Full-automatic insole plugging equipment

Abstract

The invention discloses full-automatic insole stuffing equipment which comprises a machine table with a protective door and a central control system, and an insole feeding mechanism, an insole feeding manipulator assembly, an insole gluing mechanism, an insole stuffing manipulator assembly, a shoe body fixing mechanism and a discharging manipulator assembly are arranged on the machine table and electrically connected with the central control system. Receiving operation data and issuing a control instruction through the central control system; the device is simple in structure and convenient to use, the insole feeding mechanism, the insole feeding mechanical arm assembly, the insole gluing mechanism, the insole stuffing mechanical arm assembly, the shoe body fixing mechanism and the discharging mechanical arm assembly are arranged on the machine table, and automatic insole feeding, gluing, transferring and stuffing into a shoe body are achieved; and a CCD camera unit is arranged in the discharging mechanical arm assembly, shooting can be carried out before discharging of the shoe body, whether the insole is stuffed into the correct position or not is found in time, and shot data information is uploaded and analyzed, so that the situation of placement errors is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of insole inserting equipment, in particular to a fully automatic insole inserting equipment. Background Art

[0002] In the existing shoe production process, the shoe body is first produced, and then the insole is manually brushed with glue, and finally the insole is inserted into the shoe body to complete the assembly of the insole.

[0003] At present, there are semi-automatic insole insertion equipment on the market to replace the traditional manual insole insertion technology, reduce the labor intensity of workers and improve work efficiency; however, semi-automatic equipment still requires manual auxiliary operations, such as calibration, adjustment of the insole position and selection of the size of the insole to be inserted into the shoe body, all of which require manual operation. The insole is then inserted into the shoe body by the semi-automatic equipment, but its accuracy is not high and cannot guarantee that the inserted insole can be accurately placed in the appropriate position, resulting in the insole being offset or not being fully inserted, thereby increasing the subsequent repair and maintenance workload, thereby increasing the maintenance cost and maintenance time, and increasing the production cost of the enterprise.

[0004] Therefore, it is necessary to study a new technical solution to solve the above problems. Summary of the invention

[0005] In view of this, the present invention aims to provide a

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A fully automatic insole plugging device, comprising a machine platform with a protective door and a central control system, wherein the machine platform is provided with an insole feeding mechanism, an insole feeding robot assembly, an insole gluing mechanism, an insole plugging robot assembly, a shoe body fixing mechanism and a material discharging robot assembly, and all of them are electrically connected to the central control system, and operation data is received and control instructions are issued through the central control system;

[0008] The insole feeding mechanism is arranged at the rear end of the machine, and is used to temporarily store a number of insoles of different sizes, and select appropriate insoles for feeding when they need to be stuffed into shoes;

[0009] The insole gluing mechanism is arranged in front of the insole feeding mechanism, and is used to apply glue to the lower end surface of the insole and wait for the glue to dry;

[0010] The insole feeding manipulator assembly is arranged between the insole feeding mechanism and the insole gluing mechanism and is located at one side end thereof, and is used to transfer the insole in the insole feeding mechanism and place it in the insole gluing mechanism for gluing treatment;

[0011] The shoe body fixing mechanism is arranged in front of the insole gluing mechanism and is used to clamp and fix the shoe body so that the insole after gluing can be put into the shoe body for firm installation;

[0012] The insole inserting robot assembly is arranged between the shoe body fixing mechanism and the insole gluing mechanism and is located at one side end thereof, and is used to clamp and transfer the glued insole and stably put it into the shoe body for installation and fixing;

[0013] The material cutting robot assembly is arranged between the shoe body fixing mechanism and the insole gluing mechanism and is located at the other side end thereof, and is used for detecting the shoe body after the insole is loaded and clamping the material cutting.

[0014] As a preferred solution, the central control system is installed on the front of the protective door. The central control system includes a display screen, control buttons and a communication interface. The control buttons and communication interface are located below the display screen. The control buttons include an emergency stop button, a reset button, a start / stop button and a switch button for switching between manual and automatic modes. The communication interface transmits data programs to an external host via a data connection line.

[0015] As a preferred solution, the insole feeding mechanism comprises a rotating main shaft, a rotating disk, an insole temporary storage assembly and an insole lifting assembly, the rotating disk is arranged on the rotating main shaft and is made to rotate in a circle, the number of the insole temporary storage assemblies is arranged in a plurality of groups, the plurality of groups of insole temporary storage assemblies are arranged in a circular array on the upper end surface of the rotating disk and are used to store insoles of different sizes, the insole lifting assembly is arranged on the lower end surface of the rotating disk and is located directly below one group of insole temporary storage assemblies, and is used to lift the insoles stored in the insole temporary storage assembly upwards for feeding;

[0016] The insole temporary storage assembly comprises a front limit plate, a rear limit plate, a movable top plate and a limit rod, the rear limit plate is fixedly mounted at the edge of the turntable, the front limit plate is adjustably mounted on the turntable and is located in front of the rear limit plate, the limit rod is respectively mounted on the front limit plate and the rear limit plate and is surrounded to form a storage space for placing the insole, a through slot extending vertically is provided between the front limit plate and the rear limit plate and is located on the turntable, the movable top plate is placed in the through slot, the insole lifting assembly passes through the through slot from bottom to top and abuts against the lower end surface of the movable top plate, thereby lifting the insole located in the accommodating space upward, so that the insole is always at a standard height, so as to facilitate feeding and unloading;

[0017] The insole lifting assembly includes a stabilizing frame, a screw rod, a servo motor, a movable plate, a push plate and a push rod. The screw rod is installed at the center of the stabilizing frame and extends downward through its lower end surface. The servo motor is arranged at the outer end of the stabilizing frame and is located next to the screw rod. The servo motor extends a rotating shaft downward, and a synchronous pulley unit is provided between the rotating shaft and the screw rod. The movable plate is installed on the screw rod and moves up and down with the rotation of the screw rod. The lower end of the push rod is installed on the movable plate, and the other end passes through the upper end surface of the stabilizing frame from the inside to the outside and extends upward. The push plate is fixed to the upper end of the push rod and moves up and down with it, thereby approaching / moving away from the movable top plate.

[0018] As a preferred scheme, the insole loading robot assembly includes a fixed bracket installed on the machine, a transverse sliding unit, a longitudinal sliding unit, a rotating cylinder and a cylinder adsorption robot, the transverse sliding unit is installed on the top of the fixed bracket, the longitudinal sliding unit is movably installed on the transverse sliding unit and moves horizontally therewith, the rotating cylinder is arranged on the longitudinal sliding unit and moves longitudinally up and down therewith, the cylinder adsorption robot is arranged on the rotating cylinder and rotates and adjusts therewith, the cylinder adsorption robot is controlled by the movement of the transverse sliding unit and the longitudinal sliding unit to achieve up, down, left and right movement between the insole feeding mechanism and the insole gluing mechanism, and through the rotation control of the rotating cylinder, the cylinder adsorption robot can adsorb and fix the insole along the placement direction and transfer the insole to the insole gluing mechanism for gluing treatment.

[0019] As a preferred embodiment, it also includes a glue brushing machine for insoles to be glued, the glue brushing machine is provided with a glue roller that reciprocates, the glue brushing machine is placed in the machine platform and located at one side end of the insole gluing mechanism, the glue brushing machine is provided with a material receiving assembly and is located between the insole feeding mechanism and the glue brushing machine, the material receiving assembly includes a fixed frame, a material guide inclined plate and a pushing cylinder, the fixed frame is in an L-shaped structure and has its lower end fixed on the machine platform, and the other end is horizontally placed beside the glue roller of the glue brushing machine, the material guide inclined plate and the pushing cylinder are both installed on the upper end surface of the fixed frame, the material guide inclined plate is provided with an inclined surface that tilts inward from top to bottom to facilitate the insole to slide in, the cylinder adsorption manipulator transfers the insole in the insole feeding mechanism and places it on the inclined surface of the material guide inclined plate, and pushes the insole to the glue roller for gluing by the pushing cylinder;

[0020] The insole gluing mechanism includes a mounting frame, a conveying unit, a lifting unit and a glue collecting box. The lower end of the mounting frame is fixedly mounted on the machine platform, and both ends of the conveying unit are transversely mounted at the upper end of the mounting frame for receiving the glued insoles and conveying them backwards. The glue collecting box is movably placed at the middle end of the mounting frame and below the conveying unit. The lifting unit is arranged on the rear and outer side of the mounting frame, and a lifting arm is extended toward the conveying unit to lift the glued insoles of the conveying unit, so that the insoles can be stuffed into the robot assembly for clamping and transfer to the shoe body.

[0021] As a preferred solution, the insole inserting robot assembly includes a first multi-axis robot and a clamping and inserting unit arranged at the upper end thereof, the lower end of the first multi-axis robot is fixed on the machine platform, and the other end is connected to the upper end of the clamping and inserting unit and is provided for the robot to rotate at multiple angles and directions, so as to clamp the insole after gluing;

[0022] The clamping and inserting unit includes a mounting plate, a movably clamping clamping claw and a clamping claw lifting cylinder, one end of the mounting plate is connected to the first multi-axis manipulator, and the other end is for the clamping claw lifting cylinder to install and fix and extend a piston rod downward, the clamping claw includes a left clamping claw and a right clamping claw, and the left clamping claw and the right clamping claw are both provided with a sliding groove, the lower end of the piston rod is provided with a clamping claw fixing plate, the sliding grooves of the left clamping claw and the right clamping claw are passed through and fixedly installed on the clamping claw fixing plate by bolts, and the piston rod is moved up and down with the control of the clamping claw lifting cylinder, so that the left clamping claw and the right clamping claw are slid and moved along the sliding groove by the bolts, so that the left clamping claw and the right clamping claw are respectively moved closer to the middle, and the two sides of the insole are squeezed and bent toward the middle to facilitate insertion into the shoe body.

[0023] As a preferred solution, the insole fixing mechanism comprises a front support frame, a rear support frame, a front sliding unit, a rear sliding unit, a front sliding cylinder, a rear sliding cylinder, a front clamping and stabilizing unit and a rear clamping and stabilizing unit, the lower ends of the front support frame and the rear support frame are mounted and fixed on the machine platform, the front sliding unit is mounted on the upper end surface of the front support frame, the front clamping and stabilizing unit is slidably mounted on the front sliding unit, the front sliding cylinder is mounted and fixed on one end of the front support frame, and controls the front clamping and stabilizing unit to slide along the front sliding unit, the front clamping and stabilizing unit has a clamping block that is unfolded in an "eight" shape, the unfolding direction of the clamping block is toward the rear clamping and stabilizing unit, and the clamping block is abutted and fixed on the front end of the shoe body;

[0024] The rear sliding unit is installed and fixed on the upper end surface of the rear support frame, and the rear clamping and stabilizing unit is slidably installed on the rear sliding unit. The rear sliding cylinder is installed and fixed on one end of the rear support frame, and controls the rear clamping and stabilizing unit to slide along the rear sliding unit. The rear clamping and stabilizing unit has a clamping block that is unfolded in an "eight" shape, and the unfolding direction of the clamping block is toward the front clamping and stabilizing unit, so that the clamping block is abutted and fixed on the rear end of the shoe body.

[0025] As a preferred solution, the unloading robot assembly includes a second multi-axis robot and a unloading clamping arm. The lower end of the second multi-axis robot is fixed on one side of the machine platform. The unloading clamping arm is installed and fixed on the second multi-axis robot and rotates and swings horizontally with it. The upper end of the unloading clamping arm is also provided with an unloading clamping cylinder for controlling it to clamp toward the center. The unloading clamping cylinder controls the upper end of the unloading clamping arm so that the two ends of the unloading clamping arm can be clamped close to the center, thereby clamping the shoe body for transfer unloading.

[0026] As a preferred solution, the unloading robot assembly is also provided with a CCD camera unit, one end of which is fixed on the unloading clamping cylinder, and the CCD camera unit is located next to the unloading clamping hand, for photographing whether the insole is correctly inserted into the shoe body, and uploading the photographed data information, thereby issuing control instructions to the unloading clamping hand to clamp and transfer the shoe body.

[0027] As a preferred solution, the insole insertion robot assembly also includes a folding rod, which is movably pressed against the lower end surface of the insole and slides backward so that the folding rod reaches the middle and rear end position of the insole, thereby causing the rear end of the insole to fold downward so that it can be inserted into the shoe body more quickly.

[0028] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, it can be seen from the above technical solution that:

[0029] The present invention has a simple structure, reasonable layout and is easy to use. By arranging an insole feeding mechanism, an insole loading robot assembly, an insole gluing mechanism, an insole inserting robot assembly, a shoe body fixing mechanism and a blanking robot assembly on a machine platform, automatic insole loading, gluing, transferring and inserting into the shoe body can be achieved. In addition, a CCD camera unit is provided in the blanking robot assembly, which can take pictures before the shoe body is unloaded, and timely find out whether the insole is inserted into the correct position, and upload the photographed data information for analysis, thereby reducing the situation of placement errors, reducing the workload of rework and maintenance, improving the qualification rate, ensuring production efficiency and reducing the production cost of the enterprise.

[0030] Automatic feeding is achieved through the insole feeding mechanism, and insoles of different sizes are stored on the upper end, so that when the shoe body needs an insole of a corresponding size, it can be quickly rotated to the corresponding insole area, thereby quickly transferring the insole.

[0031] The insole is placed into the glue laminating machine for glue brushing through the insole feeding robot assembly, and after the excess glue on the insole drips, it is lifted up so that the insole with glue can be clamped and transferred to the shoe body for insertion.

[0032] Among them, in the insole insertion robot assembly, the two ends of the insole are bent toward the middle so that the insole can be quickly and accurately inserted into the shoe body, and a folding rod is also provided at the rear end for quickly folding the rear end of the insole downward so that the rear end of the insole can be inserted into the shoe body more quickly and accurately.

[0033] Among them, when workers are loading and securing the shoe body, they only need to place the shoe body in the shoe body fixing mechanism, and firmly fix the shoe body through the clamping and stabilizing units at the front and back ends to prevent it from loosening during the process of inserting the insole, resulting in deviation in the insertion of the insole and ultimately assembly errors.

[0034] When cutting the shoe body to be inserted with the insole, it is necessary to first take a picture of the inside of the shoe body through the CCD camera unit to determine whether the insole is installed in place, avoid rework due to improper installation, deviation, etc., and reduce the occurrence of errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0036] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0037] Figure 2 It is a schematic diagram of the internal structure of the present invention.

[0038] Figure 3 It is a schematic diagram of the internal structure of the present invention from another perspective.

[0039] Figure 4 It is a structural schematic diagram of the insole feeding mechanism of the present invention.

[0040] Figure 5 It is a top view structural schematic diagram of the insole feeding mechanism of the present invention.

[0041] Figure 6 It is a schematic diagram of the main structure of the insole feeding mechanism of the present invention.

[0042] Figure 7 It is a structural schematic diagram of the insole temporary storage component of the present invention.

[0043] Figure 8 It is a structural schematic diagram of the insole lifting assembly of the present invention.

[0044] Fig. 9 It is a structural schematic diagram of the insole feeding robot assembly of the present invention.

[0045] Fig.10 It is a structural schematic diagram of the insole feeding robot assembly from another perspective of the present invention.

[0046] Fig.11 It is a structural schematic diagram of the glue brushing machine of the present invention.

[0047] Fig.12 It is a partial structural schematic diagram of the fixing frame of the present invention.

[0048] Fig.13 It is a structural schematic diagram of the insole gluing mechanism of the present invention.

[0049] Fig.14 It is a structural schematic diagram of the insole gluing mechanism from another viewing angle of the present invention.

[0050] Fig.15 It is a structural schematic diagram of the insole inserting robot assembly of the present invention.

[0051] Fig.16 It is a schematic structural diagram of the clamping and inserting unit of the present invention.

[0052] Fig.17 It is a schematic structural diagram of the folded insole of the present invention.

[0053] Fig.18 It is a structural schematic diagram of the shoe body fixing mechanism of the present invention.

[0054] Fig.19 It is a schematic diagram of the shoe body fixing mechanism structure from another viewing angle of the present invention.

[0055] Fig. 20 It is a structural schematic diagram of the material unloading robot assembly of the present invention.

[0056] Among them, the reference numerals in the figure are:

[0057] 100, machine; 110, protective door;

[0058] 200, central control system; 210, display screen; 220, control buttons; 230, communication interface;

[0059] 300, insole feeding mechanism; 310, rotating spindle; 320, turntable; 321, through slot; 330, insole temporary storage assembly; 331, front limit plate; 332, rear limit plate; 333, movable top plate; 334, limit rod; 340, insole lifting assembly; 341, stabilizing frame; 342, screw rod; 343, servo motor; 344, movable plate; 345, push plate; 346, push rod; 347, synchronous pulley unit; 350, first group of photoelectric comparison sensors; 360, second group of photoelectric comparison sensors; 370, reader / writer; 380, electronic tag;

[0060] 400, insole feeding manipulator assembly; 410, fixed bracket; 420, transverse sliding unit; 430, longitudinal sliding unit; 440, rotating cylinder; 450, cylinder adsorption manipulator;

[0061] 500, insole gluing mechanism; 510, mounting frame; 511, opening; 520, conveying unit; 521, conveying shaft; 522, conveying motor; 523, driving pulley; 524, transmission wheel; 530, lifting unit; 531, driving cylinder; 532, transmission module; 5321, linear slide module; 5322, gear; 5323, rack; 5324, fixed connection block; 533, lifting arm; 534, fixing plate; 535, pressing shaft; 540, glue collecting box;

[0062] 600, insole inserting robot assembly; 610, first multi-axis robot; 620, clamping and inserting unit; 621, mounting plate; 622, clamping claw; 623, clamping claw lifting cylinder; 624, sliding groove;

[0063] 700, shoe body fixing mechanism; 710, front support frame; 720, rear support frame; 730, front sliding unit; 740, rear sliding unit; 750, front sliding cylinder; 760, rear sliding cylinder; 770, front clamping and stabilizing unit; 780, rear clamping and stabilizing unit; 790, clamping block;

[0064] 800, unloading manipulator assembly; 810, second multi-axis manipulator; 820, unloading clamping hand; 830, unloading clamping cylinder; 840, CCD camera unit;

[0065] 900, glue brushing machine; 910, glue application roller; 920, material receiving assembly; 921, fixing frame; 922, material guide inclined plate; 923, pushing cylinder. DETAILED DESCRIPTION

[0066] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0067] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0068] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0069] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0070] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0071] Reference Figure 1-3 As shown: a fully automatic insole inserting equipment, including a machine 100 with a protective door 110 and a central control system 200, on which an insole feeding mechanism 300, an insole loading robot assembly 400, an insole gluing mechanism 500, an insole inserting robot assembly 600, a shoe body fixing mechanism 700 and a unloading robot assembly 800 are arranged, and they are all electrically connected to the central control system 200, and receive operating data and issue control instructions through the central control system 200.

[0072] In this embodiment, the insole feeding mechanism 300 is arranged at the rear end of the machine 100 to temporarily store a number of insoles of different sizes, and when the insoles need to be inserted into the shoes, suitable insoles are selected for feeding;

[0073] Then, the insole gluing mechanism 500 is arranged in front of the insole feeding mechanism 300 to apply glue to the lower end surface of the insole and wait for the glue to dry;

[0074] The insole feeding robot assembly 400 is disposed between the insole feeding mechanism 300 and the insole gluing mechanism 500 and is located at one side thereof, and is used to transfer the insoles in the insole feeding mechanism 300 and place them in the insole gluing mechanism 500 for gluing treatment;

[0075] The shoe body fixing mechanism 700 is arranged in front of the insole gluing mechanism 500 to clamp and fix the shoe body, so that the insole after gluing can be put into the shoe body for firm installation;

[0076] The insole inserting manipulator assembly 600 is arranged between the shoe body fixing mechanism 700 and the insole gluing mechanism 500 and is located at one side thereof, and is used to clamp and transfer the glued insole and stably put it into the shoe body for installation and fixing;

[0077] The material cutting robot assembly 800 is then arranged between the shoe body fixing mechanism 700 and the insole gluing mechanism 500 and located at the other side thereof, and is used to detect the shoe body after the insole is installed and to clamp the material for cutting.

[0078] In this embodiment, the central control system 200 is installed on the front of the protective door 110, wherein the central control system 200 includes a display screen 210, a control button 220 and a communication interface 230. The control button 220 and the communication interface 230 are arranged below the display screen 210, and the control button 220 includes an emergency stop button, a reset button, a start / stop button and a switch button for switching between manual and automatic modes. The communication interface 230 used can transmit data programs with an external host via a data connection line, thereby making it more convenient to program and operate the device.

[0079] Reference Figure 4-6As shown: In this embodiment, the insole feeding mechanism 300 includes a rotating main shaft 310, a rotating disk 320, an insole temporary storage assembly 330 and an insole lifting assembly 340. The rotating disk 320 is arranged on the rotating main shaft 310, and the rotating main shaft 310 can control the rotating disk 320 to rotate in a circle. The number of the insole temporary storage assemblies 330 is set to a plurality of groups. The plurality of groups of insole temporary storage assemblies 330 are arranged in a circular array on the upper end surface of the rotating disk 320 and are used to store insoles of different sizes. The insole lifting assembly 340 is arranged on the lower end surface of the rotating disk 320 and is located directly below one group of insole temporary storage assemblies 330. The insole lifting assembly 340 is used to lift the insoles stored in the insole temporary storage assembly 330 upward for feeding. When the stacking height of the insoles in the insole temporary storage assembly 330 is lower than the warning line, the insoles will be lifted upward by the insole lifting assembly 340 below, so as to lift the insoles above the warning line.

[0080] Reference Figure 7 As shown: Specifically, the insole temporary storage assembly 330 includes a front limiting plate 331, a rear limiting plate 332, a movable top plate 333 and a limiting rod 334. The rear limiting plate 332 is fixedly installed at the edge of the turntable 320, the front limiting plate 331 is installed on the turntable 320 in an adjustable manner and is located in front of the rear limiting plate 332, and the limiting rod 334 is installed on the front limiting plate 331 and the rear limiting plate 332 respectively, so that they are surrounded to form a space for the insole to be stored. A storage space is placed therein, and a through slot 321 is provided between the front limit plate 331 and the rear limit plate 332 and is located on the turntable 320. By placing the movable top plate 333 in the through slot 321, and the insole lifting assembly 340 passes through the through slot 321 from bottom to top and abuts against the lower end surface of the movable top plate 333, the insole located in the accommodating space is lifted upward, so that the insole is always above the standard height to facilitate feeding and unloading.

[0081] Reference Figure 8As shown: Further, the insole lifting assembly 340 includes a stabilizing frame 341, a screw rod 342, a servo motor 343, a movable plate 344, a push plate 345 and a push rod 346. The screw rod 342 is installed at the center of the stabilizing frame 341 and extends downward through the lower end surface of the stabilizing frame 341. The servo motor 343 is then arranged at the outer end of the stabilizing frame 341 and beside the screw rod 342, so that the servo motor 343 extends a rotating shaft downward, and a synchronous pulley unit 347 is provided between the rotating shaft and the screw rod 342. The servo motor 343 can drive the screw rod 342 to rotate through the synchronous pulley unit 347, and then the movable plate 344 is installed on the screw rod 342 and moves up and down with its rotation, and then the lower end of the push rod 346 is installed on the movable plate 344, and then the other end passes through the upper end surface of the stable frame 341 from the inside to the outside and extends upward, and finally the push plate 345 is fixed to the upper end of the push rod 346 and moves up and down with it, so as to approach / move away from the movable top plate 333, thereby forming a lifting process that pushes the insole to move upward.

[0082] Furthermore, the insole temporary storage component 330 also includes a first group of photoelectric comparison sensors 350 and a second group of photoelectric comparison sensors 360. First, the first group of photoelectric comparison sensors 350 is horizontally arranged on the machine 100 and is located above the insole lifting component 340, so that the first group of photoelectric comparison sensors 350 can horizontally illuminate and pass through the current insole temporary storage component 330, and is used to monitor the height position of the insole in the insole temporary storage component 330 at the current position, so that when the insole is lower than the first group of photoelectric comparison sensors 350, an alarm signal will be issued and uploaded to the central control system 200. The central control system 200 sends a control instruction to the insole lifting assembly 340, so that the insole lifting assembly 340 lifts the insole to a height exceeding the height of the first group of photoelectric comparison sensors 350; by vertically arranging the second group of photoelectric comparison sensors 360 above the insole lifting assembly 340 and the machine 100, the second group of photoelectric comparison sensors 360 can monitor whether there are any insoles in the insole temporary storage assembly 330. Once a comparison signal is formed, the data signal will be uploaded to the central control system 200, thereby sending a signal so that the staff can replenish the insoles in time.

[0083] Furthermore, an electronic tag 380 and a reader / writer 370 are provided on the turntable 320. The electronic tags 380 are respectively arranged beside several groups of insole temporary storage units to record insoles of corresponding sizes. The reader / writer 370 is then arranged on the insole lifting assembly 340 to read the information of the electronic tag 380 and quickly determine the size of the insole at this time, so as to quickly rotate to the position of the insole of the required size and increase the feeding speed.

[0084] Reference Figure 9-10As shown in the figure: In this embodiment, the insole feeding robot assembly 400 includes a fixed bracket 410 installed on the machine 100, a transverse sliding unit 420, a longitudinal sliding unit 430, a rotating cylinder 440, a cylinder adsorption robot 450 and a cylinder (not marked in the figure) for driving the transverse sliding unit 420 and the longitudinal sliding unit 430. By installing the transverse sliding unit 420 on the top of the fixed bracket 410, and then movably installing the longitudinal sliding unit 430 on the transverse sliding unit 420 and moving horizontally therewith, and then setting the rotating cylinder 440 on the longitudinal sliding unit 4 30 and moves vertically up and down therewith, and then the cylinder adsorption manipulator 450 is arranged on the rotating cylinder 440 and rotates and adjusts therewith. When in use, the cylinder adsorption manipulator 450 is controlled by the movement of the lateral sliding unit 420 and the longitudinal sliding unit 430 to realize the up, down, left and right movement between the insole feeding mechanism 300 and the insole gluing mechanism 500, and through the rotation control of the rotating cylinder 440, the cylinder adsorption manipulator 450 can be adsorbed and fixed along the placement direction of the insole and the insole can be transferred and placed in the insole gluing mechanism 500 for gluing treatment.

[0085] Reference Figure 11-12 As shown: in actual use, it also includes a glue brushing machine 900 for applying glue to the insole, and the glue brushing machine 900 is provided with a reciprocating glue application roller 910, by placing the glue brushing machine 900 in the machine platform 100 and being located at one side end of the insole glue application mechanism 500, and providing a material receiving assembly 920 on the glue brushing machine 900, so that the material receiving assembly 920 is located between the insole feeding mechanism 300 and the glue brushing machine 900, wherein the material receiving assembly 920 includes a fixed frame 921, a material guide inclined plate 922 and a pushing cylinder 923, and the shape of the fixed frame 921 is an L-shaped structure, and the lower end of the fixed frame 921 is fixed on the machine platform 100, and the other end is horizontally placed on the glue application roller 910 of the glue brushing machine 900. The guide ramp 922 and the pushing cylinder 923 are installed on the upper end surface of the fixing frame 921, and the guide ramp 922 is provided with an inclined surface inclined inward from top to bottom to facilitate the sliding and falling of the insole, and the pushing cylinder 923 is located on the side of the guide ramp 922, which can better push the insole from the guide ramp 922, so that the insole slides along the upper to the gluing roller 910. During the specific operation, the insole in the insole feeding mechanism 300 is first transferred and placed on the inclined surface of the guide ramp 922 by the cylinder adsorption manipulator 450, and then the insole is pushed from the guide ramp 922 to the gluing roller 910 for gluing by the pushing cylinder 923 on one side.

[0086] Reference Figure 13-14As shown: Specifically, the insole gluing mechanism 500 includes a mounting frame 510, a conveying unit 520, a lifting unit 530 and a glue collecting box 540. The lower end of the mounting frame 510 is fixedly mounted on the machine 100, and the two ends of the conveying unit 520 are laterally mounted at the upper end of the mounting frame 510 to receive the glued insoles and convey the insoles backwards. The glue collecting box 540 is movably placed at the middle end of the mounting frame 510 and below the conveying unit 520, so that the glue overflowing from the insole can drip downward into the glue collecting box 540. When the glue is full, it can be replaced to avoid the glue in the glue collecting box 540 from overflowing and affecting the normal use of the equipment. The lifting unit 530 is then set on the rear outer side of the mounting frame 510, and the lifting arm 533 is extended toward the conveying unit 520 to lift the insole after gluing of the conveying unit 520, so that the insole can be stuffed into the robot assembly 600 for clamping and transfer to the shoe body.

[0087] Furthermore, the conveying unit 520 includes a conveying shaft 521, a conveying motor 522, a driving pulley 523 and a transmission wheel 524, wherein the conveying shaft 521 is installed at both ends of the mounting frame 510, and one end of the conveying shaft 521 passes through the mounting frame 510 and extends outward, and then the conveying motor 522 is fixed to the rear end outside of the mounting frame 510, and the driving pulley 523 is connected to the rotating shaft of the conveying motor 522 and one end of the conveying shaft 521, so as to form a linkage state, so that the conveying motor 522 drives the conveying shaft 521 to rotate through the driving pulley 523. In actual use, the number of transmission wheels 524 is set to be several, and several transmission wheels 524 are arrayed on the conveying shaft 521 at intervals, so that the upper end of the transmission wheel 524 abuts against the lower end surface of the insole, reducing the contact area with the insole, so that the glue can better drip downward into the glue collection box 540;

[0088] In addition, the number of conveying shafts 521 is also set to be plural, so as to increase the conveying distance, so that the excess glue can fall into the glue collection box 540 more fully, and the plurality of conveying shafts 521 are connected by a transmission pulley 523, and the transmission pulley 523 is sequentially mounted on the adjacent conveying shafts 521, so that the plurality of conveying shafts 521 are driven to rotate by the conveying motor 522, so that the excess glue on the insole can fall downward more fully.

[0089] Furthermore, the lifting unit 530 includes a driving cylinder 531, a transmission module 532, a lifting arm 533 and a fixing plate 534. An opening 511 is provided at the rear end of the mounting frame 510, so that the lifting unit 530 can be installed at the rear end of the mounting frame 510 and extend to the front conveying unit 520 to lift the insole, wherein the fixing plate 534 is installed at the rear end opening 511 of the mounting frame 510, and then a pressing shaft 535 is provided on the fixing plate 534, and then one end of the lifting arm 533 is extended from the opening 511. The front end of the lifting arm 533 extends backward, and the rear end of the lifting arm 533 is located below the pressing shaft 535, so that the pressing shaft 535 can be pressed against the lifting arm 533, thereby pressing and rolling, so that the lifting arm 533 can lift the insole upward, and the driving cylinder 531 is installed at the rear end of the mounting frame 510, and the transmission module is set between the driving cylinder 531 and the fixing plate 534 and the two are connected, so that the driving cylinder 531 can be driven and controlled by the transmission module, allowing the pressing shaft 535 to roll and press on the lifting arm 533.

[0090] Furthermore, the rear end of the lifting arm 533 is set to an inclined slope, so that when the pressing shaft 535 rolls on the top, the front end of the lifting arm 533 can be pressed and lifted; and the transmission module 532 includes a linear slide module 5321, a gear 5322, a rack 5323 and a fixed connection block 5324, by installing the fixed connection block 5324 on the piston rod extended by the driving cylinder 531, and then connecting and fixing the side end face of the fixed connection block 5324 to one side of the linear slide module 5321, and then Then, the rack 5323 is connected and fixed to the other side end of the linear slide module 5321, and the gear 5322 is mounted on the side end of the pressing shaft 535 and meshed with the rack 5323 for transmission; the driving cylinder 531 controls the fixed connecting block 5324 to move forward and backward, thereby driving the rack 5323 to move forward and backward through the fixed connecting block 5324, and the meshing transmission of the gear 5322 and the rack 5323 drives the pressing shaft 535 to rotate, and finally the lifting arm 533 performs a lifting movement.

[0091] Reference Figure 15-16 As shown: In this embodiment, the insole inserting robot assembly 600 includes a first multi-axis robot 610 and a clamping and inserting unit 620 arranged at the upper end thereof. By fixing the lower end of the first multi-axis robot 610 on the machine 100, and then connecting the other end to the upper end of the clamping and inserting unit 620, the clamping and inserting unit 620 can follow the first multi-axis robot 610 to rotate at multiple angles and directions, so as to clamp the glued insoles placed in different directions.

[0092] Specifically, the clamping and inserting unit 620 includes a mounting plate 621, a movable clamping claw 622 and a clamping claw lifting cylinder 623. One end of the mounting plate 621 is connected to the first multi-axis manipulator 610, and the other end is fixed on the upper side for the clamping claw lifting cylinder 623 to extend the piston rod downward. The clamping claw 622 includes a left clamping claw 622 and a right clamping claw 622, and the left clamping claw 622 and the right clamping claw 622 are both provided with a sliding groove 624. A clamping claw fixing plate 534 is provided at the lower end of the plug rod, so that the sliding grooves 624 of the left clamping claw 622 and the right clamping claw 622 are passed through and fixedly installed on the clamping claw fixing plate 534 by bolts, and the piston rod is moved up and down under the control of the clamping claw lifting cylinder 623, so that the left clamping claw 622 and the right clamping claw 622 are slid along the sliding grooves 624 through the bolts, so that the left clamping claw 622 and the right clamping claw 622 are respectively moved toward the center, and the two sides of the insole are squeezed and bent toward the center to facilitate insertion into the shoe body.

[0093] Reference Figure 18-19 As shown: In this embodiment, the insole fixing mechanism includes a front support frame 710, a rear support frame 720, a front sliding unit 730, a rear sliding unit 740, a front sliding cylinder 750, a rear sliding cylinder 760, a front clamping and stabilizing unit 770 and a rear clamping and stabilizing unit 780. The lower ends of the front support frame 710 and the rear support frame 720 are fixed on the machine 100, and then the front sliding unit 730 is installed on the upper end surface of the front support frame 710, and then the front clamping and stabilizing unit 770 is slidably installed on the front sliding unit 730, and then The front sliding cylinder 750 is then installed and fixed on one end of the front support frame 710, and a piston rod is extended to connect the front clamping and stabilizing unit 770 in front to control it to slide along the front sliding unit 730, and the front clamping and stabilizing unit 770 has a clamping block 790 that is unfolded in an "eight" shape, and the unfolding direction of the clamping block 790 is directed toward the direction of the rear clamping and stabilizing unit 780, and the clamping block 790 is made to rest and be fixed on the front end of the shoe body for firm clamping, and also cooperates with the rear clamping and stabilizing unit 780 at the rear to firmly clamp and fix the shoe body.

[0094] Furthermore, the rear sliding unit 740 is installed and fixed on the upper end surface of the rear support frame 720, and the rear clamping and stabilizing unit 780 is slidably installed on the rear sliding unit 740, and then the rear sliding cylinder 760 is installed and fixed on one end of the rear support frame 720, and is connected to the rear clamping and stabilizing unit 780 through its extended piston rod to control it to slide along the rear sliding unit 740, and the rear clamping and stabilizing unit 780 has a clamping block 790 that is unfolded in an "eight" shape, and the unfolding direction of the clamping block 790 is directed toward the position of the front clamping and stabilizing unit 770, and the clamping block 790 is abutted and fixed on the rear end of the shoe body, and cooperates with the front clamping and stabilizing unit 770 to firmly clamp and lock the shoe body to facilitate the insertion of the insole.

[0095] Reference Fig. 20 As shown: In this embodiment, the unloading robot assembly 800 includes a second multi-axis robot 810 and a unloading clamping hand 820. The lower end of the second multi-axis robot 810 is fixed to one side of the machine platform 100, and the unloading clamping hand 820 is installed and fixed on the second multi-axis robot 810 and rotates and swings horizontally therewith. In addition, a unloading clamping cylinder 830 is provided at the upper end of the unloading clamping hand 820 for controlling the unloading clamping hand 820 to clamp toward the center. The upper end of the unloading clamping hand 820 is controlled by the unloading clamping cylinder 830 so that the two ends of the unloading clamping hand 820 can be clamped toward the center and close to each other, thereby clamping the shoe body for transfer unloading.

[0096] In this embodiment, a CCD camera unit 840 is also provided on the unloading robot assembly 800. One end of the CCD camera unit 840 is fixed on the unloading clamping cylinder 830, and the CCD camera unit 840 is located next to the unloading clamping hand 820. It can more quickly and conveniently capture whether the insole is correctly inserted into the shoe body, and upload the captured data information, so as to issue a control instruction to the unloading clamping hand 820 to clamp and transfer the shoe body; if the insole is not correctly inserted into the position, the captured information is transmitted to the central control system 200 through the CCD camera unit 840, and a warning instruction is issued through the central control system 200 to facilitate manual removal of the insole and insert and install it again.

[0097] Reference Fig.17 As shown: In the present embodiment, the insole inserting robot assembly 600 also includes a folding rod, which is moved against the lower end surface of the insole and slides backward to reach the middle and rear end of the insole, so that the rear of the straight insole is folded downward under the influence of the folding rod, so as to facilitate faster and more portable insertion of the rear half of the insole into the shoe body.

[0098] The above are only preferred embodiments of the present invention, and only specifically describe the technical principles of the present invention. These descriptions are only for explaining the principles of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations here, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention, and other specific implementations of the present invention that can be associated with by technicians in this field without creative labor, should be included in the scope of protection of the present invention.

Claims

1. A fully automatic insole plugging device, including a machine with a protective door and a central control system, characterized in that: The machine is provided with an insole feeding mechanism, an insole loading robot assembly, an insole gluing mechanism, an insole inserting robot assembly, a shoe body fixing mechanism and a material unloading robot assembly, and they are all electrically connected to the central control system, and the central control system receives operation data and issues control instructions; The insole feeding mechanism is arranged at the rear end of the machine, and is used to temporarily store a number of insoles of different sizes, and select appropriate insoles for feeding when they need to be stuffed into shoes; The insole gluing mechanism is arranged in front of the insole feeding mechanism, and is used to apply glue to the lower end surface of the insole and wait for the glue to dry; The insole feeding manipulator assembly is arranged between the insole feeding mechanism and the insole gluing mechanism and is located at one side end thereof, and is used to transfer the insole in the insole feeding mechanism and place it in the insole gluing mechanism for gluing treatment; The shoe body fixing mechanism is arranged in front of the insole gluing mechanism and is used to clamp and fix the shoe body so that the insole after gluing can be put into the shoe body for firm installation; The insole inserting robot assembly is arranged between the shoe body fixing mechanism and the insole gluing mechanism and is located at one side end thereof, and is used to clamp and transfer the glued insole and stably put it into the shoe body for installation and fixing; The material cutting robot assembly is arranged between the shoe body fixing mechanism and the insole gluing mechanism and is located at the other side end thereof, and is used for detecting the shoe body after the insole is loaded and clamping the material cutting.

2. The fully automatic insole plugging equipment according to claim 1 is characterized by: The central control system is installed on the front of the protective door. The central control system includes a display screen, control buttons and a communication interface. The control buttons and communication interface are located below the display screen. The control buttons include an emergency stop button, a reset button, a start / stop button and a switch button for switching between manual and automatic modes. The communication interface transmits data programs with an external host via a data connection line.

3. The fully automatic insole plugging equipment according to claim 1 is characterized in that: The insole feeding mechanism comprises a rotating main shaft, a rotating disk, an insole temporary storage assembly and an insole lifting assembly, wherein the rotating disk is arranged on the rotating main shaft and is made to rotate in a circle, the number of the insole temporary storage assemblies is arranged in a plurality of groups, and the plurality of groups of insole temporary storage assemblies are arranged in a circular array on the upper end surface of the rotating disk and are used to store insoles of different sizes, and the insole lifting assembly is arranged on the lower end surface of the rotating disk and is located directly below one group of insole temporary storage assemblies, and is used to lift the insoles stored in the insole temporary storage assembly upwards for feeding; The insole temporary storage assembly comprises a front limit plate, a rear limit plate, a movable top plate and a limit rod, the rear limit plate is fixedly mounted at the edge of the turntable, the front limit plate is adjustably mounted on the turntable and is located in front of the rear limit plate, the limit rod is respectively mounted on the front limit plate and the rear limit plate and is surrounded to form a storage space for placing the insole, a through slot extending vertically is provided between the front limit plate and the rear limit plate and is located on the turntable, the movable top plate is placed in the through slot, the insole lifting assembly passes through the through slot from bottom to top and abuts against the lower end surface of the movable top plate, thereby lifting the insole located in the accommodating space upward, so that the insole is always at a standard height, so as to facilitate feeding and unloading; The insole lifting assembly includes a stabilizing frame, a screw rod, a servo motor, a movable plate, a push plate and a push rod. The screw rod is installed at the center of the stabilizing frame and extends downward through its lower end surface. The servo motor is arranged at the outer end of the stabilizing frame and is located next to the screw rod. The servo motor extends a rotating shaft downward, and a synchronous pulley unit is provided between the rotating shaft and the screw rod. The movable plate is installed on the screw rod and moves up and down with the rotation of the screw rod. The lower end of the push rod is installed on the movable plate, and the other end passes through the upper end surface of the stabilizing frame from the inside to the outside and extends upward. The push plate is fixed to the upper end of the push rod and moves up and down with it, thereby approaching / moving away from the movable top plate.

4. The fully automatic insole plugging equipment according to claim 3 is characterized by: The insole loading robot assembly includes a fixed bracket installed on the machine platform, a transverse sliding unit, a longitudinal sliding unit, a rotating cylinder and a cylinder adsorption robot, the transverse sliding unit is installed on the top of the fixed bracket, the longitudinal sliding unit is movably installed on the transverse sliding unit and moves horizontally therewith, the rotating cylinder is arranged on the longitudinal sliding unit and moves longitudinally up and down therewith, the cylinder adsorption robot is arranged on the rotating cylinder and rotates and adjusts therewith, the cylinder adsorption robot is controlled by the movement of the transverse sliding unit and the longitudinal sliding unit to achieve up, down, left and right movement between the insole feeding mechanism and the insole gluing mechanism, and through the rotation control of the rotating cylinder, the cylinder adsorption robot can adsorb and fix along the placement direction of the insole and transfer the insole to the insole gluing mechanism for gluing treatment.

5. The fully automatic insole plugging equipment according to claim 4 is characterized in that: The adhesive brushing machine is also included for applying adhesive to the insole, the adhesive brushing machine is provided with a adhesive roller that reciprocates, the adhesive brushing machine is placed in the machine platform and is located at one side end of the insole gluing mechanism, the adhesive brushing machine is provided with a material receiving assembly and is located between the insole feeding mechanism and the adhesive brushing machine, the material receiving assembly includes a fixed frame, a material guide inclined plate and a pushing cylinder, the fixed frame is in an L-shaped structure and has a lower end fixed on the machine platform, and the other end is horizontally placed beside the adhesive roller of the adhesive brushing machine, the material guide inclined plate and the pushing cylinder are both installed on the upper end surface of the fixed frame, the material guide inclined plate is provided with an inclined surface that tilts inward from top to bottom to facilitate the insole to slide in, the cylinder adsorption manipulator transfers the insole in the insole feeding mechanism and places it on the inclined surface of the material guide inclined plate, and pushes the insole to the adhesive roller for adhesive processing by the pushing cylinder; The insole gluing mechanism includes a mounting frame, a conveying unit, a lifting unit and a glue collecting box. The lower end of the mounting frame is fixedly mounted on the machine platform, and both ends of the conveying unit are transversely mounted at the upper end of the mounting frame for receiving the glued insoles and conveying them backwards. The glue collecting box is movably placed at the middle end of the mounting frame and below the conveying unit. The lifting unit is arranged on the rear and outer side of the mounting frame, and a lifting arm is extended toward the conveying unit to lift the glued insoles of the conveying unit, so that the insoles can be stuffed into the robot assembly for clamping and transfer to the shoe body.

6. The fully automatic insole plugging equipment according to claim 5 is characterized by: The insole inserting robot assembly includes a first multi-axis robot and a clamping and inserting unit arranged at the upper end thereof, wherein the lower end of the first multi-axis robot is fixed on the machine platform, and the other end is connected to the upper end of the clamping and inserting unit and is provided for the robot to rotate at multiple angles and in multiple directions, so as to clamp the insole after gluing; The clamping and inserting unit includes a mounting plate, a movably clamping clamping claw and a clamping claw lifting cylinder, one end of the mounting plate is connected to the first multi-axis manipulator, and the other end is for the clamping claw lifting cylinder to install and fix and extend a piston rod downward, the clamping claw includes a left clamping claw and a right clamping claw, and the left clamping claw and the right clamping claw are both provided with a sliding groove, the lower end of the piston rod is provided with a clamping claw fixing plate, the sliding grooves of the left clamping claw and the right clamping claw are passed through and fixedly installed on the clamping claw fixing plate by bolts, and the piston rod is moved up and down with the control of the clamping claw lifting cylinder, so that the left clamping claw and the right clamping claw are slid and moved along the sliding groove by the bolts, so that the left clamping claw and the right clamping claw are respectively moved closer to the middle, and the two sides of the insole are squeezed and bent toward the middle to facilitate insertion into the shoe body.

7. The fully automatic insole plugging equipment according to claim 6 is characterized by: The insole fixing mechanism comprises a front support frame, a rear support frame, a front sliding unit, a rear sliding unit, a front sliding cylinder, a rear sliding cylinder, a front clamping and stabilizing unit and a rear clamping and stabilizing unit, the lower ends of the front support frame and the rear support frame are mounted and fixed on the machine platform, the front sliding unit is mounted on the upper end surface of the front support frame, the front clamping and stabilizing unit is slidably mounted on the front sliding unit, the front sliding cylinder is mounted and fixed on one end of the front support frame, and controls the front clamping and stabilizing unit to slide along the front sliding unit, the front clamping and stabilizing unit has a clamping block that is unfolded in an "eight" shape, the unfolding direction of the clamping block is toward the rear clamping and stabilizing unit, and the clamping block is abutted and fixed on the front end of the shoe body; The rear sliding unit is installed and fixed on the upper end surface of the rear support frame, and the rear clamping and stabilizing unit is slidably installed on the rear sliding unit. The rear sliding cylinder is installed and fixed on one end of the rear support frame, and controls the rear clamping and stabilizing unit to slide along the rear sliding unit. The rear clamping and stabilizing unit has a clamping block that is unfolded in an "eight" shape, and the unfolding direction of the clamping block is toward the front clamping and stabilizing unit, so that the clamping block is abutted and fixed on the rear end of the shoe body.

8. The fully automatic insole plugging equipment according to claim 7 is characterized in that: The unloading robot assembly includes a second multi-axis robot and an unloading clamping arm. The lower end of the second multi-axis robot is fixed on one side of the machine platform. The unloading clamping arm is installed and fixed on the second multi-axis robot and rotates and swings horizontally with it. The upper end of the unloading clamping arm is also provided with an unloading clamping cylinder for controlling it to clamp toward the center. The unloading clamping cylinder controls the upper end of the unloading clamping arm so that the two ends of the unloading clamping arm can be clamped toward the center and close together, thereby clamping the shoe body for transferring unloading.

9. The fully automatic insole plugging equipment according to claim 8, characterized in that: The unloading robot assembly is also provided with a CCD camera unit, one end of which is fixed on the unloading clamping cylinder, and the CCD camera unit is located next to the unloading clamping hand, for photographing whether the insole is correctly inserted into the shoe body, and uploading the photographed data information, thereby issuing control instructions to the unloading clamping hand to clamp and transfer the shoe body.

10. The fully automatic insole plugging equipment according to claim 5, characterized in that: The insole insertion robot assembly also includes a folding rod, which is movably pressed against the lower end surface of the insole and slides backwards, so that the folding rod reaches the middle and rear end position of the insole, thereby folding the rear end of the insole downward to facilitate faster insertion into the shoe body.

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