Shoe tree integrated processing equipment

Abstract

The invention relates to shoe tree integrated processing equipment. The shoe tree integrated processing equipment comprises a base, wherein the base is provided with a first processing station, a second processing station and a scanning station; the first machining station and the scanning station are arranged in the first direction, and the second machining station, the first machining station and the scanning station are arranged in the second direction. The first processing device is arranged corresponding to the first processing station; the second machining device is adjacent to the first machining device and corresponds to the second machining station. And the camera scanning device is arranged corresponding to the scanning station. Wherein the first machining device is responsible for dovetail groove manufacturing, barrel opening supporting block grinding and laser stamping, the second machining device is specially used for rough tapping or finish machining, scanning modeling of the camera scanning device is matched, full-process machining of a shoe tree can be covered, and the functions of dovetail groove manufacturing, barrel opening supporting block grinding, laser stamping, rough machining, finish machining and the like are integrated into single equipment. The purchase and maintenance cost of a plurality of independent devices is avoided, the tedious process of manual distinguishing among a plurality of procedures is also avoided, and manpower is saved.

Description

Technical Field

[0001] The present application relates to the field of shoe last processing, and in particular to an integrated shoe last processing device. Background Art

[0002] As the core mold in the shoemaking process, the shoe last's machining accuracy and efficiency directly impact the comfort and production efficiency of the shoe. Traditional shoe last processing typically uses a step-by-step process, involving multiple independent machines to complete various steps, including dovetail groove creation, rough machining, finishing, barrel support block polishing, and laser stamping. This complex and cumbersome process can lead to long processing cycles, large equipment footprints, and high equipment investment costs. Furthermore, multiple clamping operations can easily introduce cumulative errors, affecting the dimensional consistency of the shoe last.

[0003] In the existing technology, some equipment attempts to integrate some processing functions. For example, invention patent CN202410124012.9 discloses a shoe last processing production line. Its workstation layout mostly adopts a linear arrangement, with low space utilization, and the processing and scanning links are not smoothly connected, making it difficult to achieve efficient collaboration.

[0004] Therefore, there is an urgent need for an integrated shoe last processing equipment with a compact layout and high process coordination. By optimizing the spatial distribution of workstations and processing procedures, the processing efficiency and precision can be improved to meet the needs of the modern shoemaking industry. Summary of the Invention

[0005] The present application provides an integrated shoe last processing equipment, which reduces the complexity of the equipment by integrating and simplifying the structure. It does not require multiple devices to complete the processes including dovetail groove production, rough processing, fine processing, barrel mouth support block grinding, laser stamping, etc. at one time, making the entire system more intuitive and easy to use, and also improving its production efficiency and reducing labor costs.

[0006] To this end, the present application provides a shoe last integrated processing device, comprising:

[0007] A base is provided with a first processing station, a second processing station and a scanning station; the first processing station and the scanning station are arranged along a first direction, the second processing station and the first processing station and the scanning station are arranged along a second direction, and the first direction and the second direction are perpendicular to each other;

[0008] A first processing device is provided on the base and is arranged corresponding to the first processing station;

[0009] a second processing device, disposed on the base, adjacent to the first processing device, and corresponding to the second processing station;

[0010] The camera scanning device is arranged on the base and corresponds to the scanning station.

[0011] In some embodiments, the first processing device comprises:

[0012] A first frame is provided on the base and is provided with the first processing station; the first processing station is provided with a first station, a second station and a third station arranged along the first direction;

[0013] a first clamping mechanism, movably provided on the first frame along the first direction;

[0014] a first processing mechanism, movably provided on the first frame along the second direction and the third direction;

[0015] The first clamping mechanism and the first processing mechanism are respectively arranged corresponding to the third workstation, the second workstation and the first workstation to perform different processing.

[0016] In some embodiments, the first processing mechanism comprises:

[0017] a first lifting module, slidably arranged on the first frame along the third direction;

[0018] A first linear module is provided on the first lifting module and is slidably arranged along the first direction;

[0019] Multiple first processing modules are arranged on the first linear module and corresponding to the first clamping mechanism; multiple first processing modules are arranged along the first direction, and each first processing module is movably connected to the second frame along the second direction and the third direction.

[0020] In some embodiments, the first clamping mechanism comprises:

[0021] A second linear module is provided on the first frame along the first direction;

[0022] A rotation module is provided at the output end of the second linear module;

[0023] A clamping module, provided at the output end of the rotating module;

[0024] The second linear module drives the clamping module to move along the first direction, and the rotating module drives the clamping module to rotate.

[0025] In some embodiments, the rotation module includes:

[0026] A first rotary module is provided at the output end of the second linear module, and the rotation axis of the first rotary module is consistent with the second direction;

[0027] A second rotating module is provided at the output end of the first rotating module, and the rotation axis of the second rotating module is consistent with the first direction;

[0028] a third rotating module, provided at the output end of the second rotating module, wherein the rotation axis of the third rotating module is consistent with the third direction;

[0029] The first rotating module, the second rotating module and the third rotating module drive the clamping module to rotate along the second direction, the first direction and the third direction respectively.

[0030] In some embodiments, the second processing device comprises:

[0031] A second frame is provided on the base and is provided with the second processing station; the second processing station is provided with a rough processing station and a fine processing station along the second direction;

[0032] a plurality of second processing mechanisms, each of the second processing mechanisms being movably connected to the second frame along the second direction and the third direction;

[0033] a second clamping mechanism, movably connected to the second frame along the first direction;

[0034] The second clamping mechanism and the second processing mechanism are respectively arranged corresponding to the rough processing station and the fine processing station to perform different processing.

[0035] In some embodiments, the second processing mechanism includes a first moving component, a second moving component, a mounting bracket and a processing component, the processing component is arranged on the mounting bracket, and the second frame, the first moving component, the second moving component and the mounting bracket are connected in sequence to drive the processing component to move along the second direction and the third direction.

[0036] In some embodiments, the second processing mechanism further includes a third moving component, which is disposed on the mounting bracket to drive the processing component to rotate; the processing component is rotatably connected to the mounting bracket, and the rotation axis of the processing component is consistent with the second direction.

[0037] In some embodiments, the second clamping mechanism includes a fourth movable component, a rotating component and a clamping component, the clamping component is rotatably disposed on the fourth movable component through the rotating component, the rotation axis of the clamping component is consistent with the third direction, and the fourth movable component is connected to the second frame to drive the rotating component and the clamping component to move along the first direction.

[0038] In some embodiments, the camera scanning device includes:

[0039] A camera support frame, comprising a first vertical support, a crossbeam support, and a second vertical support; the first vertical support is disposed on a side of the first frame facing away from the second processing station; one end of the crossbeam support is connected to the first vertical support, and the other end is connected to the second vertical support; the first vertical support and the second vertical support are disposed opposite each other and form the scanning station for the shoe last to pass through;

[0040] A plurality of camera assemblies are respectively arranged on the first vertical bracket and the second vertical bracket through adjustable angle brackets.

[0041] In some embodiments, a feeding robot is further included, wherein the feeding robot is disposed on the base and located between the first processing station and the second processing station.

[0042] Beneficial effects of this application:

[0043] The shoe last integrated processing equipment includes a base, a first processing device, a second processing device and a camera scanning device; the base is provided with a first processing station, a second processing station and a scanning station; the first processing station and the scanning station are arranged along a first direction, the second processing station and the first processing station and the scanning station are arranged along a second direction, and the first direction and the second direction are perpendicular to each other; the first processing device is provided on the base and is arranged corresponding to the first processing station; the second processing device is provided on the base, is adjacent to the first processing device, and is arranged corresponding to the second processing station; the camera scanning device is provided on the base and is arranged corresponding to the scanning station.

[0044] In this integrated shoe last processing equipment, the first processing station, the second processing station and the scanning station are arranged in a vertical direction, which not only saves equipment floor space, but also facilitates the linear connection of the processing flow. The camera scanning device is integrated into the first processing device, which can scan the blank to generate a three-dimensional model before processing, or scan the finished product for quality inspection after processing to achieve closed-loop control. The first processing device is responsible for the first / last process (such as dovetail groove production, rough processing, fine processing, barrel mouth support block grinding, laser stamping), and the second processing device specializes in rough processing and fine processing, and cooperates with scanning modeling to cover the entire process of shoe last processing, reducing the time loss of traditional multi-device sequence transfer, and avoiding the tedious process of manual distinction between multiple processes to save manpower.

[0045] The 3D data captured by scanning enables real-time adjustment of machining parameters (such as tool paths and cutting depths) to accommodate different shoe last models, improving machining accuracy and reducing trial-and-error costs. Integrating functions such as barrel support block grinding, laser stamping, roughing, and finishing into a single machine eliminates the procurement and maintenance costs of multiple independent machines while streamlining the material flow system. Operators only need to manage one machine, rather than multiple independent units, reducing training difficulties and the risk of misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0047] Figure 1 This is a structural schematic diagram of a shoe last integrated processing equipment of the present application;

[0048] Figure 2 for Figure 1 A structural diagram from another perspective;

[0049] Figure 3 for Figure 1 A structural diagram of the first processing device;

[0050] Figure 4 for Figure 3 A structural diagram of the first clamping mechanism;

[0051] Figure 5 for Figure 4 An enlarged structural diagram of the assembly of the first clamping mechanism;

[0052] Figure 6 for Figure 3 The enlarged assembly diagram of the first processing mechanism;

[0053] Figure 7 for Figure 1 A schematic diagram of the structure of the second clamping mechanism and the base assembly;

[0054] Figure 8 for Figure 1 A schematic structural diagram of the first mobile component;

[0055] Figure 9 for Figure 1 The structural diagram of the second processing mechanism;

[0056] Figure 10 for Figure 9 Another perspective of the structure diagram.

[0057] Description of reference numerals:

[0058] 1. Base; 11. First frame; 12. Second frame; 2. Camera scanning device; 3. First clamping mechanism; 31. Second linear module; 311. Third screw rod; 312. Third drive motor; 32. Clamping module; 321. Clamping claw; 322. Fourth drive motor; 323. Positioning platform; 33. Rotating module; 331. First rotary module; 332. Second rotary module; 333. Third rotary module; 4. Workpiece; 5. First processing mechanism; 51. First processing module; 511. Dovetail groove production module; 512. Barrel mouth support block polishing module; 513. Marking module; 52. First linear module; 521. First drive motor; 522. First screw rod; 53. First lifting module; 531. Second drive motor The first direction is the X-axis; the second direction is the Y-axis; and the third direction is the Z-axis. DETAILED DESCRIPTION

[0059] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0060] The disclosure below provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, these are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0061] like Figures 1 to 9As shown, the present application provides an integrated shoe last processing equipment for processing shoe lasts, including a base 1, a first processing device, a second processing device and a camera scanning device 2; the base 1 is provided with a first processing station, a second processing station and a scanning station; the first processing station and the scanning station are arranged along a first direction, and the second processing station and the first processing station and the scanning station are arranged along a second direction, and the first direction and the second direction are perpendicular to each other; the first processing device is provided on the base 1 and is arranged corresponding to the first processing station; the second processing device is provided on the base 1 and is adjacent to the first processing device and is arranged corresponding to the second processing station; the camera scanning device 2 is provided on the base 1 and is arranged corresponding to the scanning station.

[0062] In further detail, the first processing station and the scanning station are arranged along the first direction ( Figure 1 The X-axis in the middle) is arranged in a straight line, which facilitates the direct delivery of the workpiece 4 to the scanning station for inspection after processing, reducing intermediate transportation; the second processing station and the first processing station and the scanning station are arranged along the second direction ( Figure 1 The first processing device can cut the raw material at the first processing station to carry out processes such as dovetail groove production, barrel mouth support block grinding and laser stamping. Or after each rough processing or fine processing at the second processing station, including the barrel mouth support block grinding of the shoe last after rough processing and fine processing, it can be returned to the first processing station from the second processing station by a robotic arm or a transfer mechanism, and moved to the scanning station along the first direction by a conveying mechanism. The camera scanning device 2 performs a three-dimensional scan, detects processing errors and generates correction data, and then applies the correction data to the first processing device and the second processing device respectively, and feedbacks the processing errors in real time. The first processing device and the second processing device then dynamically adjust the processing parameters according to the scanned correction data, and perform high-precision trimming on the workpiece 4 at the first processing station and the second processing station respectively, realizing the closed-loop control of "processing-detection-reprocessing" to ensure the consistency of shoe last size. In addition, the processing devices are fixed on the same base 1, which reduces vibration or positioning deviation caused by equipment separation, improves overall rigidity and processing accuracy, and optimizes the equipment footprint through vertical layout, making it suitable for production line integration and reducing the time for handling and repeated clamping of the workpiece 4, thereby realizing integrated and efficient operation of the shoe last from rough processing to fine processing to quality inspection, saving manpower.

[0063] Among them, the first processing station, the second processing station and the scanning station are arranged in a vertical direction, which not only saves equipment space, but also facilitates the linear connection of the processing flow and saves manpower. The camera scanning device 2 is integrated into the first processing device, which can scan the blank to generate a three-dimensional model before processing, or scan the finished product for quality inspection after processing to achieve closed-loop control. The first processing device is responsible for the first and last processes, such as dovetail groove production, barrel support block grinding and laser stamping. The second processing device specializes in rough processing and fine processing. In conjunction with scanning modeling, it can cover the entire process of shoe last processing, reduce the time loss of traditional multi-device sequence switching, improve its production efficiency, and avoid the need to manually distinguish different models, sizes and left and right feet between multiple processes to save manpower.

[0064] Furthermore, the three-dimensional data captured by the camera scanning device 2 allows for real-time adjustment of machining parameters (such as tool paths and cutting depths) to accommodate different shoe last models, improving machining accuracy and reducing trial-and-error costs. Integrating functions such as dovetail groove production, barrel support block polishing, laser stamping, roughing, and finishing into a single device eliminates the procurement and maintenance costs of multiple independent devices, reduces labor costs, and simplifies the material flow system. Operators only need to manage one device rather than multiple independent units, reducing training difficulties and the risk of misoperation, thus saving manpower.

[0065] In this embodiment, the first processing device includes a first frame 11, a first clamping mechanism 3 and a first processing mechanism 5; the first frame 11 is arranged on the base 1 and is provided with the first processing station; the first processing station is arranged along the first direction with a first station, a second station and a third station; the first clamping mechanism 3 is movably provided on the first frame 11 along the first direction; the first processing mechanism 5 is movably provided on the first frame 11 along the second direction and the third direction; wherein, the first clamping mechanism 3 and the first processing mechanism 5 are respectively provided corresponding to the third station, the second station and the first station to perform different processing.

[0066] Among them, the first frame 11 is fixed to the base 1, serving as the support frame of the first processing device, and integrating the first station (opening and removing dovetail grooves), the second station (opening the shoe last tube mouth) and the third station (logo engraving) three sub-stations, which are linearly arranged along the first direction (X-axis). The first clamping mechanism 3 is movably set on the first frame 11 along the first direction, and is used to clamp the raw material or shoe last and position it to the roughing, punching, third station and scanning station in turn to realize automatic switching between the stations. The first processing mechanism 5 adjusts the tool position through the freedom of movement in the second direction (Y-axis) and the third direction (Z-axis), and performs corresponding processing on the shoe lasts of the three sub-stations, such as milling, drilling, and laser marking.

[0067] That is, the X-axis movement of the first clamping mechanism 3 is linked with the Y-axis or Z-axis movement of the first processing mechanism 5 to ensure that the tool accurately corresponds to the processing requirements of different stations. The three sub-stations share the same processing mechanism, and function switching is achieved through a tool library or a modular tool head, reducing the complexity of the equipment. After the first processing mechanism 5 completes the operation of the current station, the first clamping mechanism 3 immediately moves to the next station to reduce the idle waiting time. By adjusting the stroke of the first clamping mechanism 3 and the program of the first processing mechanism 5, it can be adapted to the processing of shoe lasts of different sizes and types, including the independent adjustment of the processing parameters of each station (such as cutting depth, marking strength), ensuring the stability of the quality of each process, so that multiple shoe last processing steps can be completed on the same equipment, avoiding the need to complete the steps of roughing, punching and marking on different equipment in the traditional shoe last processing method. This not only improves the processing efficiency and consistency, but also makes full use of the production site and greatly reduces the production cost.

[0068] In this embodiment, the first processing mechanism 5 includes a first lifting module 5353, a first linear module 52 and multiple first processing modules 51; the first lifting module 53 is slidably arranged on the first frame 11 along the third direction; the first linear module 52 is arranged on the first lifting module 53 and slidably arranged along the first direction; multiple first processing modules 51 are arranged on the first linear module 52 and corresponding to the first clamping mechanism 3; multiple first processing modules 51 are arranged along the first direction, and each first processing module 51 is movably connected to the second frame 12 along the second direction and the third direction.

[0069] Specifically, the first lifting module 53 is slidably mounted on the first frame 11 along the third direction (Z-axis). It is typically driven by a servo motor and ball screw, or by a pneumatic or hydraulic cylinder, to ensure stable up and down motion and control the height position of the first processing module 51, such as the feed depth during drilling or the contact pressure during marking. The first linear module 52 is fixed to the movable end of the first lifting module 53 and slides horizontally (perpendicular to the Z-axis) along the second direction (Y-axis). It is also driven by a servo motor and a ball screw or belt drive to achieve precise lateral positioning, thereby adjusting the lateral position of the corresponding first processing module 51, such as switching the roughing area or aligning the drilling or marking points. The first processing module 51 is provided with multiple freedoms of movement in a two-dimensional plane through the vertical cross layout of the first lifting module 53 (Z-axis) and the first linear module 52 (Y-axis), and cooperates with the clamping device moving on the X-axis to drive multiple first processing modules 51 to correspond to the third workstation, the second workstation or the first workstation respectively, thereby realizing efficient processing of multiple workstations and multiple processes.

[0070] It is further explained that the multiple first processing modules 51 are respectively a dovetail groove making module 511, a barrel mouth support block grinding module 512 and a marking module 513. More specifically, they can be a rotary milling cutter, a drill bit, a laser marking machine or a tool switched by a quick-change mechanism. Among them, driven by the first lifting module 53 and the first linear module 52, the dovetail groove making module 511, the barrel mouth support block grinding module 512 and the marking module 513 are respectively corresponding to the first station, the second station and the third station to perform different processing. Specifically, at the first station, the milling cutter of the dovetail groove making module 511 rotates and then moves according to the path planning via the Y-axis or Z-axis to complete the surface generation or removal of the dovetail groove. At the second station, the drill bit of the barrel mouth support block grinding module 512 is fed vertically (Z-axis), retracts after penetration, and the Y-axis can adjust the position of the multi-hole position. At the third station, the laser head of the marking module 513 moves in the Y-axis or Z-axis plane to mark the track. After the processing is completed, the first lifting module 53 is raised (Z-axis retracted), and the first linear module 52 is reset (Y-axis returns), waiting for the next instruction.

[0071] It is understood that the first station is primarily used to create dovetail grooves in the raw material. Specifically, the raw material is loaded into the first station. At this point, the dovetail groove making module 511 is equipped with a milling cutter and, through movement and adjustment on the Y and Z axes, cooperates with the movement and adjustment of the first clamping mechanism 3 on the X axis to perform dovetail groove cutting according to a preset processing path. The raw material is initially processed and the dovetail groove is created. When the dovetail groove is subsequently transferred to the shoe last processing equipment for rough and fine processing, the raw material with the dovetail groove can be processed into a rough shoe last by fixing and clamping its dovetail groove. The shoe last that has completed rough and fine processing on the shoe last processing equipment will return to the first station again. At this point, the dovetail groove making module 511 and the first clamping mechanism 3 will adjust the posture of the shoe last and remove the dovetail groove from it so that the shoe last can be processed into subsequent processing such as punching and marking. It is worth noting that the machining precision requirements for the dovetail groove creation process are not particularly high; the primary goal is to quickly create the dovetail groove for subsequent rough and fine machining of the shoe last. However, the dovetail groove removal process requires higher precision than the dovetail groove creation process. This is because dovetail groove removal directly affects the final quality of the shoe last and the precision of subsequent machining, and therefore requires more precise operation and control. In this case, the milling cutter precision of the dovetail groove creation module 511 is relatively fine, used to improve the smoothness of the barrel surface after the dovetail groove is removed, so that it meets the final design requirements.

[0072] The second station's primary function is to drill holes in the dovetail grooves after they've been removed. At this second station, the mouthpiece support block polishing module 512, through Y- and Z-axis movement and adjustment, coordinates with the X-axis movement of the first clamping mechanism 3 to drill holes along the Z-axis according to a pre-set processing path. The first clamping mechanism 3 then further adjusts the shoe last's posture to allow for side holes to be drilled near the opening of the shoe last tube. Because this drilling step is a crucial step in the finished product, the mouthpiece support block polishing module 512 must be equipped with high-precision tools to ensure the required level of detail during the drilling process, resulting in a high-quality finished product.

[0073] The third station is the final step in the shoe last manufacturing process. Here, the marking module 513 is configured to mark the shoe last for easy tracking and management. Preferably, the marking module 513 is a laser marker, a pneumatic marker, or a fiber optic marker to meet different production needs.

[0074] Preferably, the first linear module 52 includes a first screw rod 522 and a first drive motor 521; the first screw rod 522 is arranged on the first frame 11; the first drive motor 521 is arranged on the first frame 11, and drives the first screw rod 522 to move along the second direction to drive the first processing module 51 to move.

[0075] Among them, the first linear module 52 is fixed on the first frame 11 and arranged horizontally along the second direction (Y axis). A high-precision ball screw is usually used to convert the rotational motion of the first drive motor 521 into linear motion, pushing the first processing module 51 to move horizontally; the first drive motor 521 is used as a power source, usually a servo motor or a stepper motor is selected, fixed on the side of the first frame 11, and is directly connected to the first screw member 522 through a coupling or indirectly driven by a synchronous belt; that is, through the classic linear module setting of the first screw member 522 and the first drive motor 521, the first processing module 51 is accurately, stably and repeatably positioned in the Y axis direction, and together with the first lifting module 53 and the first clamping mechanism 3, a three-dimensional processing space is formed, thereby efficiently completing complex processes such as roughing, drilling, and marking. At the same time, after the Y axis positioning is completed, it can also be linked with the first lifting module 53 to move along the Z axis. For example, when drilling, the Y axis is first aligned with the hole position, and then the Z axis is drilled to ensure that the Y axis and the Z axis do not move at high speed at the same time. In addition, it can also realize switching coordination of different workstations with the first clamping mechanism 3.

[0076] Preferably, the first lifting module 53 includes a second screw rod 532 and a second drive motor 531; the second screw rod 532 is arranged on the first frame 11; the second drive motor 531 is arranged on the first frame 11, and drives the second screw rod 532 to move along the third direction to drive the first processing module 51 to move.

[0077] Among them, the second screw member 532 serves as the vertical transmission core, is vertically fixed on the first frame 11, and is perpendicular to the first screw member 522 in space. It usually adopts a high-rigidity ball screw to withstand axial loads (such as downward pressure during drilling) to convert the rotational motion of the second drive motor 531 into a linear lifting motion, pushing the first processing module 51 up and down; the second drive motor 531 serves as a power source and can adopt a servo motor or a stepper motor with a brake (to prevent the Z axis from sliding down after power failure). It is fixed to the top of the first frame 11 and directly drives the second screw member 532 through a coupling. In other words, the lifting module 53 realizes the stable and controllable lifting and lowering of the first processing module 51 in the Z-axis direction through the precise transmission of the second screw member 532 and the second drive motor 531, and together with the first linear module 52 of the Y axis and the first clamping mechanism 3 of the X axis, a three-dimensional processing space is constructed, thereby efficiently completing complex processes such as roughing, drilling, and marking. Furthermore, the linkage with the first linear module 52 can be achieved by first adjusting the horizontal position via the Y-axis and then vertically feeding via the Z-axis, for example, when drilling, first aligning and then drilling. Alternatively, the vertical position can be adjusted first on the Z-axis and then horizontally feeding via the Y-axis, such as when creating or removing a dovetail groove. It should be noted that when the first clamping mechanism 3 moves along the X-axis to switch workstations, the first lifting module 53 must be raised to a safe height to avoid interference.

[0078] In this embodiment, if Figure 4 As shown, the first clamping mechanism 3 includes a second linear module 31, a rotation module 33, and a clamping module 32. The second linear module 31 is arranged on the first frame 11 along the first direction; the rotation module 33 is arranged at the output end of the second linear module 31; and the clamping module 32 is arranged at the output end of the rotation module 33. The second linear module 31 drives the clamping module 32 to move along the first direction, and the rotation module 33 drives the clamping module 32 to rotate. The first clamping mechanism 3 is used to fix and position important functional components such as raw materials, rough shoe lasts, or finished shoe lasts. Its structural design directly affects the stability of the processing process and the accuracy of the finished product. Through the coordinated action of the second linear module 31, the rotation module 33, and the clamping module 32, the first clamping mechanism 3 achieves multi-degree-of-freedom positioning and clamping of the workpiece 4 (shoe last), thereby meeting the complex requirements of multi-station processing.

[0079] That is, the first clamping mechanism 3 realizes the linear transportation, angle adjustment and stable fixation of the workpiece 4 (shoe last) through the three-level coordination of the second linear module 31, the rotation module 33 and the clamping module 32, and cooperates with the Y-axis and Z-axis movements of the first processing mechanism 5 to form multi-degree-of-freedom positioning to cover the full surface processing requirements of the workpiece 4 (shoe last), ensuring the real-time matching of the position of the first processing mechanism 5 and the workpiece 4 (shoe last), thereby realizing automated processing, which is particularly suitable for the production of complex parts such as shoe lasts that require multiple processes and multi-angle processing.

[0080] The second linear module 31 includes a third screw member 311 and a third drive motor 312; the third screw member 311 is mounted on the frame; the first drive motor 521 is mounted on the frame and drives the third screw member 311 to move along the first direction, thereby driving the movement of the first clamping mechanism 3. The second linear module 31 is mounted on the first frame 11 along the first direction (X-axis) and typically utilizes a ball screw or synchronous belt drive, driven by a servo motor, to control the precise movement of the clamping module 32 between the first, second, and third workstations.

[0081] The clamping module 32 includes a positioning table 323, a clamping jaw 321 and a fourth drive motor 322; the positioning table 323 is arranged at the output end of the third rotating module 333; the clamping jaws 321 are symmetrically arranged on both sides of the positioning table 323; the fourth drive motor 322 is arranged on the positioning table 323 and is connected to the clamping jaw 321 to drive the opening and closing of the clamping jaw 321 to clamp or release the workpiece 4; that is, the clamping module 32 realizes fast, stable and adjustable clamping and release of the workpiece 4 (shoe last) through the coordinated design of the positioning table 323, the clamping jaw 321 and the fourth drive motor 322.

[0082] Specifically, the rotating module 33 adjusts the positioning table 323 to a preset angle, such as a horizontal state, to facilitate manual or robotic loading; the shoe last is placed on the positioning table 323 and preliminarily aligned with the reference surface; after the sensor detects that the workpiece 4 is in place, it sends a command to the fourth drive motor 322, and the motor drives the transmission mechanism, and the clamps 321 on both sides move synchronously toward the center to clamp the shoe last; dynamic adjustment during processing can be achieved through the cooperation of the three rotating modules, and the angle of the workpiece 4 is adjusted according to processing needs, and the clamping module 32 maintains a constant clamping force. After the processing is completed, the motor reverses to drive the clamps to open, and the pneumatic system quickly exhausts air to ensure rapid loosening and quick release of the workpiece 4. Preferably, the clamps 321 and the positioning table 323 adopt an anti-backlash structure (such as a pre-tightened spring) to reduce the impact of processing vibration. That is, through the basic support of the positioning table 323, the flexible clamping of the clamping jaws 321 and the precise control of the fourth drive motor 322, together with the first processing mechanism 5 and the rotation module 33, a closed-loop automated process is formed to ensure stable clamping in any posture, thereby achieving firm fixation and rapid replacement of the workpiece 4 (shoe last) during complex processing. This design is particularly suitable for processing workpieces 4 (shoe lasts) such as shoe lasts that require frequent angle adjustments and have fragile surfaces, significantly improving production efficiency and consistency. Preferably, the clamping surface of each of the clamping jaws 321 is provided with an elastic buffer layer. The elastic buffer layer can be a replaceable soft liner, such as polyurethane, to increase friction and protect the workpiece 4 (shoe last).

[0083] In this embodiment, if Figure 5 As shown, the rotation module 33 includes a first rotation module 331, a second rotation module 332 and a third rotation module 333; the first rotation module 331 is arranged at the output end of the second linear module 31, and the rotation axis of the first rotation module 331 is consistent with the second direction; the second rotation module 332 is arranged at the output end of the first rotation module 331, and the rotation axis of the second rotation module 332 is consistent with the first direction; the third rotation module 333 is arranged at the output end of the second rotation module 332, and the rotation axis of the third rotation module 333 is consistent with the third direction; wherein, the first rotation module 331, the second rotation module 332 and the third rotation module 333 drive the clamping module 32 to rotate along the second direction, the first direction and the third direction respectively. That is, the rotating module 33 gives the clamping module 32 the ability to adjust the angle in full space through the three-axis linkage design of the first rotating module 331, the second rotating module 332 and the third rotating module 333, so that the workpiece 4 (shoe last) can be accurately positioned in any direction to meet complex processing requirements.

[0084] To further illustrate, the first rotating module 331 (rotating about the Y-axis) is fixed to the output end of the second linear module 31 (X-axis). Its rotation axis is parallel to the second direction (Y-axis). This drives the subsequent modules and the clamping module 32 to rotate about the Y-axis, achieving Y-axis swing to adjust their angles. For example, this allows the shoe last to tilt left and right along the Y-axis, or to adjust the pitch angle of the workpiece 4, such as tilting a curved surface to vertically focus the laser head during marking. The second rotating module 332 (rotating about the X-axis) is connected to the output end of the first rotating module 331. Its rotation axis is parallel to the first direction (X-axis). This drives the third rotating module 333 and the clamping module 32 to rotate about the X-axis. For example, this allows the shoe last to be flipped forward or backward, or for side drilling or polishing concave areas within the shoe last. The third rotation module 333 (rotating about the Z axis) is located at the output end of the second rotation module 332. Its axis of rotation is parallel to the third direction (Z axis). This directly controls the rotation of the clamping module 32 about the Z axis. For example, this allows for horizontal rotation of a shoe last to process a circular surface, or for multi-surface marking or uniformly roughening an outer contour. In other words, with three rotation modules corresponding to the rotational freedom of the Y, X, and Z axes, the combination enables universal angle adjustment (similar to a robot wrist joint). This allows for real-time adjustment of the workpiece angle based on the machining path, ensuring that machining tools (such as milling cutters and lasers) are always in the optimal working position.

[0085] The rotation module 33 constructs a spatial posture adjustment system for the clamping module 32 through the series design of the three-axis rotation module, and jointly realizes six-degree-of-freedom processing positioning with the linear module (X / Y / Z axis), covering all surfaces of the workpiece 4 (shoe last), adapting to the processing requirements of different shoe last models, and eliminating the need for manual re-clamping; it is especially suitable for workpieces 4 with complex surfaces and multi-feature processing, such as shoe lasts, greatly improving the flexibility and precision of automated production.

[0086] It is clear that the pitch angle of the workpiece 4 is changed by rotating around the Y axis (the first rotating module 331 ); the roll angle of the workpiece 4 is changed by rotating around the X axis (the second rotating module 332 ); and the horizontal orientation of the workpiece 4 is changed by rotating around the Z axis (the third rotating module 333 ).

[0087] In this embodiment, the second processing device includes a second frame 12, a plurality of second processing mechanisms 6 and a second clamping mechanism 7; the second frame 12 is arranged on the base 1 and is provided with the second processing station; the second processing station is provided with a rough processing station and a fine processing station along the second direction; a plurality of second processing mechanisms 6, each of the second processing mechanisms 6 is movably connected to the second frame 12 along the second direction and the third direction; the second clamping mechanism 7 is movably connected to the second frame 12 along the first direction; wherein, the second clamping mechanism 7 and the second processing mechanism 6 are respectively provided corresponding to the rough processing station and the fine processing station to perform different processing.

[0088] The second frame 12, serving as a foundational support component, possesses sufficient rigidity and stability to ensure smooth and precise operation of the second processing mechanism 6 during continuous processing. Multiple second processing mechanisms 6 are movably mounted on the second frame 12 along a first direction and a second direction, respectively. The first and second directions intersect, and the arrangement is preferably perpendicular. This allows each second processing mechanism 6 to achieve multi-degree-of-freedom motion in three dimensions, thereby satisfying the need for complex curved surface processing on different parts of the shoe last.

[0089] The second clamping mechanism 7 is used to fix the shoe last to be processed and is movably connected to the frame along the third direction, wherein the third direction intersects with the first direction and the second direction respectively, forming a three-dimensional motion system in a three-dimensional coordinate system. Through the movement control of the second clamping mechanism 7, the shoe last can be sequentially transported to different processing stations to complete multi-stage continuous processing operations.

[0090] Furthermore, when the second clamping mechanism 7 moves to the rough processing station, the second processing mechanism 6 located at this station performs preliminary cutting processing on the shoe last clamped by the second clamping mechanism 7 to remove the excess material and form a rough outline; then, the second clamping mechanism 7 drives the shoe last to continue moving along the third direction Z to the finishing station. At this time, the processing mechanism at this station performs fine cutting on the shoe last to achieve the final required dimensional accuracy and surface finish requirements.

[0091] By integrating roughing and finishing into separate stations within the same machine, and employing independent second machining mechanisms 6 to perform the respective machining tasks, the need for frequent tool changes during machining is eliminated, thus avoiding the need for recalibration required with traditional machining methods. This significantly simplifies machining steps and improves both efficiency and consistency. Furthermore, since each machining mechanism can pre-set optimal tool parameters and machining paths based on its assigned machining task, this helps improve overall machining accuracy and automation.

[0092] As you can understand, the finishing and roughing stations are two functional areas arranged along a first direction within the integrated shoe last processing equipment, each used to complete different stages of the shoe last processing process. The establishment of these two stations enables continuous and efficient multi-stage processing of shoe lasts on the same equipment, improving overall processing efficiency and automation.

[0093] The rough machining station is primarily used for the initial cutting of the raw shoe last blank. In this station, the second machining mechanism 6 is equipped with a larger tool, such as a large-diameter milling cutter or a high-feed-rate forming tool. Its primary task is to quickly remove excess material from the surface of the shoe last, forming the basic contour. This stage requires high machining speed and cutting efficiency, while relatively low requirements for surface finish and dimensional accuracy.

[0094] The finishing station, located after the roughing station, is primarily used to fine-tune the shoe last after it has been initially formed. In this station, the second machining mechanism 6 is typically equipped with smaller, more precise tools, such as fine-edge milling cutters or multi-edge grinding heads, to improve the surface finish, contour accuracy, and dimensional consistency of the shoe last, ensuring it meets the final design requirements.

[0095] Compared to the roughing stage, the finishing stage prioritizes precision and surface quality. Therefore, machining parameters (such as feed rate and depth of cut) are more precisely set, and the motor and drive system also require greater responsiveness and control stability. In this station, the second clamping mechanism 7 cooperates with the rotating assembly 72 to flexibly adjust the last's posture, enabling the tool to precisely contact complex curved surfaces and complete high-quality contouring.

[0096] In this embodiment, the second processing mechanism 6 includes a first movable assembly 61, a second movable assembly 62, a mounting bracket 63, and a processing assembly 64. The processing assembly 64 is used to perform processing operations such as cutting and grinding on the shoe last secured by the second clamping mechanism 7, and is a core component for achieving material removal and shape forming. The processing assembly 64 is mounted on the mounting bracket 63. The second frame 12, the first movable assembly 61, the second movable assembly 62, and the mounting bracket 63 are sequentially connected. This structural design enables the processing assembly 64 to spatially displace independently or in conjunction with each other in the second and third directions, forming a planar coordinate system, thereby achieving accurate positioning and processing of any location on the surface of the shoe last.

[0097] Specifically, the first moving component 61 is used to drive the mounting bracket 63 and the processing component 64 thereon along the second direction, for example, by means of a guide rail pair, a screw transmission mechanism or a linear motor; the second moving component 62 is used to further drive the processing component 64 to move along the third direction on the basis of the second direction, so as to expand its working range and complete the comprehensive processing of the complex curved surface of the shoe last.

[0098] As the supporting structure for the machining assembly 64, the mounting bracket 63 exhibits excellent rigidity and dynamic stability, effectively resisting the cutting forces generated during machining and ensuring machining accuracy. The machining assembly 64 includes a spindle motor, a tool mount, and corresponding tools. Cutting parameters and tool types are configured according to the functional requirements of different workstations, such as high-feed tools for roughing and high-precision tools for finishing.

[0099] The first moving assembly 61 is disposed on the second frame 12 and is used to drive the second processing mechanism 6 to precisely move along the second direction. Specifically, the first moving assembly 61 includes a fifth screw member 612, a first nut member 613, and a fifth drive motor 611; the fifth screw member 612 is rotatably disposed on the second frame 12 and extends along the second direction; the first nut member 613 is slidably connected to the second frame 12 and threadedly connected to the fifth screw member 612, and the first nut member 613 is connected to the second moving assembly 62; and the fifth drive motor 611 is disposed on the second frame 12 and is used to drive the fifth screw member 612 to rotate, thereby driving the second moving assembly 62 and the processing assembly 64 to move along the second direction.

[0100] Furthermore, the fifth screw rod 612 is a shaft-like part extending in a second direction (usually horizontally), and its surface is processed with a precise external thread. The fifth screw rod 612 is rotatably mounted on the second frame 12 and extends in the second direction. The two ends of the fifth screw rod 612 are supported by bearing seats to ensure its stability and coaxiality during rotation, thereby improving the overall transmission accuracy. The fifth screw rod 612 is connected to the power source and can achieve smooth rotational motion under drive. The first nut member 613 is a slider with a matching thread inside, and the thread is tightly matched with the external thread on the fifth screw rod 612 to form a spiral pair. The first nut member 613 cooperates with the fifth screw rod 612 and engages with the fifth screw rod 612 by a threaded connection. The first nut member 613 is also slidably connected to the guide rail structure on the second frame 12, so that it can perform linear reciprocating motion along the second direction when the fifth screw rod 612 rotates. The first nut member 613 is also fixedly connected to the second moving assembly 62 to transmit its own movement to subsequent components, thereby driving the entire second processing mechanism 6 to move synchronously along the second direction. The fifth drive motor 611 is fixedly mounted on the second frame 12 and is connected to one end of the fifth screw member 612 through a coupling or a reduction mechanism to provide a driving force to drive the fifth screw member 612 to rotate. The fifth drive motor 611 is preferably a servo motor or a stepper motor with good control accuracy and responsiveness, capable of achieving high-precision positioning and continuous motion control of the second processing mechanism 6 in the second direction.

[0101] Furthermore, the second moving assembly 62 is disposed on the mounting bracket 63 and is used to drive the processing assembly 64 to precisely control displacement along the third direction, thereby achieving multi-point processing of different positions on the surface of the shoe last. Specifically, the second moving assembly 62 includes a sixth screw member 622, a second nut member 623, and a sixth drive motor 621; the sixth screw member 622 is rotatably disposed on the mounting bracket 63 and extends along the third direction; the second nut member 623 is connected to the first nut member 613 and is threadedly connected to the sixth screw member 622, and the second nut member 623 is slidably connected to the mounting bracket 63; and the sixth drive motor 621 is disposed on the mounting bracket 63 and drives the sixth screw member 622 to rotate, thereby driving the processing assembly 64 to move along the third direction.

[0102] Furthermore, the sixth screw member 622 is a shaft-like component with a precision external thread structure. It is rotatably mounted on the mounting bracket 63 and extends along the third direction. The sixth screw member 622 is fixed to both ends of the mounting bracket 63 via bearing structures, ensuring good coaxiality and operational stability during rotation. This sixth screw member 622 cooperates with the first nut member 613 in the first moving assembly 61 to form part of the linkage structure, providing stable support and guidance for subsequent moving components.

[0103] The second nut member 623 is a sliding component with an internal thread, which forms a spiral pair with the external thread of the sixth screw member 622. The second nut member 623 is threadedly connected to the sixth screw member 622 and can perform linear reciprocating motion along the third direction under the rotation of the sixth screw member 622. At the same time, the second nut member 623 is also slidably connected to the guide rail structure on the mounting bracket 63 to ensure its guiding accuracy and operational stability during movement. In addition, the second nut member 623 is also directly connected to the processing assembly 64, and is used to drive the processing assembly 64 to move to a set position along the third direction to complete the cutting or grinding operation of the corresponding area.

[0104] The sixth drive motor 621 is fixedly mounted on the mounting bracket 63 and connected to one end of the sixth lead screw 622 via a coupling or a reduction mechanism, thereby driving the rotation of the sixth lead screw 622. Preferably, the sixth drive motor 621 is a servo motor or a stepper motor, which has high response speed and high positioning accuracy, and can meet the strict path control requirements of complex surface machining.

[0105] Building on the first movable assembly 61, the second movable assembly 62 further expands the freedom of movement of the processing assembly 64 in the third direction, allowing the processing tool to be flexibly adjusted to accommodate the processing needs of shoe lasts of varying shapes and sizes. This structure not only improves the equipment's space utilization and processing flexibility, but also helps enhance overall processing accuracy and efficiency.

[0106] In this embodiment, the second processing mechanism 6 also includes a third moving component 65, and the third moving component 65 is arranged on the mounting bracket 63 to drive the processing component 64 to rotate; the processing component 64 is rotatably connected to the mounting bracket 63, and the rotation axis of the processing component 64 is consistent with the second direction, that is, it is arranged horizontally to cooperate with the movement in other directions to realize multi-angle and multi-directional processing of the shoe last surface.

[0107] Furthermore, the third moving assembly 65 comprises a rotational drive component, a rotational support structure, and a transmission component. The rotational drive component is preferably a servo motor or hydraulic motor, which provides stable and controllable rotational power. The rotational support structure supports the processing assembly 64 and ensures its stability and concentricity during rotation. The transmission component, such as a gear set or synchronous pulley, transmits the power of the drive component to the processing assembly 64, achieving continuous or intermittent rotation.

[0108] By providing the third movable assembly 65, the machining assembly 64 can rotate in the second direction while performing cutting or grinding operations. This allows the tool's angle relative to the shoe last surface to be adjusted, adapting to the machining needs of various curved surface contours and improving machining adaptability and flexibility. For example, when machining complex curved surfaces on the toe or heel of a shoe last, adjusting the rotation angle of the machining assembly 64 effectively avoids interference, improving machining accuracy and surface quality.

[0109] In addition, the introduction of the third moving component 65 also enhances the diversity of processing paths, enabling the equipment to more efficiently complete complex process tasks such as profiling, multi-angle chamfering, and special-shaped contour finishing, further improving the degree of automation and intelligence of the equipment.

[0110] The processing assembly 64 is rotatably connected to the mounting bracket 63 to achieve rotational motion about a fixed axis. This rotational motion is driven by a third moving assembly 65, which is mounted on the mounting bracket 63 and drives the processing assembly 64 to rotate via a screw-nut mechanism.

[0111] The third moving assembly 65 includes a seventh screw rod 652, a third nut 653 and a seventh driving motor 651. The seventh screw rod 652 is rotatably mounted inside the mounting bracket 63 and extends along the third direction.

[0112] The seventh screw 652 is a transmission shaft with a precision external thread. Bearings support both ends of the seventh screw 652, ensuring excellent coaxiality and transmission accuracy during rotation. As the core component of power transmission, the seventh screw 652 converts rotational motion into linear displacement, thereby indirectly driving the angular change of the machining assembly 64.

[0113] The third nut member 653 is a sliding component with a matching internal thread, which forms a spiral pair with the seventh screw member 652. The third nut member 653 forms a threaded fit with the seventh screw member 652 and can perform linear reciprocating motion along the third direction when the seventh screw member 652 rotates. At the same time, the third nut member 653 is slidably connected to the guide structure on the mounting bracket 63 to ensure its smooth operation. In addition, the third nut member 653 is also connected to the processing assembly 64. When it moves along the first direction, it pushes the processing assembly 64 to rotate around the second direction, thereby realizing dynamic adjustment of the tool angle.

[0114] The seventh drive motor 651 is fixedly mounted on the mounting bracket 63 and connected to one end of the seventh lead screw 652 via a coupling or a reduction gear, thereby providing a driving force to rotate the seventh lead screw 652. Preferably, the seventh drive motor 651 is a servo motor with high-precision control capabilities. It can accurately control the rotation angle and speed of the machining assembly 64 according to the machining path requirements, meeting the precision machining requirements of complex curved surface contours.

[0115] Through this structural design, the third moving assembly 65 can drive the processing assembly 64 to perform linear displacement in the third direction and, through mechanical linkage, achieve rotational motion of the processing assembly 64 about its axis in the second direction. This rotational function effectively adapts to the machining requirements of different shoe last curved surfaces, improves the contact compatibility between the tool and the workpiece 4, avoids interference or machining defects caused by improper angles, and thus improves overall machining quality and efficiency.

[0116] In this embodiment, if Figure 7 As shown, the second clamping mechanism 7 is used to stably secure the shoe last to be processed and, through multi-degree-of-freedom motion coordination, achieves precise transport and positioning of the shoe last between different processing stations. Specifically, the second clamping mechanism 7 includes a fourth moving assembly 73, a rotating assembly 72, and a clamping assembly 71. The clamping assembly 71 is rotatably mounted on the fourth moving assembly 73 via the rotating assembly 72. The rotation axis of the clamping assembly 71 is aligned with the third direction. The fourth moving assembly 73 is connected to the second frame 12 to drive the rotating assembly 72 and the clamping assembly 71 to move along the first direction.

[0117] The fourth movable assembly 73 is fixedly connected to the second frame 12 and is used to drive the entire clamping system to perform linear reciprocating motion along the first direction. The fourth movable assembly 73 preferably utilizes a guide rail and slider structure combined with a screw-nut transmission mechanism to ensure smooth operation and high positioning accuracy. One end of the fourth movable assembly 73 is fixedly connected to the rotating assembly 72, thereby driving the rotating assembly 72 and the clamping assembly 71 to move synchronously to a set position, such as a roughing or finishing station.

[0118] The rotating assembly 72 is mounted on the fourth movable assembly 73 and connected to the clamping assembly 71. The clamping assembly 71 is rotatably mounted on the fourth movable assembly 73 via the rotating assembly 72, enabling angular adjustment around its axis. The rotation axis of the clamping assembly 71 aligns with the third direction, i.e., along the horizontal longitudinal axis. This allows the clamping assembly 71 to flexibly adjust the position of the shoe last during machining to accommodate machining requirements for different areas, such as the instep area, heel contour, and other complex curved surfaces.

[0119] The rotating assembly 72 is a standard turntable, enabling precise rotational adjustment of the clamping assembly 71 and the shoe last it holds around a specific axis. As a mature and efficient rotating device, the standard turntable plays an important role in improving equipment flexibility and processing accuracy.

[0120] The standard turntable is mounted on the fourth moving assembly 73 and securely connected to the clamping assembly 71 via a precise mechanical interface. The core components of this turntable include a high-precision rotating platform and a drive system. The rotating platform is supported by high-quality bearings, ensuring extremely low friction and excellent rotational smoothness while bearing loads. These characteristics are crucial for maintaining positioning accuracy over extended periods of operation.

[0121] The drive system typically consists of a servo motor or stepper motor, which directly drives the rotating platform for angle adjustment. The motor is selected based on the required rotational speed, positioning accuracy, and torque requirements. Through a precise transmission mechanism (such as a gear drive or direct drive), the drive system's power is efficiently transmitted to the rotating platform, achieving precise control of the shoe last's posture. In addition, the drive system is equipped with an encoder or other position feedback device for real-time monitoring and correction of the rotation angle, ensuring that each rotation operation achieves the preset position accuracy.

[0122] The clamping assembly 71 is an important functional component for fixing and positioning the shoe last. Its structural design directly affects the stability of the processing process and the accuracy of the finished product. This component usually includes a clamping jaw, a drive device, a rotating connection structure and protective auxiliary components. The clamping jaw part is composed of two or more symmetrically arranged clamping units, and the surface is provided with anti-slip or buffering materials to increase friction and prevent damage to the shoe last surface during the clamping process. The opening and closing action of the clamping jaw is controlled by a drive device. Common drive methods include pneumatic cylinders, hydraulic cylinders or electric actuators, which can provide stable and adjustable clamping force according to processing requirements to ensure that the shoe last does not move or vibrate during the processing.

[0123] The fourth moving assembly 73 includes an eighth screw member 732, a fourth nut member 731 and an eighth drive motor 733. The fourth moving assembly 73 is used to achieve precise displacement control of the second clamping mechanism 7 along the first direction to ensure that the shoe last can be stably and efficiently switched between different processing stations.

[0124] The eighth screw member 732 is a shaft-like component with a precision external thread structure. It is rotatably mounted on the second frame 12 and extends in the first direction. Both ends of the eighth screw member 732 are supported by bearing blocks, ensuring good coaxiality and operational stability during rotation, thereby improving transmission accuracy and overall structural rigidity.

[0125] The fourth nut member 731 is a slider with a matching internal thread, which forms a spiral pair with the eighth screw member 732. The fourth nut member 731 forms a threaded fit with the eighth screw member 732, and can perform linear reciprocating motion along the first direction when the eighth screw member 732 rotates. At the same time, the fourth nut member 731 is slidably connected to the guide rail structure on the second frame 12 to ensure its guiding accuracy and stability during operation. In addition, the fourth nut member 731 is also fixedly connected to the rotating assembly 72, driving the rotating assembly 72 and the clamping assembly 71 connected thereto to synchronously move along the first direction to a set position, such as a rough processing station or a fine processing station.

[0126] The eighth drive motor 733 is fixedly mounted on the second frame 12 and connected to one end of the eighth lead screw member 732 via a coupling or a reduction mechanism, and is used to provide driving force to drive the eighth lead screw member 732 to rotate. Preferably, the eighth drive motor 733 is a servo motor with high response speed and high positioning accuracy, which can meet the requirements of multi-speed control and high repeatability of the second clamping mechanism 7.

[0127] The fourth moving assembly 73 stably and precisely switches the clamping assembly 71 and the shoe last it holds between roughing and finishing stations, eliminating the need for multiple tool changes required in traditional equipment and improving both process continuity and automation. Furthermore, combined with the rotational function of the rotating assembly 72, flexible machining of the shoe last at multiple angles is possible, enhancing the adaptability and efficiency of the equipment.

[0128] In this embodiment, if Figure 7 As shown, there are multiple second clamping mechanisms 7, which are sequentially spaced apart along the first direction. This structural design is intended to improve the processing efficiency and continuous operation capability of the equipment, and to achieve simultaneous processing or phased cyclic processing of multiple shoe lasts.

[0129] Each second clamping mechanism 7 comprises a rotating assembly 72 and a clamping assembly 71, capable of independently clamping, positioning, and adjusting the posture of a single shoe last. The orderly distribution of multiple second clamping mechanisms 7 in two directions allows the entire device to perform rough or fine processing on different shoe lasts sequentially according to a pre-set processing flow, creating an assembly line-like operation mode, significantly improving processing output per unit time.

[0130] Furthermore, the spacing between the multiple second clamping mechanisms 7 can be appropriately set based on actual processing requirements, ensuring that the second clamping mechanisms 7 do not interfere with each other during movement. This also ensures that the processing assembly 64 has sufficient operating space and path planning margin when switching between processing objects. This layout also facilitates the integration of subsequent automated loading and unloading systems, such as robotic arms or conveyor belts, to achieve automatic clamping and unloading of shoe lasts, further reducing the degree of manual intervention and improving the overall level of production automation.

[0131] By providing multiple second clamping mechanisms 7 arranged sequentially along the second direction, not only is the space utilization and processing efficiency of the equipment improved, but it also provides the hardware foundation for multi-station collaborative processing. This structure is particularly suitable for mass production and high-precision customized processing scenarios, helping to improve the overall performance and market competitiveness of the equipment.

[0132] In this embodiment, if Figure 1As shown, the camera scanning device 2 includes a camera support frame and multiple camera assemblies; the camera support frame includes a first vertical bracket, a crossbeam bracket and a second vertical bracket; the first vertical bracket is arranged on the side of the first frame 11 away from the second processing station; one end of the crossbeam bracket is connected to the first vertical bracket, and the other end is connected to the second vertical bracket; the first vertical bracket and the second vertical bracket are arranged opposite to each other and form the scanning station for the shoe last to pass through; multiple camera assemblies are respectively arranged on the first vertical bracket and the second vertical bracket through adjustable angle brackets.

[0133] The camera support is mounted on the first frame 11. Specifically, a first vertical support is fixed to the side of the first frame 11 facing away from the second processing station, serving as a base support for the scanning device. The ends of the crossbeam support are horizontally connected to the first and second vertical supports, forming a stable gantry-style frame structure that ensures rigid support during the scanning process. The second vertical support is positioned opposite the first vertical support, together forming a scanning station for the shoe last to pass through, ensuring that the shoe last is in a stable inspection space during scanning. Multiple camera assemblies are mounted on the first and second vertical supports via adjustable angle brackets, allowing for adjustable pitch and rotation angles to accommodate the scanning requirements of different shoe lasts.

[0134] In this embodiment, the number of the camera assemblies is eight, symmetrically arranged on the first vertical bracket and the second vertical bracket. Preferably, the arrangement of the camera assemblies can adopt multi-angle coverage (such as up and down, left and right, and diagonal) to ensure that there are no blind spots in the scanning, improve the integrity and accuracy of the three-dimensional modeling, and can efficiently and accurately complete the three-dimensional scanning of the shoe last, ensuring the accuracy of subsequent processing. It should be noted that the number of the camera assemblies includes but is not limited to eight, and can also be six, seven, nine, or even more, more to meet the needs of all-round scanning of the workpiece.

[0135] In this embodiment, a control system is further included, which is connected to the first processing device, the second processing device and the camera scanning device 2 by signal, and adjusts the processing parameters according to the scanning data.

[0136] Specifically, the shoe last is fed into the scanning station between the first vertical support and the second vertical support by the first clamping mechanism 3 or other conveying device; since the scanning station and the first processing station are arranged along the first direction, the shoe last can be directly scanned after rough processing, reducing transportation time; multiple camera components simultaneously capture high-resolution images of the shoe last from different angles, and combined with structured light or laser scanning technology, the three-dimensional point cloud data of the shoe last is quickly acquired. The adjustable angle bracket allows the camera to dynamically adjust the shooting angle according to the shape of the shoe last, ensuring the complete capture of complex curved surfaces (such as the toe and heel); the scanned data is transmitted to the control system in real time and compared with the preset shoe last CAD model to detect processing errors, such as dimensional deviation and surface defects; if an error is detected, the control system generates a correction instruction and feeds it back to the first processing device or the second processing device for compensatory processing, ensuring the dimensional consistency and surface quality of the shoe last processing, greatly improving production efficiency and product qualification rate.

[0137] In this embodiment, a feeding robot is further included. The feeding robot is arranged on the base 1 and is located between the first processing station and the second processing station.

[0138] Among them, the feeding robot fixes the standard shoe last on the first clamping mechanism 3, drives it to the scanning station through the second linear module 31, and scans the standard shoe last through multiple camera components; transmits the data scanned by the multiple camera components to the control system, and transmits the data to the first processing device and the second processing device for corresponding processing steps; then the feeding robot loads the raw material to the first clamping mechanism 3 and clamps it. Under the adjustment of the second linear module 31 and the rotating module, the raw material faces the first processing mechanism 5 in the best posture, and under the adjustment of the first lifting module 53 and the first linear module 52, the first processing mechanism 5 is adjusted to the best posture. The best processing posture faces the raw material to open the dovetail groove; after the dovetail groove is processed, the raw material with the dovetail groove is placed on the second clamping mechanism 7 under the transfer of the feeding robot and is clamped by the second clamping mechanism 7. Thereafter, it is processed by the second processing mechanism 6 for rough processing and fine processing respectively. After each rough processing or fine processing is completed, it will be returned to the first clamping mechanism 3 under the transfer of the feeding robot, and returned to the scanning station under the movement of the second linear module 31 to allow multiple camera components to perform corresponding scanning and obtain corresponding correction data. Multiple camera components will transmit the obtained correction data to the corresponding second processing mechanism 6. The processing mechanism 6 or the first processing mechanism 5, the second processing mechanism 6 or the first processing mechanism 5 will adjust the processing parameters to further process the shoe last until the shoe last is consistent with the standard shoe last; at this time, the shoe last will be transferred by the feeding robot and returned to the first clamping mechanism 3, and move to the first work station respectively under the movement of the second linear module 31, and combined with the adjustment of the first lifting module 53 and the first linear module 52, the first processing module 51 removes the dovetail groove of the shoe last, and then under the adjustment of the second linear module 31 and the rotating module, the shoe last aligns the shoe last tube mouth with the first processing mechanism 5 to open the shoe last tube and punch holes at the corresponding positions. Similarly, Under the movement of the second linear module 31, it is scanned to the scanning station to ensure that the accuracy of the tube mouth and the relative hole meets the requirements; if it does not meet the standards, the multiple camera components will transmit the correction data obtained by scanning to the first processing mechanism 5, and the first processing mechanism 5 will further process and correct it according to the correction data; finally, under the action of the second linear module 31, it comes to the third station to carry out the last process, that is, to meet the standards of the shoe last; in this process, especially after the shoe last is finished, it returns to the first clamping mechanism 3 for the subsequent process, and continuous processing such as drilling and marking can be completed after a single clamping, avoiding multiple positioning errors. The processing posture of the processing mechanism is adjusted by the first linear module 52 and the first lifting module 53, and the processing stage of the shoe last to be processed is adjusted in conjunction with the second linear module 31 and the rotating module 33. The relative posture can be continuously adjusted in real time according to the processing requirements to achieve accurate processing every time.

[0139] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0140] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0141] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0142] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0143] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0144] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0145] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, as long as these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

[0146] The above description is a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A shoe last integrated processing equipment, characterized in that: include: A base is provided with a first processing station, a second processing station and a scanning station; the first processing station and the scanning station are arranged along a first direction, the second processing station and the first processing station and the scanning station are arranged along a second direction, and the first direction and the second direction are perpendicular to each other; A first processing device is provided on the base and is arranged corresponding to the first processing station; a second processing device, disposed on the base, adjacent to the first processing device, and corresponding to the second processing station; The camera scanning device is arranged on the base and corresponds to the scanning station.

2. The shoe last integrated processing equipment according to claim 1, characterized in that: The first processing device comprises: A first frame is provided on the base and is provided with the first processing station; the first processing station is provided with a first station, a second station and a third station arranged along the first direction; a first clamping mechanism, movably provided on the first frame along the first direction; a first processing mechanism, movably provided on the first frame along the second direction and the third direction; The first clamping mechanism and the first processing mechanism are respectively arranged corresponding to the third workstation, the second workstation and the first workstation to perform different processing.

3. The shoe last integrated processing equipment according to claim 2, characterized in that: The first processing mechanism includes: a first lifting module, slidably arranged on the first frame along the third direction; A first linear module is provided on the first lifting module and is slidably arranged along the first direction; Multiple first processing modules are arranged on the first linear module and corresponding to the first clamping mechanism; multiple first processing modules are arranged along the first direction, and each first processing module is movably connected to the second frame along the second direction and the third direction.

4. The shoe last integrated processing equipment according to claim 2, characterized in that: The first clamping mechanism comprises: A second linear module is provided on the first frame along the first direction; A rotation module is provided at the output end of the second linear module; A clamping module, provided at the output end of the rotating module; The second linear module drives the clamping module to move along the first direction, and the rotating module drives the clamping module to rotate.

5. The shoe last integrated processing equipment according to claim 4, characterized in that: The rotation module includes: A first rotary module is provided at the output end of the second linear module, and the rotation axis of the first rotary module is consistent with the second direction; A second rotating module is provided at the output end of the first rotating module, and the rotation axis of the second rotating module is consistent with the first direction; a third rotating module, provided at the output end of the second rotating module, wherein the rotation axis of the third rotating module is consistent with the third direction; The first rotating module, the second rotating module and the third rotating module drive the clamping module to rotate along the second direction, the first direction and the third direction respectively.

6. The shoe last integrated processing equipment according to claim 1, characterized in that: The second processing device comprises: A second frame is provided on the base and is provided with the second processing station; the second processing station is provided with a rough processing station and a fine processing station along the second direction; a plurality of second processing mechanisms, each of the second processing mechanisms being movably connected to the second frame along the second direction and the third direction; a second clamping mechanism, movably connected to the second frame along the first direction; The second clamping mechanism and the second processing mechanism are respectively arranged corresponding to the rough processing station and the fine processing station to perform different processing.

7. The shoe last integrated processing equipment according to claim 6, characterized in that: The second processing mechanism includes a first moving component, a second moving component, a mounting bracket and a processing component. The processing component is arranged on the mounting bracket. The second frame, the first moving component, the second moving component and the mounting bracket are connected in sequence to drive the processing component to move along the second direction and the third direction.

8. The shoe last integrated processing equipment according to claim 7, characterized in that: The second processing mechanism further includes a third moving component, which is disposed on the mounting bracket to drive the processing component to rotate; the processing component is rotatably connected to the mounting bracket, and the rotation axis of the processing component is consistent with the second direction.

9. The shoe last integrated processing equipment according to claim 6, characterized in that: The second clamping mechanism includes a fourth movable component, a rotating component and a clamping component. The clamping component is rotatably arranged on the fourth movable component through the rotating component. The rotation axis of the clamping component is consistent with the third direction. The fourth movable component is connected to the second frame to drive the rotating component and the clamping component to move along the first direction.

10. The shoe last integrated processing equipment according to claim 2, characterized in that: The camera scanning device comprises: A camera support frame, comprising a first vertical support, a crossbeam support, and a second vertical support; the first vertical support is disposed on a side of the first frame facing away from the second processing station; one end of the crossbeam support is connected to the first vertical support, and the other end is connected to the second vertical support; the first vertical support and the second vertical support are disposed opposite each other and form the scanning station for the shoe last to pass through; A plurality of camera assemblies are respectively arranged on the first vertical bracket and the second vertical bracket through adjustable angle brackets.

11. The shoe last integrated processing equipment according to claim 1, characterized in that: It also includes a feeding robot, which is arranged on the base and located between the first processing station and the second processing station.

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