Stacked vamp classification equipment and control method thereof

Abstract

The invention relates to the technical field of vamp processing and classifying equipment, and provides stacked vamp classifying equipment, the weight of stacked vamps is obtained in the conveying process through a second conveying belt, then the weight of the stacked vamps and the standard weight of a single piece are compared through a controller, and the specific number of the stacked vamps is calculated; and finally, stacking vamps with insufficient quantity, excessive quantity and standard quantity are classified through a screening unit arranged on a third conveying belt. According to the device, manual counting is replaced, automatic counting is achieved, and the inadequate number, the excessive number and the standard number of stacked vamps can be accurately classified. The invention further provides a control method of the equipment, and the method not only improves the working efficiency, but also reduces the working error, and the control method of the equipment not only improves the working efficiency, but also reduces the working error.

Description

Technical Field

[0001] The invention relates to the technical field of shoe upper processing and sorting equipment, and in particular to a palletizing shoe upper sorting equipment and a control method thereof. Background Art

[0002] Shoes are made of leather, cloth, rubber, plastic and other materials, each with its own characteristics and suitable for different occasions. Shoes cover a wide range of design styles from classic retro to trendy, satisfying people's pursuit of fashion and individuality. The upper is an important part of the shoe, which plays a role in protecting the foot and carries the overall style and image of the shoe in appearance.

[0003] In today's society, with the continuous advancement of science and technology, the manufacturing and production process of shoes is undergoing automation innovation. The application of automation technology in the field of footwear production has brought many advantages and changes, which have had a profound impact on the development of the entire footwear industry. The application of automation technology can speed up production, reduce the impact of human factors, and improve production efficiency and scale production capacity. This not only helps to reduce production costs, but also ensures the stability and consistency of product quality.

[0004] CN109238422A discloses a weighing and counting method and device, comprising the following steps: setting parameters on a weighing meter. The weighing meter records the current total weight on the weighing platform as the total weight T before loading, and the total number N on the weighing platform = 0. The stacking mechanism continuously collects a small pile of products with a length of a material collection time t less than or equal to SM from the production conveyor belt, and moves them to the weighing platform at one time. The weighing meter uses the stabilized weighing value as the current total weight G. The weighing meter calculates (GT) / m, and adds M to the total number N. The weighing meter makes a judgment. The weighing meter outputs a warning instruction. The weighing and counting device uses a weighing platform and a weighing meter to form a weighing device, and also has a stacking mechanism arranged between the continuously running production conveyor belt and the weighing platform, the stacking mechanism is electrically connected to the weighing meter, and the stacking mechanism carries a number of products unloaded from the production conveyor belt within a certain period of time and is controlled by the weighing meter to transport the carried products to the weighing platform. The weighing and counting method and device disclosed above do not have a screening function after the quantity difference. After weighing is completed, the operator needs to move or control the next station, which cannot realize automated production and has low efficiency.

[0005] Based on this, the technical problems solved in this case are: solving the errors and low efficiency of manual counting; automatically performing corresponding screening according to the differences in actual quantities and reducing the labor intensity of workers. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a stacking shoe upper classification device, which not only replaces manual counting and realizes automatic counting, but also can accurately classify the stacking shoe uppers with insufficient quantity, excessive quantity and standard quantity, which not only improves the work efficiency but also reduces the work error; and also provides a control method for the above device, which not only improves the work efficiency but also reduces the work error.

[0007] The technical solution of the present invention is:

[0008] A stacked shoe upper classification device comprises a controller and a first conveyor belt, a second conveyor belt and a third conveyor belt connected in sequence, wherein the second conveyor belt is provided with a weighing unit for measuring the weight of a specified number of stacked shoe uppers; the third conveyor belt is provided with a screening unit for classifying the stacked shoe uppers; the weighing unit and the screening unit are both connected to the controller signal; the controller is used to receive the weight signal sent by the weighing unit, and generate a quantity signal to send to the screening unit, and the controller is also used to control the transmission speed and start and stop of the first conveyor belt, the second conveyor belt and the third conveyor belt; the screening unit comprises a first classification module and a second classification module arranged front and back along the conveying direction of the third conveyor belt; the first classification module is connected to the controller signal and is used to screen the stacked shoe uppers exceeding the specified number; the second classification module is connected to the controller signal and is used to screen the stacked shoe uppers less than the specified number.

[0009] In the above-mentioned palletizing shoe upper sorting equipment, the weighing unit includes a weight sensor, a support plate, and a signal transmitter; the support plate is arranged directly below the second conveyor belt; the weight sensor is arranged on the support plate, and the sensing part of the weight sensor is used to detect the weight change of the second conveyor belt; the signal transmitter is arranged below the sensing part of the weight sensor and is used to send a weight signal to the controller.

[0010] In the above-mentioned stacked shoe upper classification equipment, the first classification module includes a first drive component and a first sensor; the first drive component is arranged on a third conveyor belt, and the power output end of the first drive component is provided with a first connecting plate for increasing the pushing contact area; the first sensor is arranged on the third conveyor belt and is used to detect the position of the stacked shoe upper.

[0011] In the above-mentioned palletized shoe upper classification equipment, the second classification module includes a second drive component and a second sensor; the second drive component is arranged on a third conveyor belt, and the power output end of the second drive component is provided with a second connecting plate for increasing the pushing contact area; the second sensor is arranged on the third conveyor belt and is used to detect the position of the stacked shoe upper.

[0012] In the above-mentioned palletized shoe upper classification equipment, it also includes a collection unit, which includes a first collection box for collecting the palletized shoe uppers that exceed the specified number screened out by the first classification module, and a second collection box for collecting the palletized shoe uppers that are less than the specified number screened out by the second classification module. The first collection box and the second collection box are both arranged on the third conveyor belt.

[0013] In the above-mentioned palletized shoe uppers sorting device, the collecting unit further includes a third collecting box, and the third collecting box is used to collect the palletized shoe uppers whose quantity is equal to the specified quantity.

[0014] In the above-mentioned palletizing shoe upper classification device, a recording unit is also included. The recording unit is connected to the controller signal and is used to record the number of shoe uppers.

[0015] A control method for a palletizing shoe upper sorting device as described above comprises the following steps:

[0016] Step 1: Loading: placing the stacked uppers on the first conveyor belt and transporting them to the second conveyor belt;

[0017] Step 2: weighing. The stacked shoe uppers enter the sensing part of the weight sensor on the second conveyor belt. The weight sensor measures the weight of the stacked shoe uppers and generates a weight signal to send to the controller.

[0018] Step 3, the controller calculates the actual number of uppers by combining the measured weight signal with the preset single upper weight and weight signal;

[0019] When the actual quantity exceeds the specified quantity, go to step 31;

[0020] When the actual quantity is less than the specified quantity, go to step 32;

[0021] When the actual quantity is equal to the specified quantity, return to step 1;

[0022] Step 31, when the first sensor detects the stacked shoe uppers, the first sensor sends a first position signal to the controller, and the controller drives the first driving component to push the stacked shoe uppers exceeding the specified number into the first collection box, and returns to step 1;

[0023] Step 32: When the second sensor detects the stacked shoe uppers, the second sensor sends a second position signal to the controller, and the controller drives the second drive assembly to push the stacked shoe uppers less than the specified number into the second collection box, and returns to step 1.

[0024] The above control method also includes step 4, wherein the recording unit records the number of stacked shoe uppers exceeding the specified number in the first collection box, the number of stacked shoe uppers less than the specified number in the second collection box, and the number of stacked shoe uppers equal to the specified number in the third collection box.

[0025] In the above control method, in step 1, an external robot is used to load the material.

[0026] One of the above technical solutions of the present invention has at least one of the following advantages or beneficial effects:

[0027] The stacked shoe upper classification device of the present invention obtains the weight of the stacked shoe uppers during the transmission process through the second conveyor belt, and then compares the weight of the stacked shoe uppers with the standard weight of a single piece through a controller to calculate the specific number of stacked shoe uppers, and finally classifies the stacked shoe uppers of insufficient quantity, excessive quantity and standard quantity through a screening unit arranged on the third conveyor belt. The device not only replaces manual counting and realizes automatic counting, but also can accurately classify the stacked shoe uppers of insufficient quantity, excessive quantity and standard quantity. It not only improves the work efficiency, but also reduces the work error.

[0028] In addition, the control method of the present invention can avoid the problem of weighing data errors on the one hand and shorten the detection cycle time on the other hand by adjusting the timing of loading. In addition, the detection cycle time can be further shortened by adjusting the length and conveying rate of the first conveyor belt, the second conveyor belt, and the third conveyor belt to meet large-scale production activities. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a stereogram of embodiment 1 of the present invention;

[0030] Figure 2 It is a front view of embodiment 1 of the present invention;

[0031] Figure 3 It is a left side view of embodiment 1 of the present invention;

[0032] Figure 4 It is a front view of the weighing unit of Example 1 of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example 1

[0035] See also Figures 1 to 4A stacked shoe upper classification device comprises a controller 1 and a first conveyor belt 2, a second conveyor belt 3, and a third conveyor belt 4 connected in sequence, wherein the second conveyor belt 3 is provided with a weighing unit 31 for measuring the weight of a specified number of stacked shoe uppers; the third conveyor belt 4 is provided with a screening unit 41 for classifying the stacked shoe uppers; the weighing unit 31 and the screening unit 41 are both connected to the controller 1 by signal; the controller 1 is used to receive the weight signal sent by the weighing unit 31, and generate a quantity signal and send it to the screening unit 41, and the controller 1 is also used to control the transmission speed and start and stop of the first conveyor belt 2, the second conveyor belt 3, and the third conveyor belt 4; the screening unit 41 comprises a first classification module 411 and a second classification module 412 arranged front and back along the conveying direction of the third conveyor belt 4; the first classification module 411 is connected to the controller 1 by signal and is used to screen the stacked shoe uppers exceeding the specified number; the second classification module 412 is connected to the controller 1 by signal and is used to screen the stacked shoe uppers less than the specified number.

[0036] The working process in this embodiment is as follows: the stacked shoe uppers are placed on the first conveyor belt 2, and the first conveyor belt 2 conveys the stacked shoe uppers to the second conveyor belt 3 under the control of the controller 1. The stacked shoe uppers generate pressure changes on the second conveyor belt 3 during the process of passing through the second conveyor belt 3. After receiving the pressure change, the weighing unit 31 generates data and sends a corresponding data signal to the controller 1. The controller 1 obtains the specific number of the stacked shoe uppers through its own calculation function, and then compares whether there is a difference with the set number. If there is no difference, the stacked shoe uppers directly enter the third conveyor belt 4. If it is more than the set number, the controller 1 sends an instruction to the first classification module 411 to screen the stacked shoe uppers; if it is less than the set number, the controller 1 sends an instruction to the second classification module 412 to screen the stacked shoe uppers.

[0037] In this embodiment, it should be noted that the main function of the first conveyor belt 2 is to receive the stacked uppers, so as to avoid the weight error caused by the weighing unit 31 caused by placing the stacked uppers directly on the second conveyor belt 3; the first conveyor belt 2 can smoothly transfer the stacked uppers to the second conveyor belt 3. The stacked upper classification equipment of this embodiment obtains the weight of the stacked uppers through the second conveyor belt 3 during the transmission process, and then compares the weight of the stacked uppers with the standard weight of a single piece through the controller 1, calculates the specific number of stacked uppers, and finally classifies the stacked uppers with insufficient quantity, excessive quantity and standard quantity through the screening unit 41 set on the third conveyor belt 4. This equipment not only replaces manual counting and realizes automatic counting, but also can accurately classify the stacked uppers with insufficient quantity, excessive quantity and standard quantity. It not only improves the work efficiency, but also reduces the work error.

[0038] In this embodiment, specifically, the weighing unit 31 includes a weight sensor 311, a support plate 312, and a signal transmitter 313; the support plate 312 is arranged directly below the second conveyor belt 3; the weight sensor 311 is arranged on the support plate 312, and the sensing part of the weight sensor 311 is used to detect the weight change of the second conveyor belt 3; the signal transmitter 313 is arranged below the sensing part of the weight sensor 311 and is used to send a weight signal to the controller 1.

[0039] In this embodiment, more specifically, the front end and the rear end of the sensing part of the weight sensor 311 are in contact with the two ends of the second conveyor belt 3, respectively, so as to accurately sense the weight change process of the second conveyor belt 3 over a wide range. Preferably, the weight sensor 311 is a high-precision detection device with an accuracy of ±0.3g.

[0040] As a preferred embodiment of this embodiment, the first classification module 411 includes a first drive component 4111 and a first sensor 4112; the first drive component 4111 is arranged on the third conveyor belt 4, and the power output end of the first drive component 4111 is provided with a first connecting plate 4113 for increasing the pushing contact area; the first sensor 4112 is arranged on the third conveyor belt 4 and is used to detect the position of the stacked shoe uppers.

[0041] As a preferred embodiment of this embodiment, the second classification module 412 includes a second drive component 4121 and a second sensor 4122; the second drive component 4121 is arranged on the third conveyor belt 4, and the power output end of the second drive component 4121 is provided with a second connecting plate 4123 for increasing the pushing contact area; the second sensor 4122 is arranged on the third conveyor belt 4 and is used to detect the position of the stacked shoe uppers.

[0042] In the above preferred embodiment, in order to speed up the response speed, the first driving component 4111 is a first cylinder. In addition, the above preferred embodiment also increases the applicable scope of the device through the first connecting plate 4113 and the second connecting plate 4123, and can be applied to the size and thickness of the stacking upper.

[0043] Of course, it should be noted that in other embodiments, the first driving component 4111 may also be driven by a motor or a cylinder.

[0044] In this embodiment, preferably, a collecting unit 5 is also included, and the collecting unit 5 includes a first collecting box 51 for collecting the stacked shoe uppers exceeding the specified number screened out by the first sorting module 411, and a second collecting box 52 for collecting the stacked shoe uppers less than the specified number screened out by the second sorting module 412, and the first collecting box 51 and the second collecting box 52 are both arranged on the third conveyor belt 4.

[0045] In this embodiment, further preferably, the collecting unit 5 further includes a third collecting box 53, and the third collecting box 53 is used to collect the stacked shoe uppers whose quantity is equal to the designated quantity.

[0046] In other embodiments, in order to improve the degree of automation, the third collection box 53 can be replaced by a conveyor belt to directly transfer to the next process.

[0047] In this embodiment, in order to more conveniently and quickly count the number of uppers and improve production efficiency, a recording unit is also included. The recording unit is connected to the controller 1 by signal and is used to record the number of uppers.

[0048] Example 2

[0049] A control method for the palletizing shoe upper sorting device as described in Example 1 comprises the following steps:

[0050] In this embodiment, the control method of the palletizing shoe upper classification device comprises the following steps:

[0051] Step 1: Loading: placing the stacked uppers on the first conveyor belt 2 and conveying them to the second conveyor belt 3;

[0052] Step 2: weighing. The stacked shoe uppers enter the sensing part of the weight sensor 311 on the second conveyor belt 3. The weight sensor 311 measures the weight of the stacked shoe uppers and generates a weight signal to be sent to the controller 1.

[0053] Step 3, the controller 1 calculates the actual number of uppers by combining the measured weight signal with the preset single upper weight and weight signal;

[0054] When the actual quantity exceeds the specified quantity, go to step 31;

[0055] When the actual quantity is less than the specified quantity, go to step 32;

[0056] When the actual quantity is equal to the specified quantity, return to step 1;

[0057] Step 31, when the first sensor 4112 detects the stacked shoe uppers, the first sensor 4112 sends a first position signal to the controller 1, and the controller 1 drives the first driving component 4111 to push the stacked shoe uppers exceeding the specified number into the first collection box 51, and returns to step 1;

[0058] Step 32, when the second sensor 4122 detects the stacked shoe uppers, the second sensor 4122 sends a second position signal to the controller 1, and the controller 1 drives the second drive assembly 4121 to push the stacked shoe uppers less than the specified number into the second collection box 52, and returns to step 1.

[0059] The control method of this embodiment can avoid the problem of weighing data errors on the one hand by adjusting the timing of loading, and can shorten the detection cycle time on the other hand. In addition, the detection cycle time can be further shortened by adjusting the length and conveying rate of the first conveyor belt 2, the second conveyor belt 3, and the third conveyor belt 4 to meet large-scale production activities.

[0060] The specific process is as follows: The workflow in this embodiment is: the stacked shoe uppers are placed on the first conveyor belt 2, and the first conveyor belt 2 conveys the stacked shoe uppers to the second conveyor belt 3 under the control of the controller 1. The stacked shoe uppers generate pressure changes on the second conveyor belt 3 during the process of passing through the second conveyor belt 3. After receiving the pressure change, the weighing unit 31 generates data and sends a corresponding data signal to the controller 1. The controller 1 obtains the specific number of stacked shoe uppers through its own calculation function, and then compares whether there is a difference with the set number. If there is no difference, the stacked shoe uppers directly enter the third conveyor belt 4. If it is more than the set number, the controller 1 sends an instruction to the first classification module 411 to screen the stacked shoe uppers; if it is less than the set number, the controller 1 sends an instruction to the second classification module 412 to screen the stacked shoe uppers.

[0061] When the actual quantity exceeds the specified quantity, the process goes to step 31. The stacked shoe uppers are weighed by the second conveyor belt 3 and then input to the third conveyor belt 4. When the stacked shoe uppers pass through the first sensor 4112 in the first classification module 411, the first sensor 4112 senses the stacked shoe uppers passing through and sends a first position signal to the controller 1. When the controller 1 receives the quantity signal and determines that the number of shoe uppers is more than the specified quantity, the controller 1 sends a first screening signal to the first classification module 411, and controls the first classification module 411 to screen the stacked shoe uppers into the first collection box 51, so as to classify the stacked shoe uppers exceeding the specified quantity.

[0062] When the actual quantity is less than the specified quantity, the process goes to step 32. When the stacked shoe uppers are weighed by the second conveyor belt 3 and input to the third conveyor belt 4, and the controller 1 determines that the number of shoe uppers is less than the specified quantity, the first sensor 4112 does not send a first position signal to the controller 1, the controller 1 does not send a first screening signal to the first classification module 411, and the first classification module 411 does not act; the third conveyor belt 4 continues to be transmitted to the second sensor 4122 of the second classification module 412, and the second sensor 4122 senses the passing stacked shoe uppers and sends a second position signal to the controller 1. After receiving the second position signal, the controller 1 sends a second screening signal to the second classification module 412, and controls the second classification module 412 to push the stacked shoe uppers into the second collection box 52, so as to realize the classification of the stacked shoe uppers less than the specified quantity;

[0063] When the actual quantity is equal to the specified quantity: when the stacked shoe uppers are weighed by the second conveyor belt 3 and input into the third conveyor belt 4, the controller 1 determines that the number of shoe uppers is normal compared with the specified number; the first sensor 4112 does not send the first position signal, the controller 1 does not send the first screening signal, and the first classification module 411 does not act; the second sensor 4122 does not send the second position signal, the controller 1 does not send the second screening signal, and the second classification module 412 does not act; the third conveyor belt 4 moves continuously under the control of the controller 1 and is transmitted to the third collection box 53 to complete the classification of the stacked shoe uppers; the above process is repeated to realize the inventory work of large quantities of shoe uppers.

[0064] In this embodiment, in order to more effectively realize digital management of production needs and to be able to promptly reflect the quantity differences of incoming materials, step 4 is also included, and the recording unit records the stacked shoe uppers exceeding the specified number in the first collection box 51, the stacked shoe uppers less than the specified number in the second collection box 52, and the stacked shoe uppers equal to the specified number in the third collection box 53.

[0065] In this embodiment, in step 1, an external robot is used to load the material. When the first screening signal is issued, the external robot immediately loads the material, further shortening the detection cycle time to meet large-scale production activities.

[0066] In this embodiment, after the stacked shoe uppers on the external manipulator reach the first conveyor belt 2, they are conveyed at the highest speed under the control of the controller 1 signal, and are gently reduced to a low speed when they are about to reach a distance before the second conveyor belt 3; the stacked shoe uppers enter the second conveyor belt 3 and are conveyed at a set constant speed to pass the weighing to prevent speed changes from affecting the weighing accuracy; the stacked shoe uppers enter the third conveyor belt 4 and are conveyed at a medium speed. After the screening unit completes the classification, preferably when the first screening signal is issued, the external manipulator performs the loading operation again, and the classification and counting of the stacked shoe uppers are carried out in a cycle.

[0067] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A palletizing shoe upper sorting device, comprising a controller and a first conveyor belt, a second conveyor belt, and a third conveyor belt connected in sequence, characterized in that: The second conveyor belt is provided with a weighing unit for measuring the weight of a specified number of stacked shoe uppers; the third conveyor belt is provided with a screening unit for classifying the stacked shoe uppers; the weighing unit and the screening unit are both connected to the controller signal; the controller is used to receive the weight signal sent by the weighing unit, and generate a quantity signal to send to the screening unit, and the controller is also used to control the transmission speed and start and stop of the first conveyor belt, the second conveyor belt and the third conveyor belt; the screening unit includes a first classification module and a second classification module arranged front and back along the conveying direction of the third conveyor belt; the first classification module is connected to the controller signal and is used to screen the stacked shoe uppers that exceed the specified number; the second classification module is connected to the controller signal and is used to screen the stacked shoe uppers that are less than the specified number.

2. The palletizing shoe upper sorting device according to claim 1 is characterized in that: The weighing unit includes a weight sensor, a support plate, and a signal transmitter; the support plate is arranged directly below the second conveyor belt; the weight sensor is arranged on the support plate, and the sensing part of the weight sensor is used to detect the weight change of the second conveyor belt; the signal transmitter is arranged below the sensing part of the weight sensor and is used to send a weight signal to the controller.

3. The device for sorting palletized shoe uppers according to claim 1, characterized in that: The first classification module includes a first drive assembly and a first sensor; the first drive assembly is arranged on a third conveyor belt, and a first connecting plate for increasing a pushing contact area is provided at a power output end of the first drive assembly; the first sensor is arranged on the third conveyor belt and is used to detect the position of the stacked shoe uppers.

4. The device for sorting palletized shoe uppers according to claim 3, characterized in that: The second classification module includes a second drive assembly and a second sensor; the second drive assembly is arranged on a third conveyor belt, and the power output end of the second drive assembly is provided with a second connecting plate for increasing the pushing contact area; the second sensor is arranged on the third conveyor belt and is used to detect the position of the stacked shoe uppers.

5. The device for sorting palletized shoe uppers according to claim 4, characterized in that: It also includes a collecting unit, which includes a first collecting box for collecting the stacked shoe uppers exceeding the specified number screened out by the first sorting module, and a second collecting box for collecting the stacked shoe uppers less than the specified number screened out by the second sorting module, and the first collecting box and the second collecting box are both arranged on the third conveyor belt.

6. The device for sorting palletized shoe uppers according to claim 5, characterized in that: The collecting unit further comprises a third collecting box, and the third collecting box is used to collect the stacked shoe uppers whose quantity is equal to the designated quantity.

7. The device for sorting palletized shoe uppers according to claim 1, characterized in that: It also includes a recording unit, which is connected to the controller signal and is used to record the number of shoe uppers.

8. A control method for the palletizing shoe upper sorting device according to any one of claims 1 to 7, characterized in that: The steps include: Step 1: Loading: placing the stacked uppers on the first conveyor belt and transporting them to the second conveyor belt; Step 2: weighing. The stacked shoe uppers enter the sensing part of the weight sensor on the second conveyor belt. The weight sensor measures the weight of the stacked shoe uppers and generates a weight signal to send to the controller. Step 3, the controller calculates the actual number of uppers by combining the measured weight signal with the preset single upper weight and weight signal; When the actual quantity exceeds the specified quantity, go to step 31; When the actual quantity is less than the specified quantity, go to step 32; When the actual quantity is equal to the specified quantity, return to step 1; Step 31, when the first sensor detects the stacked shoe uppers, the first sensor sends a first position signal to the controller, and the controller drives the first driving component to push the stacked shoe uppers exceeding the specified number into the first collection box, and returns to step 1; Step 32: When the second sensor detects the stacked shoe uppers, the second sensor sends a second position signal to the controller, and the controller drives the second drive assembly to push the stacked shoe uppers less than the specified number into the second collection box, and returns to step 1.

9. The control method according to claim 8, characterized in that: The method also includes step 4, wherein the recording unit records the number of stacked shoe uppers exceeding the specified number in the first collection box, the number of stacked shoe uppers less than the specified number in the second collection box, and the number of stacked shoe uppers equal to the specified number in the third collection box.

10. The control method according to claim 8, characterized in that: In the step 1, a peripheral robot is used to load the material.

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