shoe soles based on template trajectory, characterized in that: A sole gluing device based on a template track according to any one of claims 1 to 9, comprising: Sole positioning: The sole is placed on the accompanying mold, and the accompanying mold is positioned below the gluing mechanism through the positioning mechanism; Mold frame selection: The lifting assembly drives the left mold frame and the right mold frame to rise or fall until a set of track mold frames matching the soles are at the mold opening and closing station and stop and position; Track mold frame closing: two combined mold cylinders push the left half frame and the right half frame at the mold opening and closing station to move toward each other and join together, forming a track opening in the track mold frame after joining; Gluing: The vertical rod is in the track opening. Under the action of the elastic force of the spring rod, the outer wall of the vertical rod presses against the edge of the track opening. The driving motor drives the horizontal guide arm to rotate one circle. The vertical rod moves relative to the long hole of the horizontal guide arm and keeps its outer wall always in contact with the edge of the track opening, so that the vertical rod moves along the path of the edge of the track opening for one circle. During the rotation of the driving motor, the glue spraying head sprays glue downward, and sprays a circle of glue on the lower sole along the shape of the sole.

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