A counting mechanism for a sole stacking device

Abstract

The present invention discloses a counting mechanism for a sole palletizing device, which relates to the technical field of counting mechanisms. The counting mechanism for the sole palletizing device includes a counting sensor disposed on the palletizing device body. The counting sensor includes a lens, and the palletizing device body includes a base and a palletizing manipulator. An adsorption module is provided on the palletizing manipulator, and the adsorption module includes a plurality of suction heads. The counting sensor is connected to the side wall of the adsorption module through a moving mechanism. For the counting mechanism of the sole palletizing device, the lens of the counting sensor is arranged in a conical cover, which can avoid the influence of external dust and light. At the same time, it can avoid the interference of color similarity and texture similarity. Moreover, it can achieve double counting to ensure the accuracy of counting; it is convenient to cool down the counting sensor to ensure the accuracy of counting; it is convenient to detect the bottom of the sole and the defects at the bottom to ensure the counting effect.

Description

Technical Field

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

[0002] During the production process of soles, a stacking device is required to grasp and stack them. Currently, the main stacking device used is a stacking manipulator. In order to ensure the stacking effect, a counting mechanism is also required to count the soles before stacking to ensure that there are no omissions or repeated counting during the stacking process, thereby improving production efficiency. Currently, the main counting sensor used is a counting sensor.

[0003] However, when the existing counting mechanism for a sole stacking device is in use, it is easily affected by dust and other impurities as well as external light. At the same time, it is also interfered by color similarity and texture similarity. When the color of the sole is similar to the color of the background or other objects, it may be difficult for the camera or algorithm to distinguish, resulting in misjudgment. If the texture of the sole is similar to the texture of other objects or the background, the vision sensor may not be able to accurately identify it, which will also affect the accuracy of the counting result; during the counting process, when the temperature of the counting sensor is relatively high, it will also affect the accuracy of the counting result, and it is not convenient to detect the defects on the surface of the sole, which will affect the counting effect. Summary of the Invention

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

[0005] To achieve the above purpose, the present invention provides the following technical solution: A counting mechanism for a sole stacking device includes a counting sensor arranged on the main body of the stacking device. The counting sensor includes a lens, and the main body of the stacking device includes a base and a stacking manipulator. An adsorption module is arranged on the stacking manipulator, and the adsorption module includes a plurality of suction heads. The counting sensor is connected to the side wall of the adsorption module through a moving mechanism, and an annular cover is fixedly sleeved on the side wall of the counting sensor. The bottom of the annular cover is connected to a conical cover through a telescopic mechanism, and the conical cover is sleeved on the side wall of the lens. The bottom of the conical cover is connected to an identification disk through a lifting module, and a liquid supply mechanism for supplying coolant into the annular cover is arranged on the side wall of the annular cover. A counting component for counting the lifting of the conical cover is arranged on the side wall of the annular cover. A detection mechanism for detecting the surface quality of the sole is arranged below the adsorption module.

[0006] Preferably, the counting component includes a first fixing rod fixedly connected to the side wall of the annular cover, and a circular ring is fixedly connected to the end of the first fixing rod. An identifier is provided on the circular ring, and a rotating rod is rotatably connected to the side wall of the annular cover. A pointer is fixedly connected to the side wall of the rotating rod, and a first L-shaped plate is fixedly connected to the side wall of the annular cover. A first vision sensor is fixedly connected to the top of the first L-shaped plate, and a circular hole is formed in the side wall of the first L-shaped plate. A rubber ring is fixedly connected in the circular hole, and the rubber ring is sleeved on the side wall of the rotating rod. 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 a first moving block is sleeved on the side wall of each first T-shaped guide rod. A first spring is sleeved on the side wall of each first T-shaped guide rod, and a liquid supply pipe and a liquid return pipe are fixedly inserted into the top of the annular cover. The top of the liquid supply pipe and the liquid return pipe is fixedly connected to a heat preservation box, and a refrigeration module is arranged in the heat preservation 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 heat preservation box, and a connecting plate is fixedly connected between the second moving block and the first moving block. A support rod is fixedly connected to the top of the base, and a stop rod is fixedly connected to the side wall of the support rod.

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

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

[0010] Preferably, the moving mechanism includes an inclined-edge U-shaped frame fixedly connected to the side wall of the adsorption module, and a first chute is formed in the top of the inclined-edge U-shaped frame. The first chute includes a first inclined chute, a horizontal chute and a second inclined chute connected end to end, and a mounting plate is fixedly connected to the side wall of the inclined-edge U-shaped frame. A guide rail is fixedly connected to the top of the mounting plate, 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 a first mounting block is fixedly connected to the end of each second T-shaped guide rod. The counting sensor is fixedly connected to the bottom of the first mounting block through a connecting rod. The connecting rod is inserted into the first chute, and the movement of the first slider is pushed by a 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. A second chute is formed in the side wall of the second L-shaped plate, and the second chute includes a third inclined chute and a vertical chute connected end to end. A pushing pin is fixedly connected to the side wall of the first slider, and the pushing pin is inserted into the second chute. A second fixing rod is fixedly connected to the bottom of the second L-shaped plate.

[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. A second L-shaped block is sleeved on the side wall of each third T-shaped guide rod. The second L-shaped block is fixed to the side wall of the second L-shaped plate, and a fourth spring is sleeved on the side wall of each third T-shaped guide rod.

[0013] Preferably, the detection mechanism includes a connecting frame fixedly connected to the side wall of the first slider, and a second mounting block is fixedly connected to the lower end of the connecting frame. A rotating plate is rotatably connected to the side wall of the second mounting block through a flipping mechanism, and a plurality of second vision sensors arranged in an array are fixedly inserted into 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. A gear is fixedly sleeved on the side wall of the rotating shaft, and two symmetrically arranged connecting blocks are fixedly connected to the side wall of the second mounting block. Two symmetrically arranged guide rods are fixedly connected to the opposite side walls of the two connecting blocks, and a second slider is sleeved on the side wall of each guide rod. A rack is fixedly connected to the side wall of the second slider, and the rack is engaged with the gear. A fifth spring is sleeved on the side wall of each guide rod. An electromagnet is fixedly connected to the side wall of the connecting block, and an iron block is fixedly connected to the side wall of the rack.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] The counting mechanism for the sole stacking device, by setting up a moving mechanism, a telescopic mechanism, etc., when it is necessary to stack soles, the adsorption module is moved above the sole by the stacking manipulator. Then, the adsorption module is driven to move downward. When the second fixed rod abuts against the top of the conveyor belt, when the adsorption module continues to move downward, it can drive the mounting plate to move downward through the bevel U-shaped frame. At the same time, the third T-shaped guide rod is driven to move downward by the support block, and the fourth spring is compressed. Moreover, when the mounting plate moves downward, it can drive the push pin to slide downward along the third inclined groove through the first slider. At this time, the first slider can be driven to slide along the guide rail. At the same time, the first mounting block is driven to move through the second T-shaped guide rod, and the counting sensor is driven to move through 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 track. When the push pin slides downward along the vertical groove, the suction head can be brought into contact with the sole and adsorb it. After the adsorption is completed, the adsorption module and the sole are driven to move upward by the stacking manipulator. At this time, the fourth spring gradually returns to its original position, so that the second fixed rod can slide upward along the vertical groove and the third inclined groove, thereby driving the first slider 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, and 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, within the sensing range, it 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 the identification plate is driven to move downward through the lifting module. At this time, it exceeds the sensing distance of the lens and no longer performs counting processing. Thus, during the movement of the counting sensor, the soles adsorbed on the suction head can be counted sequentially. Setting the lens inside the conical cover can avoid the influence of external dust and light, and can also avoid interference from color similarity and texture similarity, ensuring the accuracy of counting.

[0017] The counting mechanism for the sole stacking device, by setting up a counting component, etc., when counting, 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 retracts into the fixed cover. At the same time, the third spring is compressed. When the triangular block passes over the fixed block, the triangular block can protrude outward under the action of the third spring. 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 being able to push the rotating rod to rotate and drive the pointer to rotate. Each time a count is made, 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 vision sensor, and then the number of each stack can be determined and compared with the counting result of the counting sensor, which can achieve double counting and make the counting result more accurate and reliable.

[0018] The counting mechanism for the sole stacking device, by setting up a liquid supply mechanism, etc., when adsorbing the sole, when the first moving block disengages from the stop rod, the first moving block can move in the direction close to the annular cover under the action of the first spring. At the same time, the second moving block is driven into the heat preservation box through the connecting plate, so that the coolant temporarily stored in the heat preservation box can be squeezed. The first one-way valve opens and the second one-way valve closes. At this time, the coolant in the heat preservation box can enter the annular cover through the liquid supply pipe. At this time, the counting sensor can be cooled, so as to ensure the accuracy of counting. After the counting is completed, the first moving block can be made to abut against the stop rod, thereby pushing the first moving block to move away from the annular cover, and the first spring is compressed. At the same time, the first one-way valve closes and the second one-way valve opens. At this time, the second moving block can be driven to move away from the heat preservation box through the connecting plate. At the same time, the first one-way valve closes and the second one-way valve opens. At this time, the coolant in the annular cover can be pumped back into the heat preservation box through the liquid return pipe for cooling, ensuring the cooling effect of the counting sensor in the subsequent process.

[0019] For the detection mechanism of the sole stacking device, etc., when the push pin 604 slides downward along the third inclined groove 602, it can push the first slider 206 to move along the guide rail 205. 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 vision sensor 905 can detect the top of the sole. 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, causing the rack 1005 to move. 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, it pushes the push pin 604 to 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, it can drive the rotating plate 904 to move through the connecting frame 901 and the second mounting block 902. At this time, the second vision sensor 905 can detect the bottom of the sole, so as to facilitate the detection of defective soles and ensure the counting effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of the usage state of the present invention;

[0021] Figure 2 is a schematic diagram of the overall structure of the sole stacking device in the present invention;

[0022] Figure 3 is a schematic diagram of the structure of the adsorption module in the present invention;

[0023] Figure 4 is a schematic diagram of the position of the counting sensor in the present invention;

[0024] Figure 5 is a partial cross-sectional structure schematic diagram of the conical cover and the annular cover in the present invention;

[0025] Figure 6 is Figure 1 the enlarged structure schematic diagram at A in

[0026] Figure 7 is Figure 2 the enlarged structure schematic diagram at B in

[0027] Figure 8 is Figure 3 the enlarged structure schematic diagram at C in

[0028] Figure 9 is Figure 4 the enlarged structure schematic diagram at D in

[0029] Figure 10is Figure 5 Schematic diagram of the enlarged structure at position E in

[0030] Figure 11 is Figure 8 Schematic diagram of the enlarged structure at position F in

[0031] Figure 12 is Figure 10 Schematic diagram of the enlarged structure at position G in

[0032] Figure 13 is Figure 7 Schematic diagram of the enlarged structure at position H in

[0033] In the figure: 101, base; 102, palletizing manipulator; 103, adsorption module; 104, suction head; 201, bevel U-shaped frame; 202, horizontal groove; 203, first inclined groove; 204, mounting plate; 205, guide rail; 206, first slider; 207, second T-shaped guide rod; 208, first mounting block; 209, connecting rod; 210, second inclined groove; 301, insulation box; 302, second moving block; 303, first T-shaped guide rod; 304, 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 fixing rod; 402, ring; 403, identifier; 404, first L-shaped plate; 405, round hole; 406, rubber ring; 407, rotating rod; 408, pointer; 409, first vision sensor; 501, fixing block; 502, first L-shaped block; 503, fixing cover; 504, sliding plate; 505, third spring; 506, triangular block; 507, inclined surface; 508, flat surface; 601, second L-shaped plate; 602, third inclined groove; 603, vertical groove; 604, push pin; 605, second fixing rod; 701, support block; 702, third T-shaped guide rod; 703, second L-shaped block; 704, fourth spring; 801, first sleeve rod; 802, first sleeve; 803, second spring; 901, connecting frame; 902, second mounting block; 903, rotating shaft; 904, rotating plate; 905, second vision 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, identifier plate; 15, lifting module. Detailed implementation manners

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] Please refer to Figures 1 - 13 , the present invention provides a technical solution: a counting mechanism for a sole stacking device, including a counting sensor 11 provided on the stacking device body. The counting sensor 11 includes a lens 1101, and the stacking device body includes a base 101 and a stacking manipulator 102. An adsorption module 103 is provided on the stacking manipulator 102, and the adsorption module 103 includes a plurality of suction heads 104. The counting sensor 11 is connected to the side wall of the adsorption module 103 through a moving mechanism. A circular cover 13 is fixedly sleeved on the side wall of the counting sensor 11. A conical cover 12 is connected to the bottom of the circular cover 13 through a telescopic mechanism, and the conical cover 12 is sleeved on the side wall of the lens 1101. A marking disc 14 is connected to the bottom of the conical cover 12 through a lifting module 15. A liquid supply mechanism for supplying coolant into the circular cover 13 is provided on the side wall of the circular cover 13. A counting component for counting the lifting of the conical cover 12 is provided on the side wall of the circular cover 13. A detection mechanism for detecting the surface quality of the sole is provided below the adsorption module 103. Setting the lens 1101 of the counting sensor 11 in the conical cover 12 can avoid the influence of external dust and light. At the same time, it can avoid the interference of color similarity and texture similarity, and can achieve double counting to ensure the accuracy of counting; it is convenient to cool down the counting sensor 11 to ensure the accuracy of counting; it is convenient to detect the bottom of the sole and the defects at the bottom to ensure the counting effect.

[0036] The counting component includes 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. An identifier 403 is provided on the circular ring 402. 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. A first L-shaped plate 404 is fixedly connected to the side wall of the annular cover 13. A first vision sensor 409 is fixedly connected to the top of the first L-shaped plate 404. A circular hole 405 is formed in the side wall of the first L-shaped plate 404. A rubber ring 406 is fixedly connected in the circular hole 405, and the rubber ring 406 is sleeved on the side wall of the rotating rod 407. The rotation of the rotating rod 407 is driven by a driving mechanism. When the conical cover 12 is lifted or lowered, the driving mechanism can drive the rotating rod 407 to rotate and drive the pointer 408 to rotate. Each time a count is made, the rotating rod 407 can rotate a certain angle, so that the pointer 408 indicates the identifier 403 on the circular ring 402. By detecting the identifier 403 indicated by the pointer 408 through the first vision sensor 409, the number of each palletizing can be determined and compared with the counting result of the counting sensor 11, realizing double counting and making the counting result more accurate and reliable.

[0037] 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. A first moving block 304 is sleeved on the side wall of each first T-shaped guide rod 303. A first spring 306 is sleeved on the side wall of each first T-shaped guide rod 303. A liquid supply pipe 309 and a liquid return pipe 310 are fixedly inserted into the top of the annular cover 13. The top of the liquid supply pipe 309 and the liquid return pipe 310 are fixedly connected to a heat preservation box 301. A refrigeration module is arranged in the heat preservation box 301. A first one-way valve is arranged in the liquid supply pipe 309, and the conduction direction of the first one-way valve is from the heat preservation box 301 to the inside of the annular cover 13. A second one-way valve is arranged in the liquid return pipe 310, and the conduction direction of the second one-way valve is from the annular cover 13 to the inside of the heat preservation box 301. A second moving block 302 is slidably connected in the heat preservation box 301. 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. A stop rod 308 is fixedly connected to the side wall of the support rod 307. When adsorbing the sole, when the first moving block 304 disengages from the stop rod 308, the first moving block 304 can move towards the annular cover 13 under the action of the first spring 306. At the same time, the second moving block 302 is driven by the connecting plate 305 to move into the heat preservation box 301, so as to squeeze the coolant temporarily stored in the heat preservation box 301. The first one-way valve opens and the second one-way valve closes. 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 counting. After the counting is completed, the first moving block 304 can be made to abut against the stop rod 308, thereby pushing the first moving 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 closes and the second one-way valve opens. At this time, the second moving block 302 can be driven by the connecting plate 305 to move away from the heat preservation box 301. At the same time, the first one-way valve closes and the second one-way valve opens. At this time, the coolant in the annular cover 13 can be pumped back into the heat preservation box 301 through the liquid return pipe 310 for cooling to ensure the cooling effect of the counting sensor 11 in the subsequent process.

[0038] The telescopic mechanism includes two symmetrically arranged first sleeve rods 801 fixedly connected to the bottom of the annular cover 13. A first sleeve 802 is sleeved on the side wall of each first sleeve rod 801. The lower end of the first sleeve 802 is fixedly connected to the top of the conical cover 12. A second spring 803 is sleeved on the side wall of each first sleeve 802, which plays a role in guiding and resetting the movement of the conical cover 12.

[0039] 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. 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 in 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. The triangular block 506 includes an inclined surface 507 and a flat surface 508. When counting, when the conical cover 12 moves upward, the fixed cover 503 is driven to move through 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 retracts 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 flat surface 508 abuts against the side wall of the fixed block 501, thereby being able to drive the rotating rod 407 to rotate.

[0040] The moving mechanism includes an inclined-edge U-shaped frame 201 fixedly connected to the side wall of the adsorption module 103. A first chute is formed at the top of the inclined-edge U-shaped frame 201. The first chute includes a first inclined chute 203, a horizontal chute 202, and a second inclined chute 210 connected end to end. An installation plate 204 is fixedly connected to the side wall of the inclined-edge U-shaped frame 201. A guide rail 205 is fixedly connected to the top of the installation plate 204. A first slider 206 is slidably connected to the guide rail 205. Two symmetrically arranged second T-shaped guide rods 207 are inserted into the side wall of the first slider 206. A first installation block 208 is fixedly connected to the end of the second T-shaped guide rod 207. The counting sensor 11 is fixedly connected to the bottom of the first installation block 208 through a connecting rod 209. The connecting rod 209 is inserted into the first chute. The movement of the first slider 206 is pushed by a pushing mechanism. The pushing mechanism pushes the first slider 206 to move along the guide rail 205. At the same time, the first installation 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 chute 203, the horizontal chute 202, and the second inclined chute 210, so that the counting sensor 11 can move along a specific trajectory. When the pushing pin 604 slides downward along the vertical chute 603, the suction head 104 can be attached to the sole of the shoe and adsorb. After the adsorption is completed, the palletizing robot 102 drives the adsorption module 103 and the sole to move upward. At this time, the first slider 206 moves along the guide rail 205 to reset, and at the same time, the connecting rod 209 slides along the second inclined chute 210, the horizontal chute 202, and the first inclined chute 203, driving the counting sensor 11 to return along the original path.

[0041] 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 chute is provided on the side wall of the second L-shaped plate 601, and the second chute includes a third inclined chute 602 and a vertical chute 603 connected end to end. A pushing pin 604 is fixedly connected to the side wall of the first slider 206, and the pushing pin 604 is inserted into the second chute. A second fixing rod 605 is fixedly connected to the bottom of the second L-shaped plate 601. When the adsorption module 103 continues to move downward, it can drive the mounting plate 204 to move downward through the hypotenuse U-shaped frame 201. When the mounting plate 204 moves downward, it can drive the pushing pin 604 to slide downward along the third inclined chute 602 through the first slider 206.

[0042] 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. A second L-shaped block 703 is sleeved on the side wall of the third T-shaped guide rod 702. The second L-shaped block 703 is fixed to the side wall of the second L-shaped plate 601, and a fourth spring 704 is sleeved on the side wall of each third T-shaped guide rod 702. When the second fixing rod 605 abuts against the top of the conveyor belt, when the adsorption module 103 continues to move downward, it can drive the mounting plate 204 to move downward through the hypotenuse U-shaped frame 201. At the same time, it drives the third T-shaped guide rod 702 to move downward through the support block 701, and the fourth spring 704 is compressed.

[0043] The detection mechanism includes a connecting frame 901 fixedly connected to the side wall of the first slider 206, and a second mounting block 902 is fixedly connected to the lower end of the connecting frame 901. A rotating plate 904 is rotatably connected to the side wall of the second mounting block 902 through a flipping mechanism, and a plurality of second vision sensors 905 arranged in an array are fixedly inserted into the top of the rotating plate 904. When the pushing pin 604 slides downward along the third inclined chute 602, it can push the first slider 206 to move along the guide rail 205. At the same time, it drives the rotating plate 904 to move through the connecting frame 901 and the second mounting block 902. At this time, the second vision sensors 905 can detect the top of the shoe sole. After the suction head 104 adsorbs the shoe 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 chute 602. At this time, it can push the first slider 206 to move and reset along the guide rail 205. At the same time, it can drive the rotating plate 904 to move through the connecting frame 901 and the second mounting block 902. At this time, the bottom of the shoe sole can be detected through the second vision sensors 905, so as to facilitate the detection of defective shoe soles and ensure the counting effect.

[0044] The flipping 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 gear 1001 is fixedly sleeved on the side wall of the rotating shaft 903, and two symmetrically arranged connecting blocks 1002 are fixedly connected to the side wall of the second mounting block 902. Two symmetrically arranged guide rods 1003 are fixedly connected to the opposite side walls of the two connecting blocks 1002. A second slider 1004 is sleeved on the side wall of each guide rod 1003. A rack 1005 is fixedly connected to the side wall of the second slider 1004, and the rack 1005 is meshed with the gear 1001. A fifth spring 1006 is sleeved on the side wall of each guide rod 1003. An electromagnet 1008 is fixedly connected to the side wall of the connecting block 1002, and an iron block 1007 is fixedly connected to the side wall of the rack 1005. When the electromagnet 1008 is energized, the electromagnet 1008 attracts the iron block 1007 after being energized, causing the rack 1005 to move. 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.

[0045] Working principle: When in use, when it is necessary to stack the soles, the stacking manipulator 102 moves the adsorption module 103 above the sole. Then, it drives the adsorption module 103 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, it can drive the mounting plate 204 to move downward through the beveled U-shaped frame 201. At the same time, it drives the third T-shaped guide rod 702 to move downward through the support block 701, and the fourth spring 704 is compressed. And when the mounting plate 204 moves downward, it can drive the push pin 604 to slide downward along the third inclined groove 602 through the first slider 206. At this time, it can drive the first slider 206 to slide along the guide rail 205, and drive the first mounting block 208 to move through the second T-shaped guide rod 207, and drive the counting sensor 11 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 track. When the push pin 604 slides downward along the vertical groove 603, the suction head 104 can be attached to the sole and adsorb it.

[0046] At the same time, when the first slider 206 moves, it drives the rotating plate 904 to move through the connecting frame 901 and the second mounting block 902. At this time, the second vision sensor 905 can detect the top of the sole.

[0047] After the adsorption is completed, the stacking manipulator 102 drives the adsorption module 103 and the sole to move upward. At this time, the fourth spring 704 gradually resets, enabling the second fixed rod 605 to 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.

[0048] Energize the electromagnet 1008. After the electromagnet 1008 is energized, it attracts the iron block 1007, causing the rack 1005 to move. 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, it pushes the push pin 604 to 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, it can drive the rotating plate 904 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 vision sensor 905, facilitating the detection of defective soles and ensuring the counting effect.

[0049] When the conical cover 12 abuts against the side wall of the sole and slides to the top of the sole, the conical cover 12 moves upward. 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, within the sensing range, it 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. 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 performs counting processing. Thus, during the movement of the counting sensor 11, the soles adsorbed on the suction head 104 can be sequentially counted. Setting the lens 1101 inside the conical cover 12 can avoid the influence of external dust and light, and can also avoid interference from color similarity and texture similarity, ensuring the accuracy of counting.

[0050] 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 retracts 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 protrude 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 plane 508 abuts against the side wall of the fixed block 501, thereby being able to push the rotating rod 407 to rotate and drive the pointer 408 to rotate. Each time a count is made, 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 vision sensor 409, and the number of each palletizing can be determined and compared with the counting result of the counting sensor 11, and double counting can be realized, making the counting result more accurate and reliable.

[0051] Moreover, when adsorbing the sole, when the first moving block 304 disengages from the stop 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. 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 as to be able to squeeze the coolant temporarily stored in the heat preservation box 301. The first one-way valve opens and the second one-way valve closes. 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, so as to ensure the accuracy of counting. After the counting is completed, it is palletized by the palletizing manipulator 102. After the palletizing is completed, the adsorption module 103 is reset. At this time, the first moving block 304 can be made to abut against the stop rod 308, thereby pushing the first moving 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 closes and the second one-way valve opens. At this time, the second moving block 302 can be driven to move away from the heat preservation box 301 through the connecting plate 305. At the same time, the first one-way valve closes and the second one-way valve opens. At this time, the coolant in the annular cover 13 can be pumped back into the heat preservation box 301 through the liquid return pipe 310 for cooling, ensuring the cooling effect of the counting sensor 11 in the subsequent process.

[0052] The standard parts used in the present invention can all be purchased from the market. The special-shaped parts can be customized according to the descriptions in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art. In addition, the circuit connection adopts the conventional connection method in the prior art, which will not be elaborated here. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0053] The present invention and its embodiments have been described above. Such description is not restrictive. What is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Generally speaking, if those of ordinary skill in the art are inspired by it and design, without creative efforts, a structural mode and an embodiment similar to the technical solution without departing from the gist of the present invention, they shall fall within 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 coolant into the annular cover (13), 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); 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; 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 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); 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).

2. A 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).

3. 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.

4. A counting mechanism for a shoe sole stacking device according to claim 3, 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).

5. A counting mechanism for a shoe sole stacking device according to claim 4, 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).

6. The counting mechanism for a shoe sole stacking device according to claim 1, 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).

7. A counting mechanism for a shoe sole stacking device according to claim 6, 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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