Full-automatic insole trimming machine

Abstract

The application discloses a full-automatic insole trimming machine, which comprises a machine base, a workbench arranged on the machine base, a plurality of suction holes arranged on the workbench, a suction module corresponding to the suction holes, a finished product discharge hopper arranged on the workbench, an insole feeding device, a rotary feeding device, a visual positioning system and a conveying device.

Description

Technical Field

[0001] This invention relates to the field of insole trimming technology, and specifically to a fully automatic insole trimming machine. Background Technology

[0002] Insoles are placed inside shoes and between the foot and the sole. Their purpose is to increase the comfort of the foot when walking. As people's quality of life continues to improve, people's requirements for shoes and insoles are also getting higher and higher. Currently, one important process in the manufacturing of insoles is to cut the material into the shape of the insole.

[0003] Chinese invention patent ZL202022859169.6 discloses a shoe insole trimming device, which includes a first groove at the center of the top of a workbench, a first slider sliding on the inner wall of the groove, a disc fixed on the top of the first slider, a sleeve fixed at the center of the top of the disc, a support shaft rotatably mounted on the inner wall of the sleeve, two collars fitted on the outer wall of the support shaft, a connecting rod fixed on one side of the outer wall of each of the two collars, and a clamp fixed at one end of each of the two connecting rods. By setting a movable fixing device on the workbench consisting of the first slider, disc, sleeve, support shaft, collars, connecting rods, and clamps, the insole can be fixed by the device while being moved during shoe insole trimming, thus protecting the user's hands from injury and reducing the risk of using the device.

[0004] The aforementioned shoe insole trimming equipment has the following shortcomings: The insole is fixed by two clamps of a fixed device. The cutting device, consisting of a cutting blade, a fixed plate, and a motor, can work with the movable fixed device to cut the insole during trimming. The connecting rod can rotate on the support shaft with the collar, facilitating the cutting of uneven areas of the insole when the user moves it. However, it cannot trim the entire outer edge of the insole. Furthermore, the process requires manual placement of each insole onto the clamps of the fixed device, making fully automated production impossible. This results in high labor intensity, low efficiency, and an inability to guarantee the accuracy of insole placement, thus compromising the accuracy of the trimming and affecting product quality.

[0005] In view of the above, the inventors propose the following technical solution. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a fully automatic shoe insole trimming machine.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The fully automatic insole trimming machine includes: a base; a worktable, which is disposed on the base, and the worktable is provided with a plurality of adsorption holes for adsorbing and positioning insoles, and the lower end face of the worktable is provided with a suction module corresponding to the adsorption holes, and the worktable is provided with a finished product unloading hopper; an insole feeding device, which includes a feeding frame for limiting a plurality of insoles stacked vertically, a first support frame and a second support frame for simultaneously supporting the two ends of the lower end face of insoles with different heights on both sides, a first lifting module and a second lifting module for driving the first support frame and the second support frame to rise synchronously, respectively, and a mounting bracket. The system includes: a first sensor and a second sensor mounted on both sides of the upper end of the feeding rack to simultaneously detect whether both sides of the insole have reached their limit positions; a rotary feeding device located outside the worktable to pick up and transfer the insole lifted by the insole feeding device to the suction hole of the worktable; a vision positioning system located above the suction hole; a dedicated insole trimming head located outside the worktable; and a conveying device for picking up, grabbing, or pressing the insole positioned by the suction hole and transferring it to the dedicated insole trimming head, driving the insole to rotate so as to cooperate with the dedicated insole trimming head to trim the insole around its entire circle or to transfer the trimmed insole to the finished product hopper.

[0008] Furthermore, in the above technical solution, a cover is also provided on the upper end of the base; the visual positioning system includes an adjustable height mounting bracket and a CCD camera mounted on the mounting bracket, as well as a first LED light source and a second LED light source disposed on both sides of the CCD camera, wherein the CCD camera, the first LED light source and the second LED light source are all located above the adsorption hole.

[0009] Furthermore, in the above technical solution, the upper end of the machine cover has an operating table, on which a display screen, keyboard, and mouse are provided. The base is equipped with a control host, which is electrically connected to the display screen, keyboard, and mouse. The suction module includes a suction box fixed to the lower end of the workbench and covering all the suction holes, and a pipe connected and communicating with the suction box. The pipe is connected to a blower.

[0010] Furthermore, in the above technical solution, the first support frame includes a first support rod disposed on the first lifting plate of the first lifting module in an adjustable height manner, and a first support plate disposed on the first support rod; the structure of the second support frame is the same as that of the first support frame.

[0011] Furthermore, in the above technical solution, the outer side of the workbench is provided with an adjustable height adjustment frame, a first adjustment plate and a second adjustment plate that are adjustable in height and are mounted on the adjustment frame. Both the first adjustment plate and the second adjustment plate are inverted L-shaped. The first sensor is fixed to the upper end of the first adjustment plate; the second sensor is fixed to the upper end of the second adjustment plate; the adjustment frame is U-shaped and is distributed on the outer periphery of the upper end of the feeding rack.

[0012] Furthermore, in the above technical solution, the rotary feeding device includes a bracket mounted on the workbench, a rotary cylinder mounted on the bracket, a feeding arm mounted on the rotary cylinder and capable of being driven by the rotary cylinder to rotate 90 degrees, a third lifting module mounted at the end of the feeding arm, a first lifting frame mounted at the lower end of the third lifting module and capable of being driven by the third lifting module to lift, and a first suction cup and a second suction cup mounted on both sides of the lower end of the first lifting frame and simultaneously adsorbing both sides of the upper surface of the same insole.

[0013] Furthermore, in the above technical solution, the machine base is also provided with inclined waste discharge troughs, and the upper end of the machine base is also provided with a waste inlet for collecting the edge material formed after the insole trimming machine head trims the insole. The waste inlet is located next to the insole trimming machine head. The insole trimming machine head is installed on the machine base in an adjustable relative position via several guide rail pairs. A control button box is provided at the front end of the machine base, and multiple control buttons are provided on the control button box.

[0014] Furthermore, in the above technical solution, the workbench is installed on the machine base in a manner that allows for adjustable balance and height through multiple balance adjustment structures. The balance adjustment structure includes an adjustment rod and an upper adjustment seat and a lower adjustment seat installed at the upper and lower ends of the adjustment rod. The upper adjustment seat is fixed to the lower end face of the workbench, and the lower adjustment seat is fixed to the upper end face of the machine base.

[0015] Furthermore, in the above technical solution, the material conveying device includes a pressing plate for pressing and transferring the insole placed on the workbench to the insole trimming machine head and driving the insole to rotate; a rotary drive mechanism for driving the pressing plate to rotate; and an XYZ three-axis drive mechanism for driving the rotary drive mechanism to move in the XYZ three-axis directions. The rotary drive mechanism includes a reducer installed in the second lifting frame of the XYZ three-axis drive mechanism; a rotary motor installed on the second lifting frame and cooperating with the reducer; a bearing installed in the second lifting frame; a rotary shaft passing through the bearing; and a coupling connecting the rotary shaft and the output shaft of the reducer. The lower end of the rotary shaft extends out of the lower end of the second lifting frame, and the pressing plate is fixedly installed on the lower end of the rotary shaft.

[0016] Furthermore, in the above technical solution, the XYZ three-axis drive mechanism is also provided with a stop block, and the outer side of the second lifting frame is also provided with a buffer block to prevent excessive descent, the buffer block being located above the stop block; the lower end of the second lifting frame is also provided with a third sensor for detecting the rotation angle and / or speed of the rotating shaft, the third sensor having a sensing groove; the lower end of the rotating shaft is also provided with a sensing disk, the outer edge of the sensing disk being placed in the sensing groove, and the outer edge of the sensing disk being provided with a plurality of holes evenly distributed along the circumference.

[0017] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: The present invention can realize automatic feeding / discharging of insoles, and automatically transfer the insoles to the workbench for positioning. Then, the vision positioning system takes pictures of the positioned insoles to determine the shape of the insoles, or to determine the starting point of the trimming, or to use coordinate positioning of the insoles. Finally, the conveying device picks up, grabs or presses the insoles positioned by the suction holes and conveys them to the insoles trimming head, driving the insoles to rotate to cooperate with the insoles trimming head to trim the insoles around the entire circle. Then, the trimmed insoles are transferred to the finished product unloading hopper, thus completing the unloading of the finished insoles. The whole process is fully automated, with minimal labor intensity, high work efficiency, and can ensure the accuracy of the insoles' placement position, thereby ensuring the accuracy of the insoles' edge cutting and ensuring product quality. In addition, the present invention can also realize the trimming of the entire circle of insoles to meet production needs and further improve the trimming quality, making the present invention highly competitive in the market. Attached Figure Description

[0018] Figure 1 This is a perspective view of the present invention;

[0019] Figure 2 This is an assembly diagram of the first and second sensors in this invention;

[0020] Figure 3 This is a perspective view of the invention from another angle;

[0021] Figure 4 This is a first-view internal structure diagram of the present invention;

[0022] Figure 5 This is a second-view internal structural diagram of the present invention;

[0023] Figure 6 This is a third-view internal structural diagram of the present invention;

[0024] Figure 7 This is a perspective view of the insole feeding device in this invention;

[0025] Figure 8 This is an assembly diagram of the rotary drive mechanism and the pressure plate in this invention. Detailed Implementation

[0026] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0027] See Figure 1-8 As shown, a fully automatic shoe insole trimming machine includes: a base 1, a worktable 2, a shoe insole feeding device 3, a rotary feeding device 4, a vision positioning system 5, a shoe insole trimming head 6, and a conveying device 7.

[0028] The workbench 2 is mounted on the base 1 and has multiple adsorption holes 21 for adsorbing and positioning insoles. A suction module 22 corresponding to the adsorption holes 21 is located on the lower surface of the workbench 2. The workbench 2 also has a finished product unloading hopper 23. The insole feeding device 3 includes a feeding frame 31 for limiting multiple insoles stacked vertically, a first support frame 32 and a second support frame 33 for simultaneously supporting the two ends of the lower surfaces of insoles with different heights, a first lifting module 34 and a second lifting module 35 for driving the first support frame 32 and the second support frame 33 to rise synchronously, and a device installed on both sides of the upper end of the feeding frame 31 for simultaneously detecting whether the two sides of the insole are aligned. The first sensor 36 and the second sensor 37 reach the limit position; the rotary feeding device 4 is located outside the workbench 2 and is used to pick up and transfer the insole lifted by the insole feeding device 3 to the suction hole 21 of the workbench 2; the visual positioning system 5 is located above the suction hole 21; the insole trimming head 6 is located outside the workbench 2; the conveying device 7 is located on the machine base 1 and is used to pick up, grab or press the insole positioned by the suction hole 21 and transfer it to the insole trimming head 6 and drive the insole to rotate so as to cooperate with the insole trimming head 6 to trim the insole around the whole circle or to transfer the trimmed insole to the finished product unloading hopper 23.In operation, multiple insoles with different heights at their front and back ends are stacked in the feeding rack 31, which limits their position. The first support frame 32 and the second support frame 33 respectively support the lower ends of the bottom insoles 100. The first sensor 36 and the second sensor 37 simultaneously detect whether both sides of the insoles 100 have reached their limit positions. When both sides reach their limit positions, the rotating feeding device 4 picks up the insoles 100 raised by the feeding device 3 and transfers them to the suction hole 21 on the workbench 2. Simultaneously, the first lifting module 34 and the second lifting module 35 drive the first support frame 32 and the second support frame 33 to rise synchronously, ensuring that the top insoles 100 always remain parallel to the work surface. Subsequently, the suction module 22 evacuates air from the suction hole 21. The insole 100 is positioned on the suction hole 21. The vision positioning system 5 then takes a picture of the positioned insole 100 to determine its shape, the starting point of the trimming, or to locate the coordinates of the insole 100. This is so that the conveying device 7 can transfer the insole 100 and the dedicated trimming head 6 can trim the insole 100. Subsequently, the conveying device 7 will pick up, grab, or press the insole 100 positioned by the suction hole 21 and convey it to the dedicated trimming head 6. The conveying device 7 will drive the insole 100 to rotate so that it can cooperate with the dedicated trimming head 6 to trim the insole 100 around the entire circle. After the dedicated trimming head 6 has trimmed the insole 100 around the entire circle, the conveying device 7 will then transfer the trimmed insole 100 to the finished product unloading hopper 23 to complete the unloading of the finished insole 100. In other words, this invention enables automatic feeding / discharging of the insole 100, automatic transfer of the insole 100 to the workbench for positioning, and then the vision positioning system 5 takes a picture of the positioned insole 100 to determine its shape, the starting point of the trimming, or coordinate positioning. Finally, the conveying device 7 picks up, grabs, or presses the insole 100 positioned by the suction hole 21 and conveys it to the insole 100 trimming head 6, driving the insole 100 to rotate to cooperate with the trimming. The dedicated machine head 6 trims the entire circumference of the insole 100, and then transfers the trimmed insole 100 to the finished product unloading hopper 23, thus completing the unloading of the finished insole 100. The entire process is fully automated, with minimal labor intensity and high work efficiency. It also ensures the accuracy of the placement of the insole 100, thereby ensuring the accuracy of the edge cutting and guaranteeing product quality. Furthermore, this invention can also perform full-circumference trimming on the insole 100 to meet production needs and further improve the quality of trimming, giving this invention a strong market competitiveness.

[0029] The upper end of the base 1 is also provided with a cover 8; the visual positioning system 5 includes an adjustable height mounting bracket 51 and a CCD camera 52 mounted on the mounting bracket 51, and a first LED light source 53 and a second LED light source 54 disposed on both sides of the CCD camera 52. The CCD camera 52, the first LED light source 53 and the second LED light source 54 are all located above the adsorption hole 21. The present invention uses the first LED light source 53 and the second LED light source 54 for simultaneous supplementary lighting, which can ensure that the CCD camera 52 takes pictures without dark spots, that is, ensure the picture quality, so that high-precision processing can be achieved through image processing software in the later stage, so as to carry out high-precision processing in the later stage.

[0030] The upper part of the casing 8 has an operating table 81, on which a display screen 82, a keyboard 83, and a mouse 84 are provided. The display screen 82 is used to display various information, and the keyboard 83 and mouse 84 are used to input commands. The base 1 has a control host, which is electrically connected to the display screen 82, keyboard 83, and mouse 84.

[0031] The suction module 22 includes a suction box 221 fixed to the lower end of the workbench 2 and covering all the suction holes 21, and a tube 222 connected to and communicating with the suction box 221. The tube 222 is connected to a blower. Its structure is extremely simple and it can stably exhaust air from the suction holes 21 to achieve the suction function.

[0032] The first support frame 32 includes a first support rod 321 that is height-adjustable and mounted on a first lifting plate 341 of the first lifting module 34, and a first support plate 322 mounted on the first support rod 321. The first support plate 322 can be adjusted to better support the insole 100 and meet the different support requirements of different insoles 100. The structure of the second support frame 33 is the same as that of the first support frame 32, and will not be described in detail here.

[0033] The workbench 2 is equipped with an adjustable height frame 24 on its outer side, and a first adjusting plate 25 and a second adjusting plate 26, both of which are height-adjustable and mounted on the adjusting frame 24. Both the first adjusting plate 25 and the second adjusting plate 26 are inverted L-shaped. The first sensor 36 is fixed to the upper end of the first adjusting plate 25; the second sensor 37 is fixed to the upper end of the second adjusting plate 26. The adjusting frame 24 is U-shaped and distributed around the upper periphery of the feeding rack 31. In other words, the heights of the first sensor 36 and the second sensor 37 can be adjusted individually using the first adjusting plate 25 and the second adjusting plate 26, or simultaneously using the adjusting frame 24, to meet different adjustment requirements and achieve precise adjustment.

[0034] The rotary feeding device 4 includes a bracket 41 mounted on the workbench 2, a rotary cylinder 42 mounted on the bracket 41, a feeding arm 43 mounted on the rotary cylinder 42 and capable of rotating 90 degrees by the rotary cylinder 42, a third lifting module 44 mounted at the end of the feeding arm 43, a first lifting frame 45 mounted at the lower end of the third lifting module 44 and capable of being lifted and lowered by the third lifting module 44, and a first suction cup 46 and a second suction cup 47 mounted on both sides of the lower end of the first lifting frame 45 and simultaneously adsorbing both sides of the upper surface of the same insole 100. This rotary feeding device 4 is extremely simple and can achieve the purpose of stably adsorbing, positioning, and rotating the insole 100.

[0035] The machine base 1 is also provided with an inclined waste discharge trough 11, and the upper end of the machine base 1 is also provided with a waste inlet 12 for collecting the edge material formed by the shoe insole 100 trimming head 6 after trimming the shoe insole 100. The waste inlet 12 is located next to the shoe insole 100 trimming head 6, so as to realize the rapid collection of the edge material formed by the shoe insole 100 trimming head 6 after trimming the shoe insole 100 and avoid the phenomenon of edge material being scattered.

[0036] The insole 100 trimming head 6 is mounted on the base 1 in an adjustable relative position via several guide rails 61. Users can adjust the position of the insole 100 trimming head 6 to meet different usage requirements. During use, a locking mechanism can be used to lock the insole 100 trimming head 6 onto the base to ensure its working quality. A control button box 13 is provided at the front end of the base 1, with multiple control buttons 131 for controlling the invention, making it more convenient to use.

[0037] The workbench 2 is mounted on the machine base 1 via multiple balance adjustment structures 27 to adjust its balance and height. Each balance adjustment structure 27 includes an adjustment rod 271 and upper and lower adjustment seats 272 and 273, respectively, mounted at the upper and lower ends of the adjustment rod 271. The upper adjustment seat 272 is fixed to the lower end face of the workbench 2, and the lower adjustment seat 273 is fixed to the upper end face of the machine base 1. The adjustment rod 271 is a positive and negative screw, and the upper and lower adjustment seats 272 and 273 respectively have positive and negative threaded holes. When the adjustment rod 271 rotates, the upper and lower adjustment seats 272 and 273 move towards each other to adjust the height.

[0038] The conveying device 7 includes a pressing plate 71 for pressing down and conveying the insole 100 positioned on the workbench 2 to the insole 100 trimming head 6 and driving the insole 100 to rotate; a rotary drive mechanism 72 for driving the pressing plate 71 to rotate; and an XYZ three-axis drive mechanism 73 for driving the rotary drive mechanism 72 to move in the XYZ three-axis directions. The rotary drive mechanism 72 includes a second lifting frame 73 mounted on the XYZ three-axis drive mechanism 73. The rotary drive mechanism 72 comprises a reducer 721, a rotary motor 722 mounted on the second lifting frame 731 and cooperating with the reducer 721, a bearing 723 mounted in the second lifting frame 731, a rotary shaft 724 passing through the bearing 723, and a coupling 725 connecting the rotary shaft 724 and the output shaft of the reducer 721. The lower end of the rotary shaft 724 extends beyond the lower end of the second lifting frame 731, and the pressure plate 71 is fixedly mounted on the lower end of the rotary shaft 724. During operation, the rotary drive mechanism 72 uses the rotary motor 722 to increase rotational power, while the reducer 721 reduces speed and increases torque, thereby driving the rotary shaft 724 to rotate stably. This, in turn, drives the pressure plate 4 to rotate stably, forcibly rotating the shoe or sock to be sewn while pressed by the pressure plate 71, to cooperate with the machine head in cutting excess material and sewing overhead. The rotating shaft 724 is mounted in the second lifting frame 731 via the bearing 723, making its rotation more stable and smoother.

[0039] The XYZ three-axis drive mechanism 73 is also provided with a stop block 732, and a buffer block 701 for preventing excessive descent is also provided on the outside of the second lifting frame 731. The buffer block 701 is located above the stop block 732. When the descent stroke of the second lifting frame 731 exceeds the limit, the buffer block 701 will press against the upper surface of the stop block 732 to achieve the buffering function, thereby preventing the second lifting frame 731 from continuing to descend.

[0040] The lower end of the second lifting frame 731 is also provided with a third sensor 702 for detecting the rotation angle and / or speed of the rotating shaft 724. The third sensor 702 has a sensing groove 703. The lower end of the rotating shaft 724 is also provided with a sensing disk 704. The outer edge of the sensing disk 704 is placed in the sensing groove 703, and the outer edge of the sensing disk 704 is provided with a plurality of holes evenly distributed along the circumference. The third sensor 702 and the sensing disk 704 can detect the rotation angle and / or speed of the rotating shaft 724, thereby enabling better control of the entire rotating drive mechanism 72, resulting in higher operating accuracy and better working quality.

[0041] In summary, this invention enables automatic feeding / discharging of insoles 100, automatic transfer of insoles 100 to a workbench for positioning, and then the vision positioning system 5 photographs the positioned insoles 100 to determine their shape, the starting point for trimming, or coordinate positioning. Finally, the conveying device 7 picks up, grabs, or presses the insoles 100 positioned by the suction holes 21 and transfers them to the insoles 100 trimming head 6, driving the insoles 100 to rotate to facilitate trimming. The dedicated machine head 6 trims the entire circumference of the insole 100, and then transfers the trimmed insole 100 to the finished product unloading hopper 23, thus completing the unloading of the finished insole 100. The entire process is fully automated, with minimal labor intensity and high work efficiency. It also ensures the accuracy of the placement of the insole 100, thereby ensuring the accuracy of the edge cutting and guaranteeing product quality. Furthermore, this invention can also perform full-circumference trimming on the insole 100 to meet production needs and further improve the quality of trimming, giving this invention a strong market competitiveness.

[0042] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A fully automatic shoe insole trimming machine, characterized in that: It includes: Base (1); The workbench (2) is set on the base (1), and the workbench (2) is provided with a plurality of adsorption holes (21) for adsorbing and positioning insoles, and the lower end face of the workbench (2) is provided with a suction module (22) corresponding to the adsorption holes (21), and the workbench (2) is provided with a finished product unloading hopper (23). The insole feeding device (3) includes: a feeding frame (31) for limiting multiple insoles stacked vertically, a first support frame (32), a second support frame (33), a first lifting module (34), a second lifting module (35), a first sensor (36), and a second sensor (37); the first support frame (32) and the second support frame (33) are used to simultaneously support the two ends of the lower surface of the insole with different heights on both sides; the first lifting module (34) and the second lifting module (35) are used to drive the first support frame (32) and the second support frame (33) to rise synchronously; the first sensor (36) and the second sensor (37) are installed on both sides of the upper end of the feeding frame (31) and are used to simultaneously detect whether both sides of the insole have reached the limit position at the same time; A rotary feeding device (4) is located on the outside of the workbench (2) and is used to pick up and transfer the insoles lifted by the insole feeding device (3) to the suction hole (21) of the workbench (2). A visual positioning system (5) is disposed above the adsorption hole (21). The visual positioning system (5) includes an adjustable height mounting bracket (51) and a CCD camera (52) mounted on the mounting bracket (51), as well as a first LED light source (53) and a second LED light source (54) disposed on both sides of the CCD camera (52). The CCD camera (52), the first LED light source (53) and the second LED light source (54) are all located above the adsorption hole (21). A special machine head (6) for trimming insoles is located on the outside of the workbench (2); The conveying device (7) is used to pick up, grab or press the insole positioned by the adsorption hole (21) and convey it to the insole trimming head (6), and drive the insole to rotate to cooperate with the insole trimming head (6) to trim the insole around the whole circle or to transfer the trimmed insole to the finished product unloading hopper (23). The conveying device (7) includes a pressing plate (71) for pressing down and transferring the insole placed on the workbench (2) to the insole trimming head (6) and driving the insole to rotate, a rotary drive mechanism (72) for driving the pressing plate (71) to rotate, and an XYZ three-axis drive mechanism (73) for driving the rotary drive mechanism (72) to move in the XYZ three-axis direction.

2. The fully automatic insole trimming machine according to claim 1, characterized in that: The upper end of the base (1) is also provided with a cover (8).

3. The fully automatic insole trimming machine according to claim 2, characterized in that: The upper end of the cover (8) has an operating table (81), on which a display screen (82), a keyboard (83), and a mouse (84) are provided. The base (1) is equipped with a control host, which is electrically connected to the display screen (82), the keyboard (83), and the mouse (84). The suction module (22) includes a suction box (221) fixed to the lower end of the workbench (2) and covering all the suction holes (21), and a tube (222) connected to and communicating with the suction box (221). The tube (222) is connected to a blower.

4. The fully automatic insole trimming machine according to claim 1, characterized in that: The first support frame (32) includes a first support rod (321) disposed on a first lifting plate (341) of the first lifting module (34) in an adjustable height manner, and a first support plate (322) disposed on the first support rod (321); the structure of the second support frame (33) is the same as that of the first support frame (32).

5. The fully automatic insole trimming machine according to claim 1, characterized in that: The workbench (2) is provided with an adjustable height adjustment frame (24) on the outside, and a first adjustment plate (25) and a second adjustment plate (26) on the adjustment frame (24) with adjustable height. The first adjustment plate (25) and the second adjustment plate (26) are both inverted L-shaped. The first sensor (36) is fixed to the upper end of the first adjustment plate (25); the second sensor (37) is fixed to the upper end of the second adjustment plate (26); the adjustment frame (24) is U-shaped and is distributed on the upper periphery of the feeding rack (31).

6. The fully automatic insole trimming machine according to any one of claims 1-5, characterized in that: The rotary feeding device (4) includes a bracket (41) mounted on the workbench (2), a rotary cylinder (42) mounted on the bracket (41), a feeding arm (43) mounted on the rotary cylinder (42) and driven by the rotary cylinder (42) to rotate 90 degrees, a third lifting module (44) mounted at the end of the feeding arm (43), a first lifting frame (45) mounted at the lower end of the third lifting module (44) and driven by the third lifting module (44) to lift, and a first suction cup (46) and a second suction cup (47) mounted on both sides of the lower end of the first lifting frame (45) and simultaneously adsorbing both sides of the upper surface of the same insole.

7. The fully automatic insole trimming machine according to any one of claims 1-5, characterized in that: The base (1) is also provided with an inclined waste discharge trough (11), and the upper end of the base (1) is also provided with a waste inlet (12) for collecting the edge material formed by the insole trimming head (6) after trimming the insole. The waste inlet (12) is located next to the insole trimming head (6). The insole trimming head (6) is installed on the base (1) in an adjustable relative position through several guide rail pairs (61). The front end of the base (1) is provided with a control button box (13), and the control button box (13) is provided with multiple control buttons (131).

8. The fully automatic insole trimming machine according to claim 7, characterized in that: The workbench (2) is mounted on the base (1) in an adjustable manner by means of multiple balance adjustment structures (27). The balance adjustment structure (27) includes an adjustment rod (271) and an upper adjustment seat (272) and a lower adjustment seat (273) installed at the upper and lower ends of the adjustment rod (271). The upper adjustment seat (272) is fixed to the lower end face of the workbench (2), and the lower adjustment seat (273) is fixed to the upper end face of the base (1).

9. The fully automatic insole trimming machine according to claim 1, characterized in that: The rotary drive mechanism (72) includes a reducer (721) installed in the second lifting frame (731) of the XYZ three-axis drive mechanism (73), a rotary motor (722) installed on the second lifting frame (731) and cooperating with the reducer (721), a bearing (723) installed in the second lifting frame (731), a rotary shaft (724) passing through the bearing (723), and a coupling (725) connecting the rotary shaft (724) and the output shaft of the reducer (721). The lower end of the rotary shaft (724) extends out of the lower end of the second lifting frame (731), and the pressure plate (71) is fixedly installed on the lower end of the rotary shaft (724).

10. The fully automatic insole trimming machine according to claim 9, characterized in that: The XYZ three-axis drive mechanism (73) is also provided with a stop block (732), and the second lifting frame (731) is also provided with a buffer block (701) to prevent excessive descent. The buffer block (701) is located above the stop block (732). The lower end of the second lifting frame (731) is also provided with a third sensor (702) for detecting the rotation angle and / or speed of the rotating shaft (724). The third sensor (702) has a sensing groove (703). The lower end of the rotating shaft (724) is also provided with a sensing disk (704). The outer edge of the sensing disk (704) is placed in the sensing groove (703), and the outer edge of the sensing disk (704) is provided with a plurality of holes evenly distributed along the circumference.

Images