Double-station feeding and discharging mechanical arm for visual detection of uppers

Abstract

The invention relates to the technical field of shoe upper detection feeding, in particular to a double-station feeding and discharging mechanical arm for shoe upper visual inspection, which comprises a driving seat, a first supporting rod and a second supporting rod are respectively arranged on the driving seat, the first supporting rod and the second supporting rod are distributed along the circumferential direction of the driving seat, and both the first supporting rod and the second supporting rod are provided with clamping devices; the clamping device comprises sliding grooves formed in the first supporting rod and the second supporting rod, clamping rods are arranged in the sliding grooves in a sliding and rotating mode, and clamping supporting frames are arranged at one ends of the clamping rods. A connecting gear can rotate through meshing with an arc-shaped rack, the rotating connecting gear can drive a clamping rod to rotate, a clamping jaw turns over a shoe through the clamping rod, a shoe sole is made to face upwards, and therefore a visual inspection system can conveniently inspect the internal and external structures of an upper in detail.

Description

Technical Field

[0001] The present application relates to the technical field of shoe upper inspection and feeding, and in particular to a double-station loading and unloading robot arm for shoe upper visual inspection. Background Art

[0002] Shoe production is a complex process involving multiple stages and technologies. The production process usually starts with design, where designers create shoe designs based on market demand and trends. Next is the sample production stage, where designers and engineers work together to create a prototype of the shoe. After the sample is tested and adjusted, it enters the mass production stage.

[0003] On the production line, various parts of the shoes, such as the upper, sole, lining, etc., are made at different workstations. The upper (also called the upper) is usually made of cloth, leather or other materials, and is combined with the sole by sewing, bonding or other means. The production process also includes +* quality control links to ensure that each pair of shoes meets the design specifications and quality standards.

[0004] The appearance inspection of the upper is the first step of quality control, focusing on the quality of color, texture, stitching, bonding and decoration. The consistency of color and texture is crucial to ensure that the color of the finished shoe is exactly the same as the design sample. The quality of the stitching directly affects the durability and appearance of the shoe. The straightness, tightness and uniformity of the stitching need to be checked to avoid skipped stitches, broken threads or loose threads. The bonding parts need to be firm and there should be no debonding. The installation position and firmness of the decorations are also the focus of the inspection.

[0005] For example, an automatic upper detection device and system with publication number CN117814570A relates to the field of upper detection technology. The prior art includes a limiting mechanism and a detection mechanism. In the limiting mechanism of the prior art, an air cylinder blows air into the interior of an airbag, so that the upper and the sole can be limited during the expansion of the airbag to avoid misalignment of the sole, the upper and the base, and to ensure that the sole and the upper are always located in the middle of the base; the inflated airbag can prop up the upper to avoid folding of the upper and affecting subsequent detection results; at the same time, the inflated airbag can fix the sole on the base, so that the fixed sole can ensure that the upper will not shake during the detection process, and ensure the stability of the upper during the detection process.

[0006] However, the above existing technologies still have some defects when testing and loading and unloading the shoe upper:

[0007] 1. The above-mentioned prior art drives the inflation tube to move downward through the horizontal frame. During the downward movement of the inflation tube, the airbag is driven to enter the interior of the shoe upper through the shoe opening. At this time, the airbag in the shoe upper is inflated by the inflation tube. During the expansion of the airbag, the shoe upper and the sole are limited. However, in the actual production process, a bracket is filled in the shoe to ensure that the shoe upper does not deform during the production process. When the bracket is filled in the shoe, the space in the shoe is occupied, which makes it impossible for the airbag originally designed to enter the shoe and expand to fix the shoe upper and the sole to pass through the shoe opening smoothly into the shoe; the inability of the airbag to enter the shoe means that it cannot effectively limit and fix the shoe upper and the sole, thereby failing to ensure the stability of the shoe upper during the inspection process, which not only affects the accuracy of the inspection, but may also cause the displacement of the shoe upper during the inspection process, further affecting the subsequent molding effect.

[0008] 2. The above-mentioned prior art places the sole with the upper sewn on it on the upper end surface of the base. During the placement of the upper and the sole, the shoe opening on the upper is located directly below the airbag. During the downward movement of the inflation tube, the airbag is driven to enter the interior of the upper through the shoe opening. At this time, the airbag in the upper is inflated by the inflation tube to perform a limiting process. When inspecting the upper, the inspection equipment needs to clearly see the internal and external structures of the upper, and the existence of the airbag creates a certain obstacle to inspecting the upper from the inside of the shoe. At the same time, it is not convenient to flip the shoe after the airbag is limited, so the upper part of the sole cannot be inspected.

[0009] Based on this, and in accordance with the above-mentioned viewpoints, the existing technology for the upper inspection and loading and unloading methods still has room for improvement. Summary of the invention

[0010] In order to solve the above technical problems, the present application provides a loading and unloading robot arm for a shoe upper visual inspection station, which adopts the following technical solutions:

[0011] A double-station loading and unloading robot arm for visual inspection of shoe uppers, comprising a driving seat, on which a first support rod and a second support rod are respectively arranged, the first support rod and the second support rod are distributed along the circumference of the driving seat, and a clamp is arranged on the first support rod and the second support rod;

[0012] The clamp comprises a sliding groove provided in the first support rod and the second support rod, a clamping rod is provided in the sliding groove for sliding and rotating, and a clamping support frame is provided at one end of the clamping rod.

[0013] Preferably, the clamp further comprises a clamping hole formed in the clamping support and the clamping rod, a driving rod is slidably arranged in the clamping hole, and a clamping claw corresponding to the driving rod is arranged on the clamping support.

[0014] Preferably, a trigger hole slidably connected to the clamping hole is provided on the driving rod, a resisting block located in the triggering hole is provided in the clamping hole, and a triggering spring is provided between one side of the resisting block and the triggering hole;

[0015] A receiving hole is provided at the bottom of the sliding groove, a sliding block is slidably arranged on the side of the clamping hole away from the driving rod, a driving shaft is rotatably arranged on one side of the sliding block, one end of the driving shaft rotates and slides through the clamping rod and then is slidably connected to the receiving hole.

[0016] Preferably, sliding holes connected to the sliding groove are symmetrically opened on both sides of support rod one and support rod two, a slider rotatably connected to the clamping rod is slidably arranged in the sliding hole, and a return spring is slidably arranged between the side of the slider close to the clamping bracket and the sliding hole.

[0017] Preferably, telescopic push rods corresponding to the sliding holes are arranged on both sides of the support rod 1 and the support rod 2, and sliding blocks connected to the telescopic ends of the telescopic push rods are slidably arranged in the sliding holes.

[0018] Preferably, the clamping claw comprises clamping grooves symmetrically opened on the clamping support and located on both sides of the driving rod, a clamping shaft is rotatably penetrated in the clamping groove, and a clamping gear located in the clamping groove is arranged on the clamping shaft;

[0019] Driving teeth meshing with the clamping gear are symmetrically arranged on both sides of the driving rod.

[0020] Preferably, both ends of the clamping shaft are provided with L-shaped support rods, an adjustment groove is provided on a section of the L-shaped support rod away from the clamping shaft, and a clamping rod is slidably provided in the adjustment groove.

[0021] Preferably, an adjusting screw threadedly connected to the clamping rod is rotatably inserted into the adjusting groove.

[0022] Preferably, an adjustment member is provided on the support rod one or the support rod two;

[0023] The adjusting member includes a driven gear 1, the support rod 1 or the support rod 2 is rotatably connected to the driving seat, a driven gear 1 is arranged on the driving seat, and an adjusting gear 1 is rotatably arranged on the support rod 1 or the support rod 2 rotatably connected to the driving seat, and the adjusting gear 1 is meshed with the driven gear 1.

[0024] In summary, the present application includes at least one of the following beneficial technical effects:

[0025] 1. The connecting gear of the present invention will rotate by meshing with the arc-shaped rack, and the rotating connecting gear will drive the clamping rod to rotate, so that the clamping claws can turn over the shoe through the clamping rod so that the sole faces upward, thereby facilitating the visual inspection system to perform detailed inspection of the internal and external structures of the shoe upper.

[0026] 2. When inspecting the shoe upper, the present invention moves the clamping claws provided on the clamping support frame to the position of the shoe, and the telescopic end of the telescopic push rod extends. The telescopic push rod causes the sliding block to contact the slider to limit the release of the reset spring. The driving rod first contracts into the clamping hole with the movement of the sliding block and releases the trigger spring until the driving rod is restricted by the contact. The contraction of the driving rod triggers the clamping claws to clamp the shoe on the loading station. Even when the space inside the shoe is occupied by the bracket, the shoe upper can be effectively clamped to ensure the stability of the shoe upper during the inspection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the present invention.

[0028] Figure 2 It is a three-dimensional cross-sectional view of the present invention.

[0029] Figure 3 The present invention Figure 2 A partial enlarged view of point A.

[0030] Figure 4 It is a cross-sectional view of the clamp of the present invention.

[0031] Figure 5 The present invention Figure 4 A partial enlarged view of point B.

[0032] Figure 6 It is a plan view of the clamp of the present invention.

[0033] Figure 7 It is a structural schematic diagram of the clamping jaws of the present invention.

[0034] Figure 8 It is a cross-sectional view of the clamping jaw of the present invention

[0035] Fig. 9 It is a schematic diagram of the structure between the adjusting member and the flipper of the present invention.

[0036] Fig.10 The present invention Fig. 9 A partial enlarged view of point C.

[0037] Description of the accompanying drawings: 1, driving seat; 2, support rod 1; 3, support rod 2; 4, clamp; 40, sliding groove; 41, clamping rod; 411, clamping hole; 42, clamping support; 43, driving rod; 431, trigger hole; 432, resistance block; 44, trigger spring; 45, receiving hole; 451, sliding block; 46, driving shaft; 461, driving gear; 47, sliding hole; 471, slider; 48, reset spring; 4 9. Telescopic push rod; 491. Sliding block; 5. Clamping claw; 51. Clamping groove; 52. Clamping shaft; 53. Clamping gear; 54. Driving tooth; 55. L-shaped support rod; 56. Adjusting groove; 57. Gripping rod; 58. Adjusting screw; 6. Adjusting piece; 61. Driven gear 1; 62. Adjusting gear 1; 7. Turner; 71. Connecting gear; 72. Adjusting rod; 73. Arc rack; 74. Driven gear 2; 75. Adjusting gear 2. DETAILED DESCRIPTION

[0038] The following is combined with Figures 1 to 10 This application is described in further detail.

[0039] An embodiment of the present application discloses a dual-station loading and unloading robot arm for visual inspection of shoe uppers. The robot clamps the shoes and moves the shoelaces clamped at the loading station to the inspection station. Meanwhile, the shoelaces clamped at the inspection station are moved to the unloading station. The shoe is clamped, moved and released, thereby completing the entire process from loading and unloading to visual inspection.

[0040] Embodiment 1:

[0041] Reference Figure 1 and Figure 2 As shown, a double-station loading and unloading robot arm for visual inspection of shoe uppers includes a driving seat 1, on which a support rod 1 2 and a support rod 2 3 are respectively provided, the support rod 1 2 and the support rod 2 3 are distributed circumferentially along the driving seat 1, and a clamp 4 is provided on both the support rod 1 2 and the support rod 2 3.

[0042] When performing visual inspection on the shoe upper, the clamp 4 set on the support rod 2 will first clamp the shoe at the loading station. After clamping, the driving seat 1 will drive the support rod 2 and the support rod 3 to rotate, so that the clamp 4 on the support rod 2 will move the shoe to the inspection station. At the same time, the driving seat 1 will drive the support rod 2 3 to move together, and the clamp 4 on the support rod 2 3 will move from the inspection station to the unloading station.

[0043] At this time, the clamp 4 on the support rod 2 will release the shoe, and then the shoe upper will be fixed and inspected through the existing visual detector.

[0044] When the visual detector inspects the shoe upper, the drive shaft 46 will reverse, causing the support rod 2 to rotate back to the loading station. At the same time, the drive seat 1 will drive the support rod 2 3 to move together, and the clamp 4 on the support rod 2 3 will move from the unloading station to the inspection station. After that, the clamp 4 on the support rod 2 will clamp the shoes at the loading station, and at the same time, the clamp 4 on the support rod 2 3 will clamp the shoes that have been inspected at the inspection station.

[0045] Subsequently, the driving seat 1 rotates to drive the support rod 1 2 and the support rod 2 3 to rotate together, so that the clamp 4 on the support rod 1 2 and the support rod 2 3 clamps the shoe and moves it to the inspection station. The clamp 4 on the support rod 2 3 clamps the inspected shoe and moves it from the inspection station to the unloading station.

[0046] At this time, the clamps 4 on support rod 1 2 and support rod 2 3 will release the clamped shoes together, and the visual detector will fix and detect the shoes clamped by the clamp 4 on support rod 1 2. The shoes clamped by the clamp 4 on support rod 2 3 will fall on the unloading station and enter the next process. Then the driving seat 1 will reverse to make support rod 1 2 rotate back to the loading station. At the same time, the driving seat 1 will drive support rod 2 3 to move together, and the clamp 4 on support rod 2 3 will move from the unloading station to the detection station, and the cycle will continue.

[0047] Reference Figure 2 , Figure 3 , Figure 4 , Figure 5 , pictures and Figure 6 As shown, specifically, the clamp 4 includes a sliding groove 40 provided in both the support rod 1 2 and the support rod 2 3 , and a clamping rod 41 is slidably arranged in the sliding groove 40 .

[0048] A clamping hole 411 is commonly provided in the clamping bracket 42 and the clamping rod 41, a driving rod 43 is slidably provided in the clamping hole 411, a trigger hole 431 slidably connected to the clamping hole 411 is provided on the driving rod 43, a resistance block 432 located in the trigger hole 431 is provided in the clamping hole 411, a receiving hole 45 is provided at the bottom of the sliding groove 40, a sliding block 451 is slidably provided on the side of the clamping hole 411 away from the driving rod 43, a driving shaft 46 is provided on one side of the sliding block 451, and one end of the driving shaft 46 slides through the clamping rod 41 and is slidably connected to the receiving hole 45.

[0049] When clamping the shoes, the driving gear 461 arranged at the bottom of the sliding groove 40 is driven to rotate. The rotating driving gear 461 will drive the driving shaft 46 to move outward from the accommodating hole 45 through the threaded connection with the driving shaft 46. The moving driving shaft 46 will push the sliding block 451 to move. The moving sliding block 451 will approach the driving rod 43 in the clamping hole 411. After the sliding block 451 abuts against the driving rod 43, the driving rod 43 will be pushed to move together and compress the trigger spring 44 arranged between one side of the abutment block 432 and the trigger hole 431.

[0050] Both sides of the support rod 1 2 and the support rod 2 3 are symmetrically provided with sliding holes 47 connected to the sliding groove 40 , and sliding blocks 471 connected to the sliding holes 47 are slidably arranged in the sliding holes 47 .

[0051] At this time, since the elastic force of the trigger spring 44 is smaller than the reset spring 48 slidingly arranged between the slider 471 and the sliding hole 47 close to the side of the clamping bracket 42, the sliding block 451 will push the driving rod 43 to move inward and outward of the clamping hole 411. The driving rod 43 moving outward will push the driving rod 43 through the sliding block 451, causing the driving rod 43 to move outward of the clamping hole 411 and compress the trigger spring 44. At this time, the driving rod 43 will trigger the clamping jaw 5 to open.

[0052] Afterwards, the driving shaft 46 continues to push the sliding block 451 to move. Since the trigger spring 44 is compressed, the resistance block 432 is pushed by the trigger spring 44, and the resistance block 432 will drive the clamping rod 41 to move together, so that the clamping rod 41 moves out of the sliding groove 40, and the clamping rod 41 will drive the slider 471 slidingly set in the sliding hole 47, and the slider 471 will move together with the clamping rod 41 and compress the reset spring 48.

[0053] Until the clamping rod 41 is completely extended from the sliding groove 40, the clamping rod 41 will drive the clamping support 42 provided at one end of the clamping rod 41, so that the clamping claw 5 provided on the clamping support 42 moves to the position of the shoe.

[0054] Reference Figure 2 , Figure 3 and Figure 4 As shown, telescopic push rods 49 corresponding to the sliding holes 47 are arranged on both sides of the support rod 1 2 and the support rod 2 3, and sliding blocks 491 connected to the telescopic ends of the telescopic push rods 49 are slidably arranged in the sliding holes 47.

[0055] After the clamping jaw 5 moves to the position of the shoe, the telescopic end of the telescopic push rod 49 extends, and the telescopic push rod 49 drives the sliding block 491 slidably set in the sliding hole 47 to move, so that the sliding block 491 abuts against the slider 471 to limit the release of the reset spring 48.

[0056] Then, by driving the driving gear 461 to reverse, the rotating driving gear 461 will cause the driving shaft 46 to retract into the accommodating hole 45 through the threaded connection with the driving shaft 46, and move with the sliding block 451 at the same time. At this time, the trigger spring 44 and the return spring 48 are both in a compressed state. Since the sliding block 491 abuts against the slider 471, the clamping rod 41 cannot retract into the clamping hole 411, so the driving rod 43 will first move with the sliding block 451 to retract into the clamping hole 411 and release the trigger spring 44 until the driving rod 43 is restricted by the abutment, and the contraction of the driving rod 43 will trigger the clamping claw 5 to clamp the shoes on the loading station.

[0057] Afterwards, the driving shaft 46 continues to drive the sliding block 451 to retract into the clamping hole 411, and at the same time, the telescopic end of the telescopic push rod 49 drives the sliding block 491 to retract along with the sliding block 451. At this time, the reset spring 48 will push the slider 471 to make the clamping rod 41 move along with the retraction of the telescopic push rod 49, so that the clamping claw 5 clamps the shoe and leaves the loading station. After that, the driving seat 1 will drive the support rod 2 to rotate, so that the clamping claw 5 on the support rod 2 clamps the shoe and moves it from the loading station to the inspection station. At the same time, the driving seat 1 will drive the support rod 2 3 to rotate together, so that the clamping claw 5 on the support rod 2 clamps the shoe and moves it from the inspection station to the unloading station.

[0058] When the shoe is released from clamping, the driving rod 43 continues to drive the sliding block 451 to move after the clamping claw 5 clamps the shoe. Since the trigger spring 44 is released, the clamping rod 41 will move with the driving rod 43 and drive the slider 471, so that the slider 471 moves in the sliding hole 47 and releases the reset spring 48, so that the clamping rod 41 shrinks into the sliding groove 40. At the same time, the clamping rod 41 will drive the clamping claw 5 of the shoe to move together through the clamping support frame 42, so that the clamping claw 5 clamps the shoe away from the loading station or the inspection station.

[0059] When moving to the unloading station, the driving rod 43 drives the sliding block 451 to push the driving rod 43 to move together and compress the trigger spring 44, so that the driving rod 43 extends outward, and at this time the clamping jaws 5 will open to release the shoe.

[0060] When the shoes on the loading station are to be clamped, the driving shaft 46 first pushes the driving rod 43 to extend through the sliding block 451, and compresses the trigger spring 44 to open the clamping jaws 5. Then the driving shaft 46 continues to push the driving rod 43 through the sliding block 451, so that the clamping rod 41 extends to contact the shoes on the loading station and compresses the reset spring 48. Then the telescopic end of the telescopic push rod 49 extends, so that the sliding block 491 abuts against the slider 471 to limit the release of the reset spring 48.

[0061] Then the driving shaft 46 reverses and drives the sliding block 451 to retract into the clamping hole 411, triggering the spring 44 to push the driving rod 43 to move together, so that the clamping claw 5 clamps the shoes on the loading station, and then the telescopic end of the telescopic push rod 49 is retracted, and the compressed return spring 48 pushes the clamping rod 41, so that the clamping rod 41 drives the clamping claw 5 of the shoe to move away from the loading station through the clamping support frame 42.

[0062] Similarly, during this process, the driving shaft 46 on the support rod 23 pushes the driving rod 43 to extend through the sliding block 451, and compresses the trigger spring 44 to open the clamping jaw 5, and then the driving shaft 46 continues to push the driving rod 43 through the sliding block 451, so that the clamping rod 41 extends out to contact the shoe on the detection station and compresses the reset spring 48, and then the telescopic end of the telescopic push rod 49 extends, so that the sliding block 491 abuts against the slider 471 to limit the release of the reset spring 48.

[0063] Then the driving shaft 46 reverses and drives the sliding block 451 to retract into the clamping hole 411, triggering the spring 44 to push the driving rod 43 to move together, so that the clamping claw 5 clamps the shoes that have been inspected at the inspection station, and then the telescopic end of the telescopic push rod 49 is retracted, and the compressed return spring 48 pushes the clamping rod 41, so that the clamping rod 41 drives the clamping claw 5 of the clamped shoe away from the inspection station through the clamping support frame 42.

[0064] Then the driving seat 1 drives the support rod 1 2 and the support rod 2 3, so that the clamping claw 5 moves the shoelace clamped on the loading station to the testing station, and at the same time moves the shoelace clamped on the testing station to the unloading station.

[0065] Then the telescopic end of the telescopic push rod 49 extends out, so that the sliding block 491 pushes the slider 471 to drive the clamping rod 41 to move, and compresses the reset spring 48, so that the clamping rod 41 drives the clamping claw 5 to approach the detection station and the unloading station, and the driving shaft 46 pushes the driving rod 43 to extend through the sliding block 451, and compresses the trigger spring 44 to open the clamping claw 5, so that the clamping claw 5 places the shoe on the detection station for detection, and places the shoe on the unloading station at the same time.

[0066] Reference Figure 6 , Figure 7 and Figure 8 As shown, specifically, the clamping jaw 5 includes clamping grooves 51 symmetrically opened on the clamping support 42 and located on both sides of the driving rod 43, a clamping shaft 52 is rotatably penetrated in the clamping groove 51, and a clamping gear 53 located in the clamping groove 51 is provided on the clamping shaft 52.

[0067] When the driving rod 43 extends out of the clamping hole 411, the driving rod 43 will drive the driving teeth 54 symmetrically arranged on both sides thereof. The driving teeth 54 drive the clamping shaft 52 to rotate by engaging with the clamping gear 53. The rotating clamping shaft 52 will drive the L-shaped support rods 55 arranged at both ends of the clamping shaft 52, so that the L-shaped support rods 55 on both sides will open away from each other.

[0068] An adjustment slot 56 is formed on a section of the L-shaped support rod 55 away from the clamping shaft 52 , and a clamping rod 57 is slidably disposed in the adjustment slot 56 . The L-shaped support rod 55 drives the clamping rod 57 to open together to release the clamping of the shoe.

[0069] When the driving rod 43 contracts into the clamping hole 411, the driving rod 43 will drive the driving teeth 54 symmetrically arranged on both sides thereof. The driving teeth 54 drive the clamping shaft 52 to rotate by engaging with the clamping gear 53. The rotating clamping shaft 52 will drive the L-shaped support rods 55 arranged at both ends of the clamping shaft 52, so that the L-shaped support rods 55 on both sides are close to each other for clamping.

[0070] An adjustment slot 56 is formed on a section of the L-shaped support rod 55 away from the clamping shaft 52 , and a clamping rod 57 is slidably disposed in the adjustment slot 56 . The L-shaped support rod 55 drives the clamping rod 57 to move closer together to clamp the shoes on the workstation.

[0071] By rotating the adjusting screw 58 rotatably arranged in the adjusting slot 56 , the adjusting screw 58 can drive the clamping rod 57 to move in the adjusting slot 56 through the threaded connection with the clamping rod 57 , so as to adapt to shoes of different sizes.

[0072] Embodiment 2:

[0073] Reference Fig. 9 As shown, on the basis of the first embodiment, an adjusting member 6 is provided on the support rod 1 2 or the support rod 2 3;

[0074] The adjusting member 6 includes a driven gear 61, and at least one of the support rod 2 and the support rod 3 is rotatably connected to the driving seat 1. The driving seat 1 is provided with a driven gear 61, and the support rod 2 or the support rod 2 3 rotatably connected to the driving seat 1 is rotatably provided with an adjusting gear 62.

[0075] By rotating the adjusting gear 1 62, the rotating adjusting gear 1 62 will drive the supporting rod 1 2 or the supporting rod 2 3 connected thereto to rotate on the driving seat 1 through meshing with the driven gear 1 61, thereby changing the angle between the supporting rod 1 2 and the supporting rod 2 3 to adapt to the distance difference between different workstations.

[0076] Embodiment three:

[0077] Reference Fig. 9 and Fig.10On the basis of the first and second embodiments, a flipper 7 is provided on the clamping rod 41 .

[0078] The flipper 7 includes a connecting gear 71, the clamping rod 41 is rotatably and slidably connected to the sliding groove 40, the sliding block 451 is rotatably connected to the driving shaft 46, the driving shaft 46 rotates and slides through the clamping rod 41 and then is slidably connected to the accommodating hole 45, and the slider 471 is rotatably connected to the clamping rod 41.

[0079] A connecting gear 71 is rotatably provided at one end of at least one of the support rods 1 2 and 2 3 , and the connecting gear 71 is slidably connected to the clamping rod 41 , an adjusting rod 72 corresponding to the connecting gear 71 is rotatably provided on the driving seat 1 , and an arc-shaped rack 73 meshing with the connecting gear 71 is provided on one side of the adjusting rod 72 .

[0080] When the driving seat 1 drives the support rod 1 2 and the support rod 2 3 to rotate and move from the loading station to the inspection station or from the inspection station to the unloading station, the support rod 1 2 and the support rod 2 3 will drive the clamping rod 41 and the connecting gear 71 connected thereto, and the connecting gear 71 will rotate by engaging with the arc-shaped rack 73.

[0081] The rotating connecting gear 71 drives the clamping rod 41 to rotate, and the clamping claw 5 turns the shoe over through the clamping rod 41 so that the sole faces upward, so as to facilitate the inspection of the shoe upper.

[0082] A second driven gear 74 is disposed on the driving seat 1 , and a second adjusting gear 75 rotatably disposed on the adjusting rod 72 and meshing with the second driven gear 74 .

[0083] By rotating the adjusting gear 2 75, the rotating adjusting gear 2 75 will drive the adjusting rod 72 connected thereto to rotate on the driving seat 1 through meshing with the driven gear 2 74, thereby changing the position of the arc-shaped rack 73 to adapt to the angle between the support rod 1 2 and the support rod 2 3 and the distance difference between the workstations.

[0084] The implementation principle of the present invention is:

[0085] (1): When the shoe upper is inspected, the sliding driving gear 461 is driven to rotate. The rotating driving gear 461 will drive the driving shaft 46 to move outward from the accommodating hole 45 through the threaded connection with the driving shaft 46. The moving driving shaft 46 will push the sliding block 451 to move. The moving sliding block 451 will approach the driving rod 43 in the clamping hole 411. After the sliding block 451 abuts against the driving rod 43, the driving rod 43 will be pushed to move together and compress the trigger spring 44 set between one side of the abutment block 432 and the trigger hole 431.

[0086] (2): The outward-moving driving rod 43 will push the driving rod 43 through the sliding block 451, causing the driving rod 43 to move out of the clamping hole 411 and compress the trigger spring 44. At this time, the driving rod 43 will trigger the clamping jaw 5 to open, and the driving shaft 46 will continue to push the sliding block 451 to move, pushing the resistance block 432 through the trigger spring 44. The resistance block 432 will drive the clamping rod 41 to move together, causing the clamping rod 41 to move out of the sliding groove 40. The clamping rod 41 will drive the slider 471 slidingly set in the sliding hole 47. The slider 471 will move together with the clamping rod 41 and compress the reset spring 48.

[0087] (3): The clamping rod 41 is stretched out from the sliding groove 40. At this time, the clamping rod 41 drives the clamping support 42 provided at one end of the clamping rod 41, so that the clamping claw 5 provided on the clamping support 42 moves to the position of the shoe.

[0088] (4): After the clamping claw 5 moves to the position of the shoe, the telescopic end of the telescopic push rod 49 extends, and the telescopic push rod 49 drives the sliding block 491 slidingly set in the sliding hole 47 to move, so that the sliding block 491 abuts against the slider 471 to limit the release of the reset spring 48.

[0089] (5): Then, by driving the driving gear 461 to reverse, the rotating driving gear 461 will cause the driving shaft 46 to retract into the accommodating hole 45, and move with the sliding block 451 at the same time. The driving rod 43 will first retract into the clamping hole 411 along with the movement of the sliding block 451 and release the trigger spring 44 until the driving rod 43 is restricted by the resistance. The contraction of the driving rod 43 will trigger the clamping claw 5 to clamp the shoes on the loading station.

[0090] (6): Afterwards, the driving shaft 46 continues to drive the sliding block 451 to retract into the clamping hole 411. At the same time, the telescopic end of the telescopic push rod 49 drives the sliding block 491 to retract along with the sliding block 451. At this time, the reset spring 48 will push the slider 471, so that the clamping rod 41 moves along with the retraction of the telescopic push rod 49, so that the clamping claw 5 clamps the shoe and leaves the loading station. After that, the driving seat 1 will drive the support rod 2 to rotate, so that the clamping claw 5 on the support rod 2 clamps the shoe and moves from the loading station to the inspection station.

[0091] (7): During this process, the driving shaft 46 on the support rod 23 pushes the driving rod 43 to extend through the sliding block 451, and compresses the trigger spring 44 to open the clamping jaw 5. Then the driving shaft 46 continues to push the driving rod 43 through the sliding block 451, so that the clamping rod 41 extends out to contact the shoe on the detection station and compresses the reset spring 48. Then the telescopic end of the telescopic push rod 49 extends out, so that the sliding block 491 abuts against the slider 471 to limit the release of the reset spring 48.

[0092] (8): The driving shaft 46 then reverses and drives the sliding block 451 to retract into the clamping hole 411, triggering the spring 44 to push the driving rod 43 to move together, so that the clamping claw 5 clamps the shoes that have been inspected at the inspection station. After that, the telescopic end of the telescopic push rod 49 is retracted, and the compressed return spring 48 pushes the clamping rod 41, so that the clamping rod 41 drives the clamping claw 5 that clamps the shoe away from the inspection station through the clamping support frame 42.

[0093] (9): Then the driving seat 1 drives the support rod 1 2 and the support rod 2 3, so that the clamping claw 5 moves the shoelace clamped at the loading station to the inspection station, and at the same time moves the shoelace clamped at the inspection station to the unloading station.

[0094] (10): The telescopic end of the telescopic push rod 49 extends out, so that the sliding block 491 pushes the slider 471 to drive the clamping rod 41 to move, and compresses the reset spring 48, so that the clamping rod 41 drives the clamping jaw 5 to approach the detection station and the unloading station. The driving shaft 46 pushes the driving rod 43 to extend through the sliding block 451, and compresses the trigger spring 44 to open the clamping jaw 5, so that the clamping jaw 5 places the shoe on the detection station for detection, and at the same time places the shoe on the unloading station.

[0095] (11): By rotating the adjusting screw 58 that is rotatably arranged in the adjusting groove 56, the adjusting screw 58 will be threadedly connected with the clamping rod 57, driving the clamping rod 57 to move in the adjusting groove 56, thereby adapting to shoes of different sizes.

[0096] (12): In the process of moving from the loading station to the inspection station, or from the inspection station to the unloading station, the support rod 1 2 and the support rod 2 3 will drive the clamping rod 41 and the connecting gear 71 connected thereto, and the connecting gear 71 will rotate by meshing with the arc-shaped rack 73. The rotating connecting gear 71 will drive the clamping rod 41 to rotate, and the clamping claw 5 will turn over the shoe through the clamping rod 41 so that the sole faces upward, so as to facilitate the inspection of the shoe upper.

[0097] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A dual-station loading and unloading robot arm for visual inspection of shoe uppers, comprising a drive seat (1), characterized in that: The driving seat (1) is provided with a support rod 1 (2) and a support rod 2 (3), respectively. The support rod 1 (2) and the support rod 2 (3) are distributed along the circumference of the driving seat (1), and the support rod 1 (2) and the support rod 2 (3) are both provided with a clamp (4); The clamp (4) comprises a sliding groove (40) provided in each of the support rod 1 (2) and the support rod 2 (3), a clamping rod (41) being slidably and rotatably arranged in the sliding groove (40), and a clamping support frame (42) being arranged at one end of the clamping rod (41).

2. A dual-station loading and unloading robot arm for upper visual inspection according to claim 1, characterized in that: The clamp (4) further comprises a clamping hole (411) formed in the clamping support frame (42) and the clamping rod (41), a driving rod (43) being slidably arranged in the clamping hole (411), and a clamping claw (5) corresponding to the driving rod (43) being arranged on the clamping support frame (42).

3. A dual-station loading and unloading robot arm for upper visual inspection according to claim 2, characterized in that: The driving rod (43) is provided with a trigger hole (431) slidably connected to the clamping hole (411); a resisting block (432) located in the triggering hole (431) is provided in the clamping hole (411); a trigger spring (44) is provided between one side of the resisting block (432) and the triggering hole (431); A receiving hole (45) is provided at the bottom of the sliding groove (40), a sliding block (451) is slidably provided on the side of the clamping hole (411) away from the driving rod (43), a driving shaft (46) is rotatably provided on one side of the sliding block (451), and one end of the driving shaft (46) rotates and slides through the clamping rod (41) and then is slidably connected to the receiving hole (45).

4. A dual-station loading and unloading robot arm for upper visual inspection according to claim 3, characterized in that: Both sides of the support rod 1 (2) and the support rod 2 (3) are symmetrically provided with sliding holes (47) connected to the sliding groove (40), and a sliding block (471) rotatably connected to the clamping rod (41) is slidably arranged in the sliding hole (47), and a return spring (48) is slidably arranged between the sliding hole (47) and the side of the sliding block (471) close to the clamping support frame (42).

5. A dual-station loading and unloading robot arm for upper visual inspection according to claim 4, characterized in that: Both sides of the support rod 1 (2) and the support rod 2 (3) are provided with telescopic push rods (49) corresponding to the sliding holes (47) one by one, and a sliding block (491) connected to the telescopic end of the telescopic push rod (49) is slidably provided in the sliding hole (47).

6. A dual-station loading and unloading robot arm for upper visual inspection according to claim 2, characterized in that: The clamping claw (5) comprises clamping grooves (51) symmetrically opened on the clamping support (42) and located on both sides of the driving rod (43); a clamping shaft (52) is rotatably penetrated in the clamping groove (51); and a clamping gear (53) located in the clamping groove (51) is arranged on the clamping shaft (52); Driving teeth (54) meshing with the clamping gear (53) are symmetrically arranged on both sides of the driving rod (43).

7. A dual-station loading and unloading robot arm for upper visual inspection according to claim 6, characterized in that: Both ends of the clamping shaft (52) are provided with L-shaped support rods (55), a section of the L-shaped support rod (55) away from the clamping shaft (52) is provided with an adjustment groove (56), and a clamping rod (57) is slidably arranged in the adjustment groove (56).

8. A dual-station loading and unloading robot arm for upper visual inspection according to claim 7, characterized in that: An adjusting screw rod (58) is rotatably inserted into the adjusting groove (56) and is threadably connected to the clamping rod (57).

9. A dual-station loading and unloading robot arm for upper visual inspection according to claim 8, characterized in that: An adjusting member (6) is provided on the supporting rod one (2) or the supporting rod two (3); The adjusting member (6) comprises a driven gear 1 (61); the support rod 1 (2) or the support rod 2 (3) is rotatably connected to the driving seat (1); the driving seat (1) is provided with a driven gear 1 (61); and the support rod 1 (2) or the support rod 2 (3) rotatably connected to the driving seat (1) is rotatably provided with an adjusting gear 1 (62); the adjusting gear 1 (62) is meshed with the driven gear 1 (61).

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