A shoe heel heat and cold setting machine

Abstract

This invention relates to the field of shoe material processing technology, specifically to a shoe heel hot and cold setting machine, comprising a machine housing, a conveying assembly, a scanning assembly, a swing assembly, a hot and cold setting assembly, a shoe upper gripping and mold changing assembly, and a shoe upper gripping and unloading assembly. The hot and cold setting assembly is provided with a mounting base and hot setting units and cold setting units symmetrically arranged on the mounting base. The shoe upper gripping and mold changing assembly is provided with a mold frame and a transfer gripping robot. The transfer gripping robot is used to transfer the shoe material to be set on the conveying assembly to the hot and cold setting assembly, and to grip the shoe material setting mold on the mold frame, and to change the hot pressing mold base and cold pressing mold base located on the hot and cold setting assembly. Its structure is simple, reasonable, compact, and highly integrated, enabling fully automatic operation and compatibility with different shoes and sizes, allowing simultaneous production of left and right shoes, greatly improving compatibility and production efficiency.

Description

Technical Field

[0001] This invention relates to the field of shoe material processing technology, and in particular to a shoe heel heat and cold setting machine. Background Technology

[0002] During the shoe manufacturing process, the heel needs to be heat-cold shaped to ensure the shoe's aesthetics. The existing heat-cold shaped structure for the heel involves placing the heel upper on a shoe last of a shaping device, moving a robotic arm via a lifting cylinder, pressing a hot-pressing mold on the robotic arm against the heel, and then clamping the hot-pressing mold to heat and shape the heel counter. Then, the heel upper is placed on another shoe last, and a cold-pressing mold is pressed and clamped to cool and shape the heel.

[0003] This structural design results in poor shaping precision, leading to inconsistent heel shapes and inaccurate shaping, which affects the production quality of the shoes. Furthermore, it prevents integrated automated operation, resulting in low production efficiency.

[0004] In view of this, this application aims to provide a shoe heel heat and cold setting machine to better solve the above-mentioned technical problems. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a shoe heel heat and cold setting machine with a simple and compact structure, high integration, and the ability to achieve fully automatic operation. It is also compatible with different shoes and sizes, and can produce left and right shoes simultaneously, greatly improving compatibility and production efficiency.

[0006] The technical solution adopted in this invention is:

[0007] A shoe heel heat and cold setting machine includes a machine housing, a conveying assembly, a barcode scanning assembly, a swinging assembly, a heat and cold setting assembly, a shoe upper gripping and mold changing assembly, and a shoe upper gripping and unloading assembly;

[0008] The conveying component is disposed in the chassis and is used to convey shoe materials to be shaped and shoe materials that have been shaped.

[0009] The barcode scanning component is installed in the chassis and located at the front end of the conveying component. It is used to scan and identify the model of the shoe material to be shaped.

[0010] The swinging component is installed on the chassis, located on the conveying component, and positioned close to the scanning component, for aligning the shoe materials that have been scanned on the conveying component.

[0011] The heat and cold setting assembly includes a mounting base and heat setting units and cold setting units symmetrically arranged on the mounting base. The heat setting unit includes a first front-end fixing component, a hot pressing mold base, and a first rear-end airbag component. The first front-end fixing component, the hot pressing mold base, and the first rear-end airbag component are respectively mounted on the mounting base to cooperate in heat setting of the shoe material. The cold setting unit includes a second front-end fixing component, a cold pressing mold base, and a second rear-end airbag component. The second front-end fixing component, the cold pressing mold base, and the second rear-end airbag component are respectively mounted on the mounting base to cooperate in cold setting of the shoe material.

[0012] The shoe upper gripping and mold changing assembly is installed in the chassis. The shoe upper gripping and mold changing assembly is provided with a mold frame and a transfer gripping robot. The transfer gripping robot is used to transfer the shoe material to be shaped on the conveying assembly to the hot and cold shaping assembly, and to grip the shoe material shaping mold on the mold frame, and to replace the hot pressing mold base and the cold pressing mold base located on the hot and cold shaping assembly.

[0013] The shoe upper gripping and unloading assembly is used to grip the shoe material that has been shaped in the cold setting unit and transfer it to the conveying assembly to complete the unloading.

[0014] Furthermore, the conveying assembly includes a feeding conveyor belt disposed in the middle of the chassis and a discharging conveyor belt disposed on both sides of the chassis. The hot and cold shaping assembly, the shoe upper gripping and mold changing assembly, and the shoe upper gripping and discharging assembly are each provided in a set and are symmetrically distributed on both sides of the feeding conveyor belt to simultaneously shape the shoe material.

[0015] Furthermore, the scanning component is configured as a barcode scanner to scan and identify the size and model of the shoe material.

[0016] Furthermore, the first front-end fixing component and the second front-end fixing component are respectively provided with a sliding mold base, a clamping base, a supporting claw, a clamping claw structure and a clamping claw driving part. The sliding mold base is disposed on the mounting base, the clamping base is disposed on the sliding mold base, the supporting claw is fixedly installed on the clamping base, a pressure sensor is provided on the supporting claw, the clamping claw structure is rotatably installed on the clamping base, and the supporting claw is located at the middle position of the clamping claw structure. The clamping claw driving part is installed on the clamping base and is drivenly connected to the clamping claw structure.

[0017] Furthermore, a heating element and a first temperature controller are installed inside the hot press mold base, and the first temperature controller is connected to the heating element; a cooling element and a second temperature controller are installed inside the cold press mold base, and the second temperature controller is connected to the cooling element.

[0018] Furthermore, the first rear airbag assembly and the second rear airbag assembly are respectively provided with an airbag wrapping mold and a driving cylinder. The airbag wrapping mold is slidably installed on the mounting base. The airbag wrapping mold is provided with a wrapping cavity that matches the heel of the shoe material to be shaped. The driving cylinder is installed on the mounting base and is drivenly connected to the airbag wrapping mold. The airbag wrapping mold is connected to an inflation structure. The inflation structure is provided with a pressure regulating valve, and an electric heating tube is provided inside the airbag wrapping mold of the first rear airbag assembly.

[0019] Furthermore, the shoe upper gripping and mold changing assembly is also provided with a visual positioning structure, a shoe upper gripping structure and a mold gripping structure. The transfer gripping robot is provided with a slide structure. The visual positioning structure is set on the transfer gripping robot. The shoe upper gripping structure and the mold gripping structure are respectively set on the slide structure, and the visual positioning structure is located above the shoe upper gripping structure.

[0020] Furthermore, the shoe upper gripping structure includes a lifting seat, a gripping seat, a first clamping plate, a second clamping plate, and a first laser rangefinder. The lifting seat is disposed on the slide structure, the gripping seat is disposed on the lifting seat, the first clamping plate is fixedly disposed on the gripping seat, the second clamping plate is movably disposed on the gripping seat to adjust its position relative to the first clamping plate, and the first laser rangefinder is disposed on the second clamping plate and located between the first clamping plate and the second clamping plate.

[0021] Furthermore, the mold gripping structure is provided with a lifting component, a three-claw gripper, and a second laser rangefinder. The lifting component is disposed on the slide structure, the three-claw gripper is disposed on the lifting component, and the second laser rangefinder is disposed on the lifting component.

[0022] Furthermore, the shoe upper gripping and unloading assembly is equipped with a multi-axis robot arm, a gripper structure, and a CCD camera positioning structure. The multi-axis robot arm is disposed in the chassis, and the gripper structure and the CCD camera positioning structure are respectively mounted on the multi-axis robot arm, with the CCD camera positioning structure located above the gripper structure.

[0023] The beneficial effects of this invention are as follows:

[0024] The shoe heel heat and cold setting machine provided by the present invention includes a machine box, a conveying component, a barcode scanning component, a swinging component, a heat and cold setting component, a shoe upper gripping and mold changing component, and a shoe upper gripping and unloading component. It has a simple structure, reasonable design, compact structure, and high integration, which can realize fully automatic operation and is compatible with different shoes and different sizes. It can produce left and right shoes at the same time, which greatly improves compatibility and production efficiency. Attached Figure Description

[0025] Figure 1 These are schematic diagrams of structures in some embodiments of this application;

[0026] Figure 2 This is a schematic diagram of a structure with a protective cover in some embodiments of this application;

[0027] Figure 3 for Figure 1 Enlarged view of section A;

[0028] Figure 4 This is a structural schematic diagram of the swing-shaped component in some embodiments of this application, showing how it straightens the shoe material.

[0029] Figure 5 This is a schematic diagram of the structure of the thermal shaping component in some embodiments of this application;

[0030] Figure 6 This is a schematic diagram of the structure of the heat and cold setting component in some embodiments of this application, showing the shoe material to be set in a state of setting.

[0031] Figure 7 This is a schematic diagram of the structure of the shoe upper gripping and mold changing assembly in some embodiments of this application;

[0032] Figure 8 This is a structural schematic diagram of the shoe material gripping and changing assembly in some embodiments of this application.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. Chassis; 2. Conveying assembly; 21. Loading conveyor belt; 22. Unloading conveyor belt; 3. Scanning assembly; 4. Shaping assembly; 5. Hot and cold setting assembly; 5. Mounting base; 51. Hot setting unit; 52. First front-end fixing assembly; 521. Hot pressing mold base; 522. First rear-end airbag assembly; 523. Sliding mold base; 524. Clamping base; 525. Supporting claw; 526. Clamping claw structure; 527. Clamping claw drive unit; 528. Cold setting unit; 53. Second front-end fixing assembly; 531. Cold pressing mold base; 532. Second rear-end airbag assembly; 533. Airbag bag. 534. Wrapping mold, 535. Drive cylinder, 6. Shoe upper gripping and mold changing assembly, 61. Mold frame, 62. Transfer gripping robot, 63. Vision positioning structure, 64. Shoe upper gripping structure, 641. Lifting seat, 642. Gripping seat, 643. First clamping piece, 644. Second clamping piece, 645. First laser rangefinder, 65. Mold gripping structure, 65. Lifting component, 651. Three-jaw gripper, 652. Second laser rangefinder, 653. Shoe upper gripping and unloading assembly, 7. Multi-axis robot, 71. Claw structure, 72. CCD camera positioning structure. Detailed Implementation

[0035] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] In the description of this invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0038] like Figures 1-5 As shown, the shoe heel heat and cold setting machine described in this embodiment includes a machine housing 1, a conveying component 2, a barcode scanning component 3, a swinging component 4, a heat and cold setting component 5, a shoe upper gripping and mold changing component 6, and a shoe upper gripping and unloading component 7.

[0039] The conveying component 2 is disposed in the chassis 1 and is used to convey shoe materials to be shaped and shoe materials that have been shaped.

[0040] The scanning component 3 is disposed in the chassis 1 and located at the front end of the conveying component 2, and is used to scan and identify the model of the shoe material to be shaped;

[0041] The swinging component 4 is installed on the chassis 1, located on the conveying component 2, and positioned close to the scanning component 3, and is used to straighten the shoe material that has been scanned on the conveying component 2.

[0042] The heat and cold setting assembly 5 is provided with a mounting base 51 and heat setting unit 52 and cold setting unit 53 symmetrically arranged on the mounting base 51. The heat setting unit 52 is provided with a first front-end fixing assembly 521, a hot pressing mold base 522, and a first rear-end airbag assembly 523. The first front-end fixing assembly 521, the hot pressing mold base 522, and the first rear-end airbag assembly 523 are respectively installed on the mounting base 51 to cooperate in heat setting of the shoe material. The cold setting unit 53 is provided with a second front-end fixing assembly 531, a cold pressing mold base 532, and a second rear-end airbag assembly 533. The second front-end fixing assembly 531, the cold pressing mold base 532, and the second rear-end airbag assembly 533 are respectively installed on the mounting base 51 to cooperate in cold setting of the shoe material.

[0043] The shoe upper gripping and mold changing assembly 6 is installed in the chassis 1. The shoe upper gripping and mold changing assembly 6 is provided with a mold frame 61 and a transfer gripping robot 62. The transfer gripping robot 62 is used to transfer the shoe material to be shaped on the conveying assembly 2 to the hot and cold shaping assembly 5, and to grip the shoe material shaping mold on the mold frame 61 to replace the hot pressing mold base 522 and the cold pressing mold base 532 located on the hot and cold shaping assembly 5.

[0044] The shoe upper gripping and unloading component 7 is used to grip the shoe material that has been shaped in the cold setting unit 53 and transfer it to the conveying component 2 to complete the unloading.

[0045] This embodiment has a simple structure, reasonable design, compact structure, and high integration. It can achieve fully automatic operation and is compatible with different shoes and sizes. It can produce left and right shoes at the same time, which greatly improves compatibility and production efficiency.

[0046] During the specific shaping process, the shoe upper to be shaped enters the conveyor assembly 2 from the previous process. At this time, the barcode scanning assembly 3 scans the barcode to identify its model and size, so as to facilitate the replacement and adjustment of the hot and cold shaping mold in the back end. Then, the shoe upper is oriented on the conveyor assembly 2 by the swinging assembly 4, which can be clamped from both sides of the conveyor assembly 2. Then, the shoe upper grabbing and mold changing assembly 6 grabs the oriented shoe upper in sequence and moves it to the hot and cold shaping assembly 5 to complete the hot and cold shaping. After that, the shoe upper grabbing and unloading assembly 7 grabs the shoe upper and places it on the feeding assembly for unloading.

[0047] More specifically, the conveying assembly 2 includes a feeding conveyor belt 21 disposed in the middle of the chassis 1 and a discharging conveyor belt 22 disposed on both sides of the chassis 1. The hot and cold shaping assembly 5, the shoe upper gripping and mold changing assembly 6 and the shoe upper gripping and discharging assembly are each provided in a set and are symmetrically distributed on both sides of the feeding conveyor belt 21 to simultaneously shape the shoe material.

[0048] This embodiment specifically shows that the material is fed from the middle and unloaded from both sides. This setup is equivalent to a dual-channel system, which further improves production efficiency. At the same time, the same pair of shoes can be processed simultaneously from both sides. In addition, during the shaping process, the shoe upper gripping and mold changing component 6 can also automatically change the mold to greatly improve compatibility and production efficiency.

[0049] See Figure 1 As shown, in this embodiment, a feeding conveyor belt 21 is specifically provided in the middle position. The feeding conveyor belt 21 is divided into two channels by a swing assembly 4 to distinguish and process the left and right shoe materials. The swing assembly 4 is provided in two sets at the front and back, and each set is provided with a material blocking structure so that the shoe upper to be shaped can be released after the processing at the next station is completed. The heat and cold setting assembly 5 is provided in two sets on each side of the feeding conveyor belt 21, that is, there are four heat and cold setting assemblies 5, which are four stations in the front, back, left and right, and can be processed simultaneously. The current process involves shaping two pairs of shoe uppers. Two shoe upper gripping and mold changing components 6 are located on both sides of the feeding conveyor belt 21, in the middle of a set of hot and cold shaping components 5 located on the same side, to grip the shoe uppers of the set of hot and cold shaping components 5. Since hot and cold shaping takes time, considering processing efficiency and structural layout, only one shoe upper gripping and mold changing component 6 is provided as part of the set of hot and cold shaping components 5. The shoe upper gripping and unloading component 7 is set in accordance with the position and number of hot and cold shaping components 5 to achieve rapid unloading.

[0050] Meanwhile, in this embodiment, there are two mold racks 61 corresponding to each upper hot and cold setting component 5, for placing hot setting molds and cold setting molds, so as to facilitate the mold gripping structure 65 to flexibly grip and change molds.

[0051] Specifically, in some embodiments, the scanning component 3 is configured as a barcode scanner to scan and identify the size and model of the shoe material.

[0052] This embodiment specifically demonstrates that the shoe upper model and size can be identified by scanning the barcode using a barcode scanner from the existing technology. Its structure is simple, it is easy to replace and shape the mold at the back end, and it is highly practical.

[0053] In some embodiments, the first front-end fixing component 521 and the second front-end fixing component 531 are respectively provided with a sliding mold base 524, a clamping base 525, a supporting claw 526, a claw structure 527, and a claw driving part 528. The sliding mold base 524 is disposed on the mounting base 51, the clamping base 525 is disposed on the sliding mold base 524, the supporting claw 526 is fixedly installed on the clamping base 525, and a pressure sensor is provided on the supporting claw 526. The claw structure 527 is rotatably installed on the clamping base 525, and the supporting claw 526 is located at the middle position of the claw structure 527. The claw driving part 528 is installed on the clamping base 525 and is drivenly connected to the claw structure 527.

[0054] In this embodiment, the sliding mold base 524 can be moved to move the clamping base 525 to a suitable position during the heat setting and cold setting processes. Then, the abutment claw 526 is located at the bottom of the inner side of the shoe upper, and works with the clamping claw structure 527 to clamp from the outside, achieving better fixation of the front end of the shoe material during the setting process. Furthermore, since the abutment claw 526 is equipped with a pressure sensor, pressure can be flexibly monitored and adjusted to achieve a better clamping and fixing effect.

[0055] More specifically, in this embodiment, a heating element and a first temperature controller are installed inside the hot pressing mold base 522, and the first temperature controller is connected to the heating element; a cooling element and a second temperature controller are installed inside the cold pressing mold base 532, and the second temperature controller is connected to the cooling element.

[0056] In this embodiment, the hot press mold base 522 is specifically shown to be heated by heating pipes to achieve heat setting, while the cold press mold base 532 is cooled by cooling pipes. The temperature can be flexibly adjusted during the hot and cold setting process by setting the temperature controller to achieve a better setting effect.

[0057] In this embodiment, the heating element can be a heating copper tube, and the cooling element can be a condenser tube, which is cooled and shaped by introducing coolant.

[0058] Based on the above embodiments, the first rear airbag assembly 523 and the second rear airbag assembly 533 are respectively provided with an airbag wrapping mold 534 and a driving cylinder 535. The airbag wrapping mold 534 is slidably installed on the mounting base 51. The airbag wrapping mold 534 is provided with a wrapping cavity that matches the heel of the shoe material to be shaped. The driving cylinder 535 is installed on the mounting base 51 and is drivenly connected to the airbag wrapping mold 534. The airbag wrapping mold 534 is connected to an inflation structure. The inflation structure is provided with a pressure regulating valve, and an electric heating tube is provided inside the airbag wrapping mold 534 of the first rear airbag assembly 523.

[0059] In this embodiment, the structure of the rear airbag assembly is specifically shown. During the heat and cold setting process, after the front fixing assembly clamps and fixes the shoe upper, the airbag wrapping mold 534 can be moved to a suitable position by the drive cylinder 535. Then, the air is inflated by the inflation structure to wrap the heel of the shoe, and the pressure is adjusted by the pressure regulating valve to achieve better setting. During the heat setting process, an electric heating tube can be set inside the airbag to cooperate with the hot pressing mold base 522 to achieve better heat setting. During the cold setting process, a cooling tube can be selectively set inside the airbag to cooperate with the cold pressing mold base 532 to achieve better cold setting.

[0060] To better facilitate the shaping process, the hot press mold base 522 and the cold press mold base 532 can be mounted on the lifting structure for easy height adjustment, which will enable better hot and cold shaping and mold replacement.

[0061] In some embodiments, the shoe upper gripping and mold changing assembly 6 is further provided with a visual positioning structure 63, a shoe upper gripping structure 64, and a mold gripping structure 65. The transfer gripping robot 62 is provided with a slide structure. The visual positioning structure 63 is disposed on the transfer gripping robot 62. The shoe upper gripping structure 64 and the mold gripping structure 65 are respectively disposed on the slide structure, and the visual positioning structure 63 is located above the shoe upper gripping structure 64.

[0062] In this embodiment, the structure is simple and the positioning accuracy is high, achieved through perspective positioning combined with shoe upper gripping and mold replacement.

[0063] Specifically, in this embodiment, the shoe upper gripping structure 64 is provided with a lifting seat 641, a gripping seat 642, a first clamping piece 643, a second clamping piece 644, and a first laser rangefinder 645. The lifting seat 641 is disposed on the slide structure, the gripping seat 642 is disposed on the lifting seat 641, the first clamping piece 643 is fixedly disposed on the gripping seat 642, and the second clamping piece 644 is movably disposed on the gripping seat 642 to adjust its position relative to the first clamping piece 643. The first laser rangefinder 645 is disposed on the second clamping piece 644 and is located between the first clamping piece 643 and the second clamping piece 644.

[0064] In this embodiment, during the grasping process, the position can be adjusted and avoid obstacles based on the transfer and grasping robot 62. Then, through lifting and lowering, and by adjusting the position of the second gripping piece 644 relative to the first gripping piece 643, and in conjunction with laser ranging, precise grasping is achieved, resulting in a good grasping effect on the shoe upper.

[0065] More specifically, in this embodiment, the mold gripping structure 65 is provided with a lifting member 651, a three-claw gripper 652, and a second laser rangefinder 653. The lifting member 651 is disposed on the slide structure, the three-claw gripper 652 is disposed on the lifting member 651, and the second laser rangefinder 653 is disposed on the lifting member 651.

[0066] In this embodiment, the configuration allows for precise mold movement and replacement during mold changing. Based on visual positioning and laser ranging, once the three-jaw gripper 652 has moved to the appropriate position, it can be closed to engage the mold and then opened to grip the mold, thus achieving precise mold movement and replacement. The structure is simple and the replacement is convenient.

[0067] In some embodiments, the shoe upper gripping and unloading assembly 7 is provided with a multi-axis robot arm 71, a gripper structure 72 and a CCD camera positioning structure 73. The multi-axis robot arm 71 is disposed in the housing 1. The gripper structure 72 and the CCD camera positioning structure 73 are respectively installed on the multi-axis robot arm 71, and the CCD camera positioning structure 73 is located above the gripper structure 72.

[0068] This embodiment specifically illustrates the structural configuration of the shoe upper gripping and unloading component 7. Its structure is simple and facilitates the gripping and unloading of shoe uppers, thereby improving processing efficiency.

[0069] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A shoe heel hot and cold forming machine characterized by, The machine case, the conveying assembly, the code scanning assembly, the swing assembly, the hot and cold shaping assembly, the vamp grabbing and mold changing assembly and the vamp grabbing and unloading assembly are included. The conveying assembly is arranged in the machine case and used for conveying shoe materials to be shaped and shoe materials shaped. The code scanning assembly is arranged in the machine case and located at the front end of the conveying assembly and used for scanning and identifying the model of the shoe materials to be shaped. The swing assembly is installed in the machine case, located on the conveying assembly and arranged close to the code scanning assembly and used for adjusting the position of the shoe materials scanned on the conveying assembly. The hot and cold shaping assembly is provided with a mounting seat and symmetrically arranged hot shaping units and cold shaping units, the hot shaping units are provided with first front end fixing assemblies, hot pressing die seats and first rear end air bag assemblies, the first front end fixing assemblies, the hot pressing die seats and the first rear end air bag assemblies are respectively installed in the mounting seat to cooperate with the hot shaping of the shoe materials, the cold shaping units are provided with second front end fixing assemblies, cold pressing die seats and second rear end air bag assemblies, the second front end fixing assemblies, the cold pressing die seats and the second rear end air bag assemblies are respectively installed in the mounting seat to cooperate with the cold shaping of the shoe materials. The vamp grabbing and mold changing assembly is installed in the machine case, the vamp grabbing and mold changing assembly is provided with a mold rack and a transfer and grabbing manipulator, the transfer and grabbing manipulator is used for transferring the shoe materials to be shaped on the conveying assembly to the hot and cold shaping assembly and grabbing the shoe material shaping molds on the mold rack to replace the hot pressing die seats and the cold pressing die seats on the hot and cold shaping assembly. The vamp grabbing and unloading assembly is used for grabbing the shoe materials shaped by the cold shaping units and transferring the shoe materials to the conveying assembly to complete unloading. The conveying assembly includes an upper conveying belt arranged in the middle of the machine case and lower conveying belts arranged on both sides of the machine case, the hot and cold shaping assembly, the vamp grabbing and mold changing assembly and the vamp grabbing and unloading assembly are respectively provided with a group and symmetrically distributed on both sides of the upper conveying belt to simultaneously shape the shoe materials. The first front end fixing assemblies and the second front end fixing assemblies are respectively provided with sliding die seats, clamping seats, abutting claws, clamping jaw structures and clamping jaw driving parts, the sliding die seats are arranged on the mounting seat, the clamping seats are arranged on the sliding die seats, the abutting claws are fixedly installed on the clamping seats, pressure sensors are arranged on the abutting claws, the clamping jaw structures are rotatably installed on the clamping seats and the abutting claws are located in the middle position of the clamping jaw structures, the clamping jaw driving parts are installed on the clamping seats and drivingly connected with the clamping jaw structures.

2. The shoe heel hot and cold former according to claim 1, characterized in that, The code scanning assembly is arranged as a code scanning gun to scan and identify the size and model of the shoe materials.

3. The shoe heel thermal and cold forming machine according to claim 1, characterized in that, The hot pressing die seat is internally provided with a heating pipe and a first temperature regulator, the first temperature regulator is connected with the heating pipe, the cold pressing die seat is internally provided with a cooling pipe and a second temperature regulator, the second temperature regulator is connected with the cooling pipe.

4. The shoe heel thermal and cold forming machine according to claim 1, characterized in that, The first rear-end air bag assembly and the second rear-end air bag assembly are respectively provided with an air bag wrapping mold and a driving cylinder, the air bag wrapping mold is slidingly installed on the mounting seat, the air bag wrapping mold is provided with a wrapping cavity matched with the heel of the to-be-shaped shoe material, the driving cylinder is installed on the mounting seat and is drivingly connected with the air bag wrapping mold, the air bag wrapping mold is connected with an inflation structure, the inflation structure is provided with a pressure regulating valve, and the air bag wrapping mold provided in the first rear-end air bag assembly is provided with an electric heating tube.

5. The shoe heel thermal and cold forming machine according to claim 1, characterized in that, The upper grabbing and mold changing assembly is also provided with a visual positioning structure, an upper grabbing structure and a mold grabbing structure, the transfer grabbing manipulator is provided with a sliding table structure, the visual positioning structure is arranged on the transfer grabbing manipulator, and the upper grabbing structure and the mold grabbing structure are arranged on the sliding table structure, and the visual positioning structure is located above the upper grabbing structure.

6. The shoe heel hot and cold former according to claim 5, characterized in that, The upper grabbing structure is provided with a lifting seat, a grabbing seat, a first clamping piece, a second clamping piece and a first laser ranging piece, the lifting seat is arranged on the sliding table structure, the grabbing seat is arranged on the lifting seat, the first clamping piece is fixedly arranged on the grabbing seat, the second clamping piece is movably arranged on the grabbing seat to adjust the position relative to the first clamping piece, and the first laser ranging piece is arranged on the second clamping piece and located between the first clamping piece and the second clamping piece.

7. The shoe heel hot and cold former according to claim 5, characterized in that, The mold grabbing structure is provided with a lifting piece, a three-claw grabbing piece and a second laser ranging piece, the lifting piece is arranged on the sliding table structure, the three-claw grabbing piece is arranged on the lifting piece, and the second laser ranging piece is arranged on the lifting piece.

8. The shoe heel thermal and cold forming machine according to claim 1, wherein, The upper grabbing and discharging assembly is provided with a multi-axis manipulator, a clamping jaw structure and a CCD camera positioning structure, the multi-axis manipulator is arranged on the case, the clamping jaw structure and the CCD camera positioning structure are respectively installed on the multi-axis manipulator, and the CCD camera positioning structure is located above the clamping jaw structure.

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