Counting mechanism for shoe sole stacking device

Abstract

The invention discloses a counting mechanism for a shoe sole stacking device, and relates to the technical field of counting mechanisms. The counting mechanism for the shoe sole stacking device comprises a counting sensor arranged on a stacking device body, the counting sensor comprises a lens, the stacking device body comprises a base and a stacking mechanical arm, an adsorption module is arranged on the stacking mechanical arm and comprises a plurality of suction heads, and the suction heads are arranged on the base. And the counting sensor is connected with the side wall of the adsorption module through a moving mechanism. According to the counting mechanism for the shoe sole stacking device, the lens of the counting sensor is arranged in the conical cover, the influence of external dust and light can be avoided, meanwhile, interference of color similarity and texture similarity can be avoided, double counting can be achieved, and the counting accuracy is guaranteed; the counting sensor can be conveniently cooled, and the counting accuracy is guaranteed; the bottom of the shoe sole and the defects of the bottom can be conveniently detected, and the counting effect is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of counting mechanisms, in particular to a counting mechanism for a sole stacking device. Background Art

[0002] During the production process of shoe soles, a palletizing device is needed to grab and palletize them. The palletizing device currently used is mainly a palletizing robot. In order to ensure the palletizing effect, a counting mechanism is also needed to count the soles before palletizing to ensure that the soles are not missed or counted repeatedly during the palletizing process, thereby improving production efficiency. The palletizing device currently used is mainly a counting sensor.

[0003] However, the existing counting mechanism for the sole stacking device is easily affected by impurities such as dust and external light when in use. At the same time, it is also disturbed by color similarity and texture similarity. When the color of the sole is similar to the color of the background or other objects, the camera or algorithm may be difficult to distinguish, resulting in misjudgment. If the texture of the sole is similar to that of other objects or background textures, the visual sensor may not be able to accurately identify it, which will also affect the accuracy of the counting results. During the counting process, when the temperature of the counting sensor is high, it will also affect the accuracy of the counting results. In addition, it is not convenient to detect defects on the surface of the sole, which will affect the counting effect. Summary of the invention

[0004] The object of the present invention is to provide a counting mechanism for a shoe sole stacking device to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a counting mechanism for a sole palletizing device, comprising a counting sensor arranged on a palletizing device body, the counting sensor comprising a lens, and the palletizing device body comprising a base and a palletizing robot, an adsorption module being arranged on the palletizing robot, and the adsorption module comprising a plurality of suction heads, the counting sensor being connected to a side wall of the adsorption module via a moving mechanism, and an annular cover being fixedly mounted on the side wall of the counting sensor, a conical cover being connected to the bottom of the annular cover via a telescopic mechanism, and the conical cover being sleeved on the side wall of the lens, an identification plate being connected to the bottom of the conical cover via a lifting module, and a liquid supply mechanism for supplying coolant into the annular cover being arranged on the side wall of the annular cover, a counting assembly being arranged on the side wall of the annular cover for counting the lifting and lowering of the conical cover, and a detection mechanism for detecting the surface quality of the sole being arranged below the adsorption module.

[0006] Preferably, the counting assembly includes a first fixed rod fixedly connected to the side wall of the annular cover, and the end of the first fixed rod is fixedly connected to a circular ring, a mark is provided on the circular ring, and the side wall of the annular cover is rotatably connected to a rotating rod, a pointer is fixedly connected to the side wall of the rotating rod, and the side wall of the annular cover is fixedly connected to a first L-shaped plate, the top of the first L-shaped plate is fixedly connected to a first visual sensor, and the side wall of the first L-shaped plate is provided with a circular hole, a rubber ring is fixedly connected in the circular hole, and the rubber ring is sleeved on the side wall of the rotating rod, and the rotation of the rotating rod is driven by a driving mechanism.

[0007] Preferably, the liquid supply mechanism includes two symmetrically arranged first T-shaped guide rods fixedly connected to the side wall of the annular cover, and the side wall of the first T-shaped guide rod is sleeved with a first moving block, the side wall of each of the first T-shaped guide rods is sleeved with a first spring, and a liquid supply pipe and a liquid return pipe are fixedly inserted at the top of the annular cover, the tops of the liquid supply pipe and the liquid return pipe are fixedly connected to an insulation box, and a refrigeration module is arranged in the insulation box, a first one-way valve is arranged in the liquid supply pipe, and a second one-way valve is arranged in the liquid return pipe, a second moving block is slidably connected in the insulation box, and a connecting plate is fixedly connected between the second moving block and the first moving block, the top of the base is fixedly connected to a support rod, and the side wall of the support rod is fixedly connected to a baffle rod.

[0008] Preferably, the telescopic mechanism includes two symmetrically arranged first sets of rods fixedly connected to the bottom of the annular cover, and the side wall of each first set of rods is sleeved with a first sleeve, the lower end of the first sleeve is fixed to the top of the conical cover, and the side wall of each first sleeve is sleeved with a second spring.

[0009] Preferably, the driving mechanism includes a plurality of fixed blocks arranged in an array and fixedly connected to the side walls of the rotating rod, and the side walls of the conical cover are fixedly connected to a first L-shaped block, the top of the first L-shaped block is fixedly connected to a fixed cover, and a sliding plate is slidably connected inside the fixed cover, a third spring is fixedly connected between the sliding plate and the fixed cover, and the side walls of the sliding plate are fixedly connected to a plurality of triangular blocks arranged in an array, and the triangular blocks include an inclined surface and a flat surface.

[0010] Preferably, the moving mechanism includes a beveled U-shaped frame fixedly connected to the side wall of the adsorption module, and a first slide groove is opened on the top of the beveled U-shaped frame, the first slide groove includes a first beveled groove, a horizontal groove and a second beveled groove connected end to end, and the side wall of the beveled U-shaped frame is fixedly connected to a mounting plate, the top of the mounting plate is fixedly connected to a guide rail, and a first slider is slidably connected to the guide rail, two symmetrically arranged second T-shaped guide rods are inserted into the side wall of the first slider, and the end of the second T-shaped guide rod is fixedly connected to the first mounting block, the counting sensor is fixed to the bottom of the first mounting block through a connecting rod, the connecting rod is inserted in the first slide groove, and the movement of the first slider is pushed by the pushing mechanism.

[0011] Preferably, the pushing mechanism includes a second L-shaped plate, and the second L-shaped plate is connected to the side wall of the mounting plate through a reset mechanism, the side wall of the second L-shaped plate is provided with a second slide groove, and the second slide groove includes a third oblique groove and a vertical groove connected end to end, the side wall of the first sliding block is fixedly connected with a pushing pin, and the pushing pin is inserted in the second slide groove, and the bottom of the second L-shaped plate is fixedly connected with a second fixing rod.

[0012] Preferably, the reset mechanism includes a support block fixedly connected to the side wall of the mounting plate, and two symmetrically arranged third T-shaped guide rods are fixedly connected to the top of the support block, the side wall of the third T-shaped guide rod is sleeved with a second L-shaped block, the second L-shaped block is fixed to the side wall of the second L-shaped plate, and the side wall of each third T-shaped guide rod is sleeved with a fourth spring.

[0013] Preferably, the detection mechanism includes a connecting frame fixedly connected to the side wall of the first slider, and the lower end of the connecting frame is fixedly connected to a second mounting block, the side wall of the second mounting block is rotatably connected to a rotating plate through a flipping mechanism, and a plurality of second visual sensors arranged in an array are fixedly inserted on the top of the rotating plate.

[0014] Preferably, the flipping mechanism includes a rotating shaft rotatably connected to the side wall of the second mounting block, and the rotating plate is fixed to the end of the rotating shaft, the side wall fixed sleeve of the rotating shaft is provided with a gear, and the side wall of the second mounting block is fixedly connected with two symmetrically arranged connecting blocks, the opposite side walls of the two connecting blocks are fixedly connected with two symmetrically arranged guide rods, and the side wall sleeve of each guide rod is provided with a second slider, the side wall of the second slider is fixedly connected with a rack, and the rack is meshed with the gear, the side wall sleeve of each guide rod is provided with a fifth spring, the side wall of the connecting block is fixedly connected with an electromagnet, and the side wall of the rack is fixedly connected with an iron block.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The counting mechanism of the shoe sole palletizing device is provided with a moving mechanism and a telescopic mechanism, etc. When the shoe soles need to be palletized, the adsorption module is moved to the top of the shoe soles by the palletizing robot, and then the adsorption module is driven to move downward. When the second fixed rod is against the top of the conveyor belt, when the adsorption module continues to move downward, the mounting plate can be driven to move downward by the beveled U-shaped frame, and at the same time, the third T-shaped guide rod is driven downward by the support block, the fourth spring is compressed, and when the mounting plate moves downward, the pushing pin can be driven to slide downward along the third inclined groove by the first slider. At this time, the first slider can be pushed to slide along the guide rail, and at the same time, the first mounting block is driven to move by the second T-shaped guide rod, and the counting sensor is driven to move by the connecting rod. At the same time, the connecting rod can slide along the first inclined groove, the horizontal groove and the second inclined groove, so that the counting sensor can move along a specific trajectory. When the pushing pin slides downward along the vertical groove, the suction head can be attached to the shoe sole and adsorbed. After the adsorption is completed, the adsorption module and the shoe sole are driven upward by the palletizing robot. When the shoe is moved upward, the fourth spring gradually resets, so that the second fixing rod can slide upward along the vertical groove and the third inclined groove, thereby pushing the first sliding block to move and reset along the guide rail. At the same time, the connecting rod slides along the second inclined groove, the horizontal groove and the first inclined groove. When the conical cover abuts against the side wall of the sole and slides to the top of the sole, the conical cover moves upward. At the same time, the second spring is compressed. When the conical cover moves upward, the identification plate can be driven to move upward through the lifting module. At this time, it is within the sensing range and can be detected by the lens for counting. When the conical cover passes over the sole, the conical cover can move downward and reset under the action of the second spring, and the mounting plate can move downward and reset under the action of the fourth spring, and drive the identification plate to move downward through the lifting module. At this time, it exceeds the sensing distance of the lens and no longer performs counting processing. Therefore, the soles adsorbed on the suction head can be counted in sequence during the movement of the counting sensor. The lens is set in the conical cover to avoid the influence of external dust and light, and to avoid interference from color similarity and texture similarity, thereby ensuring the accuracy of counting.

[0016] The counting mechanism for the sole stacking device is provided with a counting assembly, etc., so that when counting is performed, when the conical cover moves upward, the fixed cover is driven to move by the first L-shaped block, when the inclined surface abuts against the side wall of the fixed block, the triangular block is retracted into the fixed cover, and at the same time, the third spring is compressed, and when the triangular block passes over the fixed block, the triangular block can extend outward under the action of the third spring, and when the conical cover moves downward, the fixed cover is driven to move downward synchronously by the first L-shaped block, so that the plane abuts against the side wall of the fixed block, thereby pushing the rotating rod to rotate and driving the pointer to rotate, each time counting is performed, the rotating rod can rotate a certain angle, so that the pointer indicates the mark on the ring, and the mark indicated by the pointer is detected by the first visual sensor, so that the number of each stacking can be determined, and compared with the counting result of the counting sensor, double counting can be achieved, so that the counting result is more accurate and reliable.

[0017] The counting mechanism for the sole stacking device is provided with a liquid supply mechanism, etc., so that when the sole is adsorbed, when the first moving block is separated from the baffle, the first moving block can move toward the annular cover under the action of the first spring, and at the same time, the second moving block is driven to move into the heat preservation box through the connecting plate, so that the cooling liquid temporarily stored in the heat preservation box can be squeezed, the first one-way valve is opened, and the second one-way valve is closed. At this time, the cooling liquid in the heat preservation box can enter the annular cover through the liquid supply pipe, and at this time, the counting sensor can be cooled to ensure the accuracy of the counting, after the counting is completed, the first moving block can be made to abut against the baffle, so as to push the first moving block to move away from the annular cover, the first spring is compressed, and at the same time, the first one-way valve is closed, and the second one-way valve is opened. At this time, the second moving block can be driven to move away from the heat preservation box through the connecting plate, and at the same time, the first one-way valve is closed, and the second one-way valve is opened. At this time, the cooling liquid in the annular cover can be drawn back into the heat preservation box through the liquid return pipe for cooling, so as to ensure the subsequent cooling effect of the counting sensor.

[0018] This detection mechanism for the sole stacking device, when the push pin 604 slides downward along the third inclined slot 602, can push the first slider 206 to move along the guide rail 205, and at the same time, the rotating plate 904 is driven to move through the connecting frame 901 and the second mounting block 902. At this time, the second visual sensor 905 can detect the top of the sole, and after the suction head 104 adsorbs the sole, the electromagnet 1008 is energized. After the electromagnet 1008 is energized, it attracts the iron block 1007, so that the rack 1005 moves. At the same time, the fifth spring 1006 is compressed. When the rack 1005 is When the bar 1005 moves, it can drive the gear 1001 to rotate, and drive the rotating plate 904 to flip over through the rotating shaft 903. When the adsorption module 103 moves upward, the pushing pin 604 can move upward along the third inclined groove 602. At this time, it can push the first slider 206 to move and reset along the guide rail 205. At the same time, the rotating plate 904 can be driven to move through the connecting frame 901 and the second mounting block 902. At this time, the bottom of the sole can be detected by the second visual sensor 905, so as to facilitate the detection of defective soles and ensure the counting effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the use state of the present invention; Figure 2 It is a schematic diagram of the overall structure of the sole stacking device of the present invention; Figure 3 It is a structural schematic diagram of the adsorption module in the present invention; Figure 4 It is a schematic diagram of the position of the counting sensor in the present invention; Figure 5 It is a partial cross-sectional structural schematic diagram of the conical cover and the annular cover in the present invention; Figure 6 for Figure 1 A schematic diagram of the enlarged structure at A in the middle; Figure 7 for Figure 2 A schematic diagram of the enlarged structure at B in the middle; Figure 8 for Figure 3 Schematic diagram of the enlarged structure at C in the middle; Fig. 9 for Figure 4 Schematic diagram of the enlarged structure at D in the middle; Fig.10 for Figure 5 Schematic diagram of the enlarged structure at E in the middle; Fig.11 for Figure 8 The enlarged structural diagram at F in the middle; Fig.12 for Fig.10Schematic diagram of the enlarged structure at G in the middle; Fig.13 for Figure 7 Schematic diagram of the enlarged structure at H in the middle.

[0020] In the figure: 101, base; 102, palletizing robot; 103, adsorption module; 104, suction head; 201, U-shaped frame with beveled edge; 202, horizontal slot; 203, first beveled slot; 204, mounting plate; 205, guide rail; 206, first slider; 207, second T-shaped guide rod; 208, first mounting block; 209, connecting rod; 210, second beveled slot; 301, incubator; 302, second moving block; 303, first T-shaped guide rod; 30 4. First moving block; 305. Connecting plate; 306. First spring; 307. Support rod; 308. Stop rod; 309. Liquid supply pipe; 310. Liquid return pipe; 401. First fixed rod; 402. Ring; 403. Mark; 404. First L-shaped plate; 405. Round hole; 406. Rubber ring; 407. Rotating rod; 408. Pointer; 409. First visual sensor; 501. Fixed block; 502. First L-shaped block; 503. Fixed cover; 504, sliding plate; 505, third spring; 506, triangular block; 507, inclined plane; 508, plane; 601, second L-shaped plate; 602, third inclined slot; 603, vertical slot; 604, push pin; 605, second fixed rod; 701, support block; 702, third T-shaped guide rod; 703, second L-shaped block; 704, fourth spring; 801, first set of rods; 802, first sleeve; 803, second spring; 901, connection Frame; 902, second mounting block; 903, rotating shaft; 904, rotating plate; 905, second visual sensor; 1001, gear; 1002, connecting block; 1003, guide rod; 1004, second slider; 1005, rack; 1006, fifth spring; 1007, iron block; 1008, electromagnet; 11, counting sensor; 1101, lens; 12, conical cover; 13, annular cover; 14, identification plate; 15, lifting module. DETAILED DESCRIPTION

[0021] 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.

[0022] See also Figure 1-Figure 13The present invention provides a technical solution: a counting mechanism for a shoe sole palletizing device, comprising a counting sensor 11 arranged on a palletizing device body, the counting sensor 11 comprising a lens 1101, and the palletizing device body comprising a base 101 and a palletizing robot 102, an adsorption module 103 being arranged on the palletizing robot 102, and the adsorption module 103 comprising a plurality of suction heads 104, the counting sensor 11 being connected to a side wall of the adsorption module 103 through a moving mechanism, and an annular cover 13 being fixedly sleeved on the side wall of the counting sensor 11, a conical cover 12 being connected to the bottom of the annular cover 13 through a telescopic mechanism, and the conical cover 12 being sleeved on the side wall of the lens 1101, and the bottom of the conical cover 12 being connected to a marking through a lifting module 15 The disk 14 is provided, and the side wall of the annular cover 13 is provided with a liquid supply mechanism for supplying coolant into the annular cover 13, the side wall of the annular cover 13 is provided with a counting component for counting the lifting and lowering of the conical cover 12, and a detection mechanism for detecting the surface quality of the sole is provided below the adsorption module 103. The lens 1101 of the counting sensor 11 is arranged in the conical cover 12, which can avoid the influence of external dust and light, and at the same time, can avoid the interference of color similarity and texture similarity, and can realize double counting to ensure the accuracy of counting; it is convenient to cool the counting sensor 11 to ensure the accuracy of counting; it is convenient to detect the bottom of the sole and the defects of the bottom to ensure the counting effect.

[0023] The counting assembly includes a first fixing rod 401 fixedly connected to the side wall of the annular cover 13, and a ring 402 is fixedly connected to the end of the first fixing rod 401, and a mark 403 is arranged on the ring 402, and a rotating rod 407 is rotatably connected to the side wall of the annular cover 13, and a pointer 408 is fixedly connected to the side wall of the rotating rod 407, and a first L-shaped plate 404 is fixedly connected to the side wall of the annular cover 13, and a first visual sensor 409 is fixedly connected to the top of the first L-shaped plate 404, and a circular hole 405 is opened on the side wall of the first L-shaped plate 404, and a rubber ring 406 is fixedly connected in the circular hole 405, and the rubber ring 406 is sleeved It is arranged on the side wall of the rotating rod 407, and the rotation of the rotating rod 407 is driven by a driving mechanism. When the conical cover 12 is raised or lowered, the rotating rod 407 can be driven to rotate by the driving mechanism, and the pointer 408 is driven to rotate. Each time counting is performed, the rotating rod 407 can rotate a certain angle, so that the pointer 408 indicates the mark 403 on the ring 402, and the mark 403 indicated by the pointer 408 is detected by the first visual sensor 409, so that the number of pallets each time can be determined, and compared with the counting result of the counting sensor 11, double counting can be achieved, so that the counting result is more accurate and reliable.

[0024] The liquid supply mechanism includes two symmetrically arranged first T-shaped guide rods 303 fixedly connected to the side wall of the annular cover 13, and the side wall of the first T-shaped guide rod 303 is sleeved with a first moving block 304, and the side wall of each first T-shaped guide rod 303 is sleeved with a first spring 306, and a liquid supply pipe 309 and a liquid return pipe 310 are fixedly inserted at the top of the annular cover 13, and the tops of the liquid supply pipe 309 and the liquid return pipe 310 are fixedly connected to the insulation box 301, and a refrigeration module is arranged in the insulation box 301, and a first one-way valve is arranged in the liquid supply pipe 309, and the conduction direction of the first one-way valve is The heat preservation box 301 is connected to the annular cover 13, and a second one-way valve is arranged in the liquid return pipe 310. The conducting direction of the second one-way valve is from the annular cover 13 to the heat preservation box 301. A second moving block 302 is slidably connected in the heat preservation box 301, and a connecting plate 305 is fixedly connected between the second moving block 302 and the first moving block 304. A support rod 307 is fixedly connected to the top of the base 101, and a blocking rod 308 is fixedly connected to the side wall of the support rod 307. When the sole is adsorbed, when the first moving block 304 is separated from the blocking rod 308, the first moving block 304 is The movable block 304 can move toward the direction close to the annular cover 13 under the action of the first spring 306. At the same time, the second movable block 302 is driven to move into the heat preservation box 301 through the connecting plate 305, so that the temporarily stored coolant in the heat preservation box 301 can be squeezed. The first one-way valve is opened and the second one-way valve is closed. At this time, the coolant in the heat preservation box 301 can enter the annular cover 13 through the liquid supply pipe 309. At this time, the counting sensor 11 can be cooled to ensure the accuracy of the counting. After the counting is completed, the first movable block 302 can be driven into the heat preservation box 301. Block 304 abuts against the stop rod 308, thereby pushing the first movable block 304 to move away from the annular cover 13, and the first spring 306 is compressed. At the same time, the first one-way valve is closed and the second one-way valve is opened. At this time, the second movable block 302 can be driven to move away from the insulation box 301 through the connecting plate 305. At the same time, the first one-way valve is closed and the second one-way valve is opened. At this time, the coolant in the annular cover 13 can be pumped back into the insulation box 301 for cooling through the return pipe 310, thereby ensuring the subsequent cooling effect of the counting sensor 11.

[0025] The telescopic mechanism includes two symmetrically arranged first rods 801 fixedly connected to the bottom of the annular cover 13, and the side wall of each first rod 801 is sleeved with a first sleeve 802, the lower end of the first sleeve 802 is fixed to the top of the conical cover 12, and the side wall of each first sleeve 802 is sleeved with a second spring 803, which guides and resets the movement of the conical cover 12.

[0026] The driving mechanism includes a plurality of fixed blocks 501 arranged in an array and fixedly connected to the side wall of the rotating rod 407, and a first L-shaped block 502 is fixedly connected to the side wall of the conical cover 12, a fixed cover 503 is fixedly connected to the top of the first L-shaped block 502, and a sliding plate 504 is slidably connected in the fixed cover 503, a third spring 505 is fixedly connected between the sliding plate 504 and the fixed cover 503, and a plurality of triangular blocks 506 arranged in an array are fixedly connected to the side wall of the sliding plate 504, and the triangular block 506 includes an inclined surface 507 and a flat surface 508. When counting is performed, when the conical cover 12 moves upward, When moving, the fixed cover 503 is driven to move by the first L-shaped block 502. When the inclined surface 507 abuts against the side wall of the fixed block 501, the triangular block 506 is retracted into the fixed cover 503. At the same time, the third spring 505 is compressed. When the triangular block 506 passes over the fixed block 501, the triangular block 506 can extend outward under the action of the third spring 505. When the conical cover 12 moves downward, the fixed cover 503 is driven to move downward synchronously through the first L-shaped block 502, so that the plane 508 abuts against the side wall of the fixed block 501, thereby pushing the rotating rod 407 to rotate.

[0027] The moving mechanism includes a beveled U-shaped frame 201 fixedly connected to the side wall of the adsorption module 103, and a first slide groove is opened on the top of the beveled U-shaped frame 201, and the first slide groove includes a first beveled groove 203, a horizontal groove 202 and a second beveled groove 210 connected end to end, and a mounting plate 204 is fixedly connected to the side wall of the beveled U-shaped frame 201, a guide rail 205 is fixedly connected to the top of the mounting plate 204, and a first slider 206 is slidably connected to the guide rail 205, and two symmetrically arranged second T-shaped guide rods 207 are inserted into the side wall of the first slider 206, and the end of the second T-shaped guide rod 207 is fixedly connected to the first mounting block 208, the counting sensor 11 is fixed to the bottom of the first mounting block 208 through a connecting rod 209, the connecting rod 209 is inserted in the first slide groove, and the movement of the first slider 206 is pushed by the pushing mechanism, and the first slider is pushed by the pushing mechanism The block 206 moves along the guide rail 205, and at the same time, the first mounting block 208 is driven to move by the second T-shaped guide rod 207, and the counting sensor 11 is driven to move by the connecting rod 209. At the same time, the connecting rod 209 can slide along the first inclined groove 203, the horizontal groove 202 and the second inclined groove 210, so that the counting sensor 11 can move along a specific trajectory. When the push pin 604 slides downward along the vertical groove 603, the suction head 104 can be attached to the sole and adsorbed. After the adsorption is completed, the adsorption module 103 and the sole are driven to move upward by the stacking robot 102. At this time, the first slider 206 moves and resets along the guide rail 205. At the same time, the connecting rod 209 slides along the second inclined groove 210, the horizontal groove 202 and the first inclined groove 203, driving the counting sensor 11 to return to the original path.

[0028] The pushing mechanism includes a second L-shaped plate 601, and the second L-shaped plate 601 is connected to the side wall of the mounting plate 204 through a reset mechanism. A second slide groove is opened on the side wall of the second L-shaped plate 601, and the second slide groove includes a third inclined groove 602 and a vertical groove 603 connected end to end. The side wall of the first slider 206 is fixedly connected with a pushing pin 604, and the pushing pin 604 is inserted in the second slide groove. The bottom of the second L-shaped plate 601 is fixedly connected with a second fixing rod 605. When the adsorption module 103 continues to move downward, the mounting plate 204 can be driven to move downward through the beveled U-shaped frame 201. When the mounting plate 204 moves downward, the pushing pin 604 can be driven to slide downward along the third inclined groove 602 through the first slider 206.

[0029] The reset mechanism includes a support block 701 fixedly connected to the side wall of the mounting plate 204, and two symmetrically arranged third T-shaped guide rods 702 are fixedly connected to the top of the support block 701, the side wall of the third T-shaped guide rod 702 is sleeved with a second L-shaped block 703, the second L-shaped block 703 is fixed to the side wall of the second L-shaped plate 601, and the side wall of each third T-shaped guide rod 702 is sleeved with a fourth spring 704. When the second fixed rod 605 is in contact with the top of the conveyor belt, when the adsorption module 103 continues to move downward, the mounting plate 204 can be driven downward through the beveled U-shaped frame 201. At the same time, the third T-shaped guide rod 702 is driven downward through the support block 701, and the fourth spring 704 is compressed.

[0030] The detection mechanism includes a connecting frame 901 fixedly connected to the side wall of the first slider 206, and the lower end of the connecting frame 901 is fixedly connected to the second mounting block 902, the side wall of the second mounting block 902 is rotatably connected to the rotating plate 904 through the flip mechanism, and the top of the rotating plate 904 is fixedly inserted with a plurality of second visual sensors 905 arranged in an array. When the push pin 604 slides downward along the third inclined groove 602, the first slider 206 can be pushed to move along the guide rail 205. At the same time, the rotating plate 904 is driven to move by the connecting frame 901 and the second mounting block 902. At this time, the second visual sensor The device 905 can detect the top of the sole. After the suction head 104 adsorbs the sole, the rotating plate 904 is flipped through the flipping mechanism. When the adsorption module 103 moves upward, the pushing pin 604 can move upward along the third inclined groove 602. At this time, the first slider 206 can be pushed to move and reset along the guide rail 205. At the same time, the rotating plate 904 can be driven to move through the connecting frame 901 and the second mounting block 902. At this time, the bottom of the sole can be detected by the second visual sensor 905, so as to facilitate the detection of defective soles and ensure the counting effect.

[0031] The flip mechanism includes a rotating shaft 903 rotatably connected to the side wall of the second mounting block 902, and a rotating plate 904 is fixed to the end of the rotating shaft 903, a side wall of the rotating shaft 903 is fixedly sleeved with a gear 1001, and the side wall of the second mounting block 902 is fixedly connected to two symmetrically arranged connecting blocks 1002, and the opposite side walls of the two connecting blocks 1002 are fixedly connected to two symmetrically arranged guide rods 1003, and the side wall sleeves of each guide rod 1003 are sleeved with a second slider 1004, and the side wall of the second slider 1004 is fixedly connected to a rack 1005, and the rack 1005 is connected to the side wall of the second slider 1004. The gear 1001 is meshingly arranged, and the side wall of each guide rod 1003 is sleeved with a fifth spring 1006. The side wall of the connecting block 1002 is fixedly connected with an electromagnet 1008, and the side wall of the rack 1005 is fixedly connected with an iron block 1007. When the electromagnet 1008 is energized, the electromagnet 1008 attracts the iron block 1007, so that the rack 1005 moves. At the same time, the fifth spring 1006 is compressed. When the rack 1005 moves, it can drive the gear 1001 to rotate, and drive the rotating plate 904 to flip through the rotating shaft 903.

[0032] Working principle: When the shoe soles need to be palletized, the adsorption module 103 is moved to the top of the shoe soles by the palletizing robot 102, and then the adsorption module 103 is driven to move downward. When the second fixing rod 605 abuts against the top of the conveyor belt, when the adsorption module 103 continues to move downward, the mounting plate 204 can be driven to move downward through the beveled U-shaped frame 201. At the same time, the third T-shaped guide rod 702 is driven to move downward through the support block 701, and the fourth spring 704 is compressed. Moreover, when the mounting plate 204 moves downward, the push pin 606 can be driven to move downward through the first slider 206. 04 slides downward along the third inclined groove 602. At this time, the first slider 206 can be pushed to slide along the guide rail 205. At the same time, the first mounting block 208 is driven to move through the second T-shaped guide rod 207, and the counting sensor 11 is driven to move through the connecting rod 209. At the same time, the connecting rod 209 can slide along the first inclined groove 203, the horizontal groove 202 and the second inclined groove 210, so that the counting sensor 11 can move along a specific trajectory. When the push pin 604 slides downward along the vertical groove 603, the suction head 104 can be attached to the sole and adsorbed.

[0033] At the same time, when the first slider 206 moves, the rotating plate 904 is driven to move through the connecting frame 901 and the second mounting block 902. At this time, the second visual sensor 905 can detect the top of the sole.

[0034] After the adsorption is completed, the adsorption module 103 and the sole are driven to move upward by the stacking robot 102. At this time, the fourth spring 704 is gradually reset, so that the second fixed rod 605 can slide upward along the vertical groove 603 and the third inclined groove 602, thereby pushing the first slider 206 to move and reset along the guide rail 205. At the same time, the connecting rod 209 slides along the second inclined groove 210, the horizontal groove 202 and the first inclined groove 203.

[0035] The electromagnet 1008 is energized, and after being energized, the electromagnet 1008 attracts the iron block 1007, so that the rack 1005 moves. At the same time, the fifth spring 1006 is compressed. When the rack 1005 moves, it can drive the gear 1001 to rotate, and drive the rotating plate 904 to flip through the rotating shaft 903. When the adsorption module 103 moves upward, the pushing pin 604 can move upward along the third inclined groove 602. At this time, the first slider 206 can be pushed to move and reset along the guide rail 205. At the same time, the rotating plate 904 can be driven to move through the connecting frame 901 and the second mounting block 902. At this time, the bottom of the sole can be detected by the second visual sensor 905, so as to facilitate the detection of defective soles and ensure the counting effect.

[0036] When the conical cover 12 is against the side wall of the sole and slides to the top of the sole, the conical cover 12 moves upward, and at the same time, the second spring 803 is compressed. When the conical cover 12 moves upward, it can drive the identification plate 14 to move upward through the lifting module 15. At this time, it is within the sensing range and can be detected by the lens 1101 for counting. When the conical cover 12 passes over the sole, the conical cover 12 can move downward and reset under the action of the second spring 803, and the mounting plate 204 can move downward and reset under the action of the fourth spring 704, and drive the identification plate 14 to move downward through the lifting module 15. At this time, it exceeds the sensing distance of the lens 1101 and no longer counts. Therefore, the soles adsorbed on the suction head 104 can be counted in sequence during the movement of the counting sensor 11. The lens 1101 is set in the conical cover 12 to avoid the influence of external dust and light, and to avoid interference from color similarity and texture similarity, thereby ensuring the accuracy of counting.

[0037] When counting, when the conical cover 12 moves upward, the fixed cover 503 is driven to move by the first L-shaped block 502. When the inclined surface 507 abuts against the side wall of the fixed block 501, the triangular block 506 is retracted into the fixed cover 503. At the same time, the third spring 505 is compressed. When the triangular block 506 passes over the fixed block 501, the triangular block 506 can extend outward under the action of the third spring 505. When the conical cover 12 moves downward, the fixed cover 503 is driven to move downward synchronously by the first L-shaped block 502, so that the flat The surface 508 abuts against the side wall of the fixed block 501, thereby pushing the rotating rod 407 to rotate and driving the pointer 408 to rotate. Each time a count is performed, the rotating rod 407 can rotate a certain angle so that the pointer 408 indicates the mark 403 on the ring 402, and the mark 403 indicated by the pointer 408 is detected by the first visual sensor 409, so that the number of pallets each time can be determined and compared with the counting result of the counting sensor 11, so that double counting can be achieved, making the counting result more accurate and reliable.

[0038] Furthermore, when the sole is adsorbed, when the first moving block 304 is disengaged from the blocking rod 308, the first moving block 304 can move toward the direction close to the annular cover 13 under the action of the first spring 306, and at the same time, the second moving block 302 is driven to move into the heat preservation box 301 through the connecting plate 305, so that the coolant temporarily stored in the heat preservation box 301 can be squeezed, the first one-way valve is opened, and the second one-way valve is closed. At this time, the coolant in the heat preservation box 301 can enter the annular cover 13 through the liquid supply pipe 309. At this time, the counting sensor 11 can be cooled to ensure the accuracy of the counting. After the counting is completed, the stacking robot 102 It performs palletizing, and after the palletizing is completed, the adsorption module 103 is reset. At this time, the first movable block 304 can be abutted against the blocking rod 308, thereby pushing the first movable block 304 to move away from the annular cover 13, and the first spring 306 is compressed. At the same time, the first one-way valve is closed and the second one-way valve is opened. At this time, the second movable block 302 can be driven to move away from the insulation box 301 through the connecting plate 305. At the same time, the first one-way valve is closed and the second one-way valve is opened. At this time, the coolant in the annular cover 13 can be pumped back into the insulation box 301 through the return pipe 310 for cooling, thereby ensuring the subsequent cooling effect of the counting sensor 11.

[0039] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The content not described in detail in this specification belongs to the prior art known to professional and technical personnel in this field.

[0040] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. A counting mechanism for a shoe sole palletizing device, comprising a counting sensor (11) arranged on a palletizing device body, the counting sensor (11) comprising a lens (1101), and the palletizing device body comprising a base (101) and a palletizing robot (102), the palletizing robot (102) being provided with an adsorption module (103), and the adsorption module (103) comprising a plurality of suction heads (104), characterized in that: The counting sensor (11) is connected to the side wall of the adsorption module (103) via a moving mechanism, and the side wall of the counting sensor (11) is fixedly sleeved with an annular cover (13), the bottom of the annular cover (13) is connected to a conical cover (12) via a telescopic mechanism, and the conical cover (12) is sleeved on the side wall of the lens (1101), the bottom of the conical cover (12) is connected to an identification plate (14) via a lifting module (15), and the side wall of the annular cover (13) is provided with a liquid supply mechanism for supplying cooling liquid into the annular cover (13), and the side wall of the annular cover (13) is provided with a counting assembly for counting the lifting of the conical cover (12), and a detection mechanism for detecting the surface quality of the sole is provided below the adsorption module (103).

2. A counting mechanism for a shoe sole stacking device according to claim 1, characterized in that: The counting assembly comprises a first fixed rod (401) fixedly connected to the side wall of the annular cover (13), and a circular ring (402) is fixedly connected to the end of the first fixed rod (401), a mark (403) is provided on the circular ring (402), and a rotating rod (407) is rotatably connected to the side wall of the annular cover (13), a pointer (408) is fixedly connected to the side wall of the rotating rod (407), and a first L-shaped plate (404) is fixedly connected to the side wall of the annular cover (13), a first visual sensor (409) is fixedly connected to the top of the first L-shaped plate (404), and a circular hole (405) is opened on the side wall of the first L-shaped plate (404), a rubber ring (406) is fixedly connected inside the circular hole (405), and the rubber ring (406) is sleeved on the side wall of the rotating rod (407), and the rotation of the rotating rod (407) is driven by a driving mechanism.

3. The counting mechanism for a shoe sole stacking device according to claim 1, characterized in that: The liquid supply mechanism comprises two symmetrically arranged first T-shaped guide rods (303) fixedly connected to the side wall of the annular cover (13), the side wall of the first T-shaped guide rods (303) being sleeved with a first moving block (304), the side wall of each of the first T-shaped guide rods (303) being sleeved with a first spring (306), and a liquid supply pipe (309) and a liquid return pipe (310) being fixedly inserted at the top of the annular cover (13), and the tops of the liquid supply pipe (309) and the liquid return pipe (310) being fixedly connected with an insulation box (301), A refrigeration module is provided in the heat preservation box (301), a first one-way valve is provided in the liquid supply pipe (309), and a second one-way valve is provided in the liquid return pipe (310). A second movable block (302) is slidably connected in the heat preservation box (301), and a connecting plate (305) is fixedly connected between the second movable block (302) and the first movable block (304). A support rod (307) is fixedly connected to the top of the base (101), and a blocking rod (308) is fixedly connected to the side wall of the support rod (307).

4. The counting mechanism for a shoe sole stacking device according to claim 1, characterized in that: The telescopic mechanism comprises two symmetrically arranged first rods (801) fixedly connected to the bottom of the annular cover (13), and the side wall of each first rod (801) is sleeved with a first sleeve (802), the lower end of the first sleeve (802) is fixed to the top of the conical cover (12), and the side wall of each first sleeve (802) is sleeved with a second spring (803).

5. The counting mechanism for a shoe sole stacking device according to claim 2, characterized in that: The driving mechanism comprises a plurality of fixed blocks (501) arranged in an array and fixedly connected to the side wall of the rotating rod (407); a first L-shaped block (502) is fixedly connected to the side wall of the conical cover (12); a fixed cover (503) is fixedly connected to the top of the first L-shaped block (502); a sliding plate (504) is slidably connected inside the fixed cover (503); a third spring (505) is fixedly connected between the sliding plate (504) and the fixed cover (503); a plurality of triangular blocks (506) arranged in an array are fixedly connected to the side wall of the sliding plate (504); and the triangular blocks (506) comprise an inclined surface (507) and a flat surface (508).

6. The counting mechanism for a shoe sole stacking device according to claim 1, characterized in that: The moving mechanism comprises a beveled U-shaped frame (201) fixedly connected to the side wall of the adsorption module (103), and a first slide groove is provided on the top of the beveled U-shaped frame (201), and the first slide groove comprises a first beveled groove (203), a horizontal groove (202) and a second beveled groove (210) connected end to end, and a mounting plate (204) is fixedly connected to the side wall of the beveled U-shaped frame (201), and a guide rail (205) is fixedly connected to the top of the mounting plate (204), and the guide rail (205) is A first sliding block (206) is slidably connected, two symmetrically arranged second T-shaped guide rods (207) are inserted into the side wall of the first sliding block (206), and the ends of the second T-shaped guide rods (207) are fixedly connected to the first mounting block (208), the counting sensor (11) is fixed to the bottom of the first mounting block (208) via a connecting rod (209), the connecting rod (209) is inserted into the first sliding groove, and the movement of the first sliding block (206) is driven by a driving mechanism.

7. A counting mechanism for a shoe sole stacking device according to claim 6, characterized in that: The pushing mechanism comprises a second L-shaped plate (601), and the second L-shaped plate (601) is connected to the side wall of the mounting plate (204) via a reset mechanism; a second slide groove is provided on the side wall of the second L-shaped plate (601), and the second slide groove comprises a third inclined groove (602) and a vertical groove (603) connected end to end; a pushing pin (604) is fixedly connected to the side wall of the first sliding block (206), and the pushing pin (604) is inserted into the second slide groove; and a second fixing rod (605) is fixedly connected to the bottom of the second L-shaped plate (601).

8. The counting mechanism for a shoe sole stacking device according to claim 7, characterized in that: The reset mechanism comprises a support block (701) fixedly connected to the side wall of the mounting plate (204), and two symmetrically arranged third T-shaped guide rods (702) are fixedly connected to the top of the support block (701), the side wall of the third T-shaped guide rod (702) is sleeved with a second L-shaped block (703), the second L-shaped block (703) is fixed to the side wall of the second L-shaped plate (601), and the side wall of each third T-shaped guide rod (702) is sleeved with a fourth spring (704).

9. The counting mechanism for a shoe sole stacking device according to claim 6, characterized in that: The detection mechanism comprises a connecting frame (901) fixedly connected to the side wall of the first sliding block (206), and the lower end of the connecting frame (901) is fixedly connected to a second mounting block (902), the side wall of the second mounting block (902) is rotatably connected to a rotating plate (904) via a flip mechanism, and a plurality of second visual sensors (905) arranged in an array are fixedly inserted on the top of the rotating plate (904).

10. A counting mechanism for a shoe sole stacking device according to claim 9, characterized in that: The flip mechanism comprises a rotating shaft (903) rotatably connected to the side wall of the second mounting block (902), and a rotating plate (904) is fixed to the end of the rotating shaft (903), a side wall fixed sleeve of the rotating shaft (903) is provided with a gear (1001), and the side wall of the second mounting block (902) is fixedly connected to two symmetrically arranged connecting blocks (1002), and the opposite side walls of the two connecting blocks (1002) are fixedly connected to two symmetrically arranged guide rods (1003), and each The side wall of the guide rod (1003) is sleeved with a second slider (1004), the side wall of the second slider (1004) is fixedly connected with a rack (1005), and the rack (1005) is meshed with the gear (1001), the side wall of each guide rod (1003) is sleeved with a fifth spring (1006), the side wall of the connecting block (1002) is fixedly connected with an electromagnet (1008), and the side wall of the rack (1005) is fixedly connected with an iron block (1007).

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