Shoe last integrated processing equipment

Abstract

The application relates to a shoe tree integrated processing equipment, which comprises a base 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 is arranged along a second direction and is arranged in the first processing station and the scanning station; a first processing device is arranged correspondingly to the first processing station; a second processing device is arranged correspondingly to the second processing station and is adjacent to the first processing device; and a camera scanning device is arranged correspondingly to the scanning station. The first processing device is responsible for dovetail groove manufacturing, barrel opening support block polishing and laser stamping, the second processing device is specialized in rough or fine machining, and the scanning modeling of the camera scanning device can cover the whole process of shoe tree machining, the functions of dovetail groove manufacturing, barrel opening support block polishing, laser stamping, rough machining and fine machining are integrated into a single equipment, the purchase and maintenance costs of multiple independent devices are avoided, the complicated process of manual division between multiple processes is avoided, and manpower is saved.

Description

Technical Field

[0001] This application relates to the field of shoe last processing, and more particularly to an integrated shoe last processing equipment. Background Technology

[0002] As the core mold in the shoemaking process, the shoe last's processing precision and efficiency directly affect the comfort and production efficiency of footwear. Traditional shoe last processing typically employs a step-by-step process, involving multiple independent machines to complete processes such as dovetail groove fabrication, rough machining, fine machining, barrel support block grinding, and laser stamping. These auxiliary processes are cumbersome, easily leading to problems such as long processing cycles, large equipment footprints, and high equipment investment costs. Furthermore, the repeated clamping can 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, which has low space utilization and poor connection between processing and scanning links, 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 the processing flow, processing efficiency and precision can be improved to meet the needs of the modern shoe manufacturing industry. Summary of the Invention

[0005] This application provides an integrated shoe last processing equipment. By integrating and simplifying the structure, the complexity of the equipment is reduced. It can complete processes such as dovetail groove making, rough processing, fine processing, barrel mouth support block grinding, and laser stamping in one go without multiple machines. This makes the whole system more intuitive and easy to use, improves its production efficiency, and reduces labor costs.

[0006] Therefore, this application provides an integrated shoe last processing equipment, comprising:

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

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

[0009] The second processing device is located on the base and adjacent to the first processing device, and is set corresponding to the second processing station;

[0010] A camera scanning device is mounted on the base and is set up corresponding to the scanning station.

[0011] In some embodiments, the first processing apparatus includes:

[0012] A first frame is disposed 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] The first clamping mechanism is movably disposed on the first frame along the first direction;

[0014] The first processing mechanism is movably disposed on the first frame along the second direction and the third direction;

[0015] The first clamping mechanism and the first processing mechanism are respectively set up for the third station, the second station and the first station to perform different processing.

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

[0017] The first lifting module is slidably disposed on the first frame along the third direction;

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

[0019] Multiple first processing modules are disposed on the first linear module and are configured corresponding to the first clamping mechanism; the 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 includes:

[0021] The second linear module is disposed on the first frame along the first direction;

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

[0023] A clamping module is located 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 rotating module is disposed at the output end of the second linear module, and the rotation axis of the first rotating module is consistent with the second direction;

[0027] The second rotating module is located 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 is located at the output end of the second rotating module, and 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 apparatus includes:

[0031] The second frame is located on the base and has the second processing station; the second processing station is arranged along the second direction with roughing station and finishing station;

[0032] Multiple second processing mechanisms, each of which is movably connected to the second frame along the second direction and the third direction;

[0033] The second clamping mechanism is movably connected to the second frame along the first direction;

[0034] The second clamping mechanism and the second processing mechanism are respectively set up for the roughing station and the finishing 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 disposed 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.

[0036] In some embodiments, the second processing mechanism further includes a third moving component 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 moving component, a rotating component, and a clamping component. The clamping component is rotatably disposed on the fourth moving component via the rotating component. The rotation axis of the clamping component is consistent with the third direction. The fourth moving 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] The camera support frame includes a first vertical support, a crossbeam support, and a second vertical support; the first vertical support is located on the side of the first frame 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 arranged opposite to each other and form the scanning station for the shoe last to pass through;

[0040] Multiple camera components are respectively mounted on the first vertical support and the second vertical support via adjustable angle brackets.

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

[0042] The beneficial effects of this application are:

[0043] The integrated shoe last 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, and the second processing station is arranged along a second direction with the first processing station and the scanning station, and the first direction and the second direction are perpendicular to each other. The first processing device is located on the base and is set corresponding to the first processing station. The second processing device is located on the base, adjacent to the first processing device, and is set corresponding to the second processing station. The camera scanning device is located on the base and is set 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 vertically, which saves equipment floor space and facilitates linear connection of the processing flow. The camera scanning device is integrated into the first processing unit, which can scan the blank to generate a 3D model before processing or scan the finished product for quality inspection after processing, realizing closed-loop control. The first processing unit is responsible for the first / last process (such as dovetail groove making, rough processing, fine processing, barrel mouth support block grinding, laser stamping), while the second processing unit specializes in rough processing and fine processing. With the help of scanning and modeling, it can cover the entire shoe last processing flow, reducing the time loss of traditional multi-equipment transfer and avoiding the tedious process of manually distinguishing between multiple processes, thus saving manpower.

[0045] The 3D data acquired through scanning allows for real-time adjustment of processing parameters (such as toolpath and cutting depth) to adapt to different shoe last models, improving processing accuracy and reducing trial-and-error costs. Integrating functions such as barrel opening support block grinding, laser stamping, roughing, and finishing into a single device avoids the procurement and maintenance costs of multiple independent machines, while simplifying the material flow system. Operators only need to manage one device instead of multiple independent units, reducing training difficulty and the risk of misoperation. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the structure of an integrated shoe last processing equipment according to this application;

[0048] Figure 2 for Figure 1 Another structural diagram from a different perspective;

[0049] Figure 3 for Figure 1 Structural diagram of the first processing unit;

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

[0051] Figure 5 for Figure 4 Enlarged assembly diagram of the first clamping mechanism;

[0052] Figure 6 for Figure 3 Enlarged assembly structure diagram of the first machining mechanism;

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

[0054] Figure 8 for Figure 1 A schematic diagram of the structure of the first moving component;

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

[0056] Figure 10 for Figure 9 A structural diagram from another perspective.

[0057] Explanation of reference numerals in the attached figures:

[0058] 1. Base; 11. First frame; 12. Second frame; 2. Camera scanning device; 3. First clamping mechanism; 31. Second linear module; 311. Third lead screw; 312. Third drive motor; 32. Clamping module; 321. Gripper; 322. Fourth drive motor; 323. Positioning table; 33. Rotation module; 331. First rotation module; 332. Second rotation module; 333. Third rotation module; 4. Workpiece; 5. First processing mechanism; 51. First processing module; 511. Dovetail groove manufacturing module; 512. Barrel mouth support block grinding module; 513. Marking module; 52. First linear module; 521. First drive motor; 522. First lead screw; 53. First lifting module; 531. Second drive motor; 532. Drive motor; 6. Second lead screw component; 6. Second machining mechanism; 61. First moving component; 611. Fifth drive motor; 612. Fifth lead screw component; 613. First nut component; 62. Second moving component; 621. Sixth drive motor; 622. Sixth lead screw component; 623. Second nut component; 63. Mounting bracket; 64. Machining component; 65. Third moving component; 651. Seventh drive motor; 652. Seventh lead screw component; 653. Third nut component; 7. Second clamping mechanism; 71. Clamping component; 72. Rotating component; 73. Fourth moving component; 731. Fourth nut component; 732. Eighth lead screw component; 733. Eighth drive motor; The first direction is the X-axis; the second direction is the Y-axis; the third direction is the Z-axis. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0060] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0061] like Figures 1 to 9As shown, this 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 is arranged along a second direction with the first processing station and the scanning station, and the first direction and the second direction are perpendicular to each other; the first processing device is disposed on the base 1 and is set corresponding to the first processing station; the second processing device is disposed on the base 1 and is adjacent to the first processing device and is set corresponding to the second processing station; the camera scanning device 2 is disposed on the base 1 and is set corresponding to the scanning station.

[0062] To elaborate further, the first processing station and the scanning station are along the first direction ( Figure 1 The X-axis in the middle is arranged in a straight line, which facilitates the direct transport of workpiece 4 to the scanning station for inspection after processing, reducing intermediate handling; the second processing station is arranged in a straight line with the first processing station and the scanning station along the second direction ( Figure 1 The components are arranged vertically along the Y-axis, forming a compact layout that saves space and enhances process coordination. The first processing unit can cut the raw material at the first processing station to perform processes such as dovetail groove making, barrel mouth support block grinding, and laser stamping; or after each rough or fine processing at the second processing station, including grinding the barrel mouth support block after rough or fine processing of the shoe last, it can return from the second processing station to the first processing station via a robotic arm or transfer mechanism. It is then moved along the first direction to the scanning station by a conveyor mechanism, where the camera scanning device 2 performs a three-dimensional scan, detects processing errors, and generates correction data. The correction data is then applied to the first and second processing units respectively, providing real-time feedback on processing errors. The first and second processing units then dynamically adjust the processing parameters based on the scanned correction data, performing high-precision finishing on the workpiece 4 at the first and second processing stations respectively, realizing closed-loop control of "processing-inspection-reprocessing" to ensure the consistency of shoe last dimensions. In addition, the processing device is 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. This reduces the time for handling and repeated clamping of workpieces 4, thereby realizing integrated and efficient operation of shoe lasts from rough processing to fine processing and quality inspection, saving manpower.

[0063] The first and second processing stations, along with the scanning station, are arranged vertically, saving equipment floor space and facilitating linear connection of the processing flow, thus reducing manpower. The camera scanning device 2 is integrated into the first processing unit, capable of scanning the blank to generate a 3D model before processing or scanning the finished product for quality inspection after processing, achieving closed-loop control. The first processing unit handles the initial and final processes, such as dovetail groove fabrication, barrel mouth support block grinding, and laser stamping. The second processing unit specializes in roughing and finishing, and, in conjunction with scanning and modeling, can cover the entire shoe last processing process. This reduces the time lost in traditional multi-equipment transfers, improves production efficiency, and avoids the need for manual differentiation of different models, sizes, and left / right feet between multiple processes, saving manpower.

[0064] Furthermore, the 3D data acquired through the camera scanning device 2 allows for real-time adjustment of processing parameters (such as tool path and cutting amount) to adapt to different shoe last models, improving processing accuracy and reducing trial-and-error costs. Integrating functions such as dovetail groove fabrication, barrel mouth support block grinding, laser stamping, roughing, and finishing into a single device avoids the procurement and maintenance costs of multiple independent machines, reduces labor costs, and simplifies the material flow system. Operators only need to manage one device instead of multiple independent units, reducing training difficulty and the risk of misoperation, and 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 disposed on the base 1 and is provided with the first processing station; the first processing station is arranged with a first station, a second station, and a third station along the first direction; the first clamping mechanism 3 is movably disposed on the first frame 11 along the first direction; the first processing mechanism 5 is movably disposed 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 disposed corresponding to the third station, the second station, and the first station to perform different processing.

[0066] The first frame 11 is fixed to the base 1, serving as the supporting frame for the first processing device. It integrates three sub-stations: a first station (opening and removing dovetail grooves), a second station (opening the shoe last opening), and a third station (marking and engraving), arranged linearly along the first direction (X-axis). The first clamping mechanism 3 is movably mounted on the first frame 11 along the first direction, used to clamp raw materials or shoe lasts and sequentially position them to the roughing, drilling, third, and scanning stations, enabling automatic switching between stations. The first processing mechanism 5 adjusts the tool position through its second (Y-axis) and third (Z-axis) degrees of freedom of movement, performing corresponding processing on the shoe lasts at the three sub-stations, such as milling, drilling, and laser marking.

[0067] In other words, the X-axis movement of the first clamping mechanism 3 is linked to the Y-axis or Z-axis movement of the first machining mechanism 5, ensuring that the cutting tool precisely corresponds to the machining requirements of different workstations. The three sub-workstations share the same machining mechanism, and function switching is achieved through a tool magazine or modular tool heads, reducing equipment complexity. After the first machining mechanism 5 completes its current workstation operation, the first clamping mechanism 3 immediately moves to the next workstation, reducing idle waiting time. By adjusting the stroke of the first clamping mechanism 3 and the program of the first machining mechanism 5, it can adapt to the processing of shoe lasts of different sizes and types. The processing parameters of each workstation (such as cutting depth and marking force) are independently adjustable, ensuring stable quality in each process. This allows multiple shoe last processing steps to be completed on the same equipment, avoiding the need to sequentially complete roughing, drilling, and marking steps on different equipment in traditional shoe last processing methods. This not only improves processing efficiency and consistency but also makes full use of the production space and significantly reduces production costs.

[0068] In this embodiment, the first processing mechanism 5 includes a first lifting module 5353, a first linear module 52, and a plurality of first processing modules 51; the first lifting module 53 is slidably disposed on the first frame 11 along the third direction; the first linear module 52 is disposed on the first lifting module 53 and is slidably disposed along the first direction; the plurality of first processing modules 51 are disposed on the first linear module 52 and are disposed corresponding to the first clamping mechanism 3; the plurality of 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). Its drive mechanism typically employs a servo motor and ball screw, or a cylinder or hydraulic cylinder, to ensure stable up-and-down movement and control the height position of the first processing module 51, such as the feed depth during drilling and 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 along the second direction (Y-axis) (perpendicular to the Z-axis). Its drive mechanism also employs a servo motor and 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 roughing areas or aligning drilling or marking points. The first processing module 51, through the vertically intersecting layout of the first lifting module 53 (Z-axis) and the first linear module 52 (Y-axis), endows each first processing module 51 with multiple freedom of movement in a two-dimensional plane. In conjunction with the clamping device that moves along the X-axis, it drives multiple first processing modules 51 to be set up corresponding to the third workstation, the second workstation, or the first workstation, thereby realizing efficient processing of multiple workstations and multiple processes.

[0070] Further elaboration reveals that the multiple first processing modules 51 are a dovetail groove fabrication module 511, a barrel mouth support block grinding module 512, and a marking module 513. More specifically, these can be rotary milling cutters, drill bits, laser marking machines, or tools switched via a quick-change mechanism. Driven by the first lifting module 53 and the first linear module 52, the dovetail groove fabrication module 511, barrel mouth support block grinding module 512, and marking module 513 are respectively positioned at the first, second, and third workstations to perform different processing operations. Specifically: at the first workstation, the milling cutter of the dovetail groove fabrication module 511 rotates and then moves along a planned path via the Y-axis or Z-axis to create or remove dovetail grooves on the surface. At the second workstation, the drill bit of the barrel mouth support block grinding module 512 is vertically fed (Z-axis), penetrates, and then retracts; the Y-axis can adjust the position of the multi-hole. At the third station, the laser head of the marking module 513 moves within the Y-axis or Z-axis plane to mark along a trajectory. After processing is completed, the first lifting module 53 is raised (Z-axis retracts), and the first linear module 52 is reset (Y-axis returns to position), awaiting the next instruction.

[0071] Understandably, the first station is primarily used to cut dovetail grooves into the raw material. Specifically, when the raw material is loaded into the first station, the dovetail groove making module 511, equipped with a milling cutter, performs dovetail groove cutting according to a preset processing path. This initial processing creates the dovetail grooves, facilitating subsequent roughing and finishing on the shoe last processing equipment. The dovetail grooves are then fixed and clamped to process the raw material into a rough shoe last. After roughing and finishing on the shoe last processing equipment, the shoe last returns to the first station. There, the dovetail groove making module 511 and the first clamping mechanism 3 adjust the shoe last's orientation and remove the dovetail grooves, allowing for subsequent drilling and marking. It is worth noting that the machining precision requirements for the dovetail groove opening process are not particularly high. The main purpose is to quickly produce the dovetail groove for subsequent rough and fine machining of the shoe last. However, the machining precision requirements for the dovetail groove removal process are much higher than those for opening the dovetail groove. This is because the dovetail groove removal step directly affects the final quality of the shoe last and the precision of subsequent processing. Therefore, more precise operation and control are required. At this time, the milling cutter of the dovetail groove making module 511 has a relatively finer precision to improve the surface finish of the corresponding cylinder opening after the dovetail groove is removed, so that it meets the final design requirements.

[0072] The main function of the second station is to perform drilling on the shoe last after the dovetail groove has been removed. At this second station, the barrel mouth support block grinding module 512 adjusts its movement along the Y and Z axes, in conjunction with the X-axis movement of the first clamping mechanism 3, to drill along the Z-axis according to a preset processing path. Afterwards, the first clamping mechanism 3 further adjusts the posture of the shoe last to allow for the processing of side holes near the shoe last opening. Since this drilling process is crucial in the finished product manufacturing process, the barrel mouth support block grinding module 512 must be equipped with high-precision cutting tools to ensure the required precision is achieved during drilling, thereby obtaining a high-quality finished product.

[0073] The third workstation is the final process in all shoe last processing steps. At this stage, the marking module 513 is configured for marking to apply marks to the shoe last for subsequent tracking and management. Preferably, the marking module 513 is one of a laser marking machine, a pneumatic marking machine, or a fiber optic marking machine to meet different production needs.

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

[0075] The first linear module 52 is fixed on the first frame 11 and arranged horizontally along the second direction (Y-axis). It typically uses a high-precision ball screw to convert the rotational motion of the first drive motor 521 into linear motion, thus driving the first processing module 51 to move laterally. The first drive motor 521, as the power source, is typically a servo motor or a stepper motor, fixed to the side of the first frame 11, and directly connected to the first lead screw 522 via a coupling or indirectly driven by a synchronous belt. In other words, through the classic linear module setup of the first lead screw 522 and the first drive motor 521, the first processing module 51 achieves precise, stable, and repeatable positioning in the Y-axis direction. Together with the first lifting module 53 and the first clamping mechanism 3, it forms a three-dimensional processing space, thereby efficiently completing composite processes such as roughing, drilling, and marking. At the same time, after the Y-axis positioning is completed, it can also move along the Z-axis in conjunction with the first lifting module 53. For example, when drilling, the Y-axis is first aligned with the hole position, and then the Z-axis is drilled down, to ensure that the Y-axis and Z-axis do not move at high speed simultaneously. In addition, it can coordinate with the first clamping mechanism 3 to switch between different workstations.

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

[0077] The second lead screw 532, serving as the core of the vertical transmission, is vertically fixed on the first frame 11, spatially perpendicular to the first lead screw 522. It typically employs a high-rigidity ball screw to withstand axial loads (such as downward pressure during drilling), converting the rotational motion of the second drive motor 531 into linear lifting motion, thus driving the first processing module 51 up and down. The second drive motor 531, as the power source, can be a servo motor or a stepper motor with a brake (to prevent slippage along the Z-axis after power failure). It is fixed to the top of the first frame 11 and directly drives the second lead screw 532 via a coupling. In other words, the lifting module 53, through the precise transmission between the second lead screw 532 and the second drive motor 531, achieves stable and controllable lifting of the first processing module 51 in the Z-axis direction. Together with the first linear module 52 on the Y-axis and the first clamping mechanism 3 on the X-axis, it constructs a three-dimensional processing space, thereby efficiently completing composite processes such as roughing, drilling, and marking. Furthermore, the linkage with the first linear module 52 can be achieved by first adjusting the lateral position via the Y-axis and then feeding vertically via the Z-axis, for example, aligning before drilling when drilling; or by first adjusting the vertical position via the Z-axis and then feeding laterally via the Y-axis, for example, opening or removing dovetail grooves. It is important to note that when the first clamping mechanism 3 moves along the X-axis to switch positions, the first lifting module 53 must be raised to a safe height to avoid interference.

[0078] In this embodiment, as Figure 4 As shown, the first clamping mechanism 3 includes a second linear module 31, a rotating module 33, and a clamping module 32. The second linear module 31 is disposed on the first frame 11 along the first direction; the rotating module 33 is disposed at the output end of the second linear module 31; and the clamping module 32 is disposed at the output end of the rotating module 33. The second linear module 31 drives the clamping module 32 to move along the first direction, and the rotating 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 and the precision of the finished product. Through the coordinated action of the second linear module 31, the rotating 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] In other words, the first clamping mechanism 3 achieves linear transport, angle adjustment and stable fixation of the workpiece 4 (shoe last) through the three-level coordination of the second linear module 31, the rotary module 33 and the clamping module 32. It works in conjunction with the Y-axis and Z-axis movements of the first processing mechanism 5 to form a multi-degree-of-freedom positioning, so as to cover the processing requirements of the entire surface of the workpiece 4 (shoe last) and ensure the real-time matching of the positions of the first processing mechanism 5 and the workpiece 4 (shoe last), thereby realizing automated processing. It is especially suitable for the production of complex parts such as shoe lasts that require multi-process and multi-angle processing.

[0080] The second linear module 31 includes a third lead screw 311 and a third drive motor 312. The third lead screw 311 is mounted on the frame. The first drive motor 521 is mounted on the frame and drives the third lead screw 311 to move along the first direction, thereby moving 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 uses a ball screw or synchronous belt drive. It is driven by a servo motor and controls the precise movement of the clamping module 32 between the first, second, and third workstations.

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

[0082] Specifically, the rotating module 33 adjusts the positioning table 323 to a preset angle, such as a horizontal position, to facilitate manual or robotic loading. The shoe last is placed on the positioning table 323 and initially 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. The motor drives the transmission mechanism, and the two grippers 321 move synchronously towards the center to clamp the shoe last. Dynamic adjustments during processing can be made through the cooperation of the three rotating modules, and the angle of the workpiece 4 can be adjusted according to processing needs. The clamping module 32 maintains a constant clamping force. After processing is completed, the motor reverses to drive the grippers to open, and the pneumatic system quickly exhausts air to ensure rapid release of the workpiece 4. Preferably, the grippers 321 and the positioning table 323 adopt a backlash-free structure (such as a pre-tensioning spring) to reduce the impact of processing vibration. In other words, through the basic support of the positioning stage 323, the flexible clamping of the grippers 321, and the precise control of the fourth drive motor 322, a closed-loop automated process is formed in conjunction with the first processing mechanism 5 and the rotating module 33. This ensures stable clamping in any posture, 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) that require frequent angle adjustments and have easily damaged surfaces, significantly improving production efficiency and consistency. Preferably, each gripper 321 has an elastic buffer layer on its clamping surface. The elastic buffer layer can be a replaceable soft pad, such as polyurethane, to increase friction and protect the workpiece 4 (shoe last).

[0083] In this embodiment, as 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 located at the output end of the second linear module 31, and the rotation axis of the first rotation module 331 is aligned with the second direction. The second rotation module 332 is located at the output end of the first rotation module 331, and the rotation axis of the second rotation module 332 is aligned with the first direction. The third rotation module 333 is located at the output end of the second rotation module 332, and the rotation axis of the third rotation module 333 is aligned with the third direction. 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, through the three-axis linkage design of the first rotating module 331, the second rotating module 332 and the third rotating module 333, the rotating module 33 gives the clamping module 32 the ability to adjust the angle in the whole space, so that the workpiece 4 (shoe last) can be accurately positioned in any direction to meet complex processing requirements.

[0084] To further explain, the first rotating module 331 (rotating around the Y-axis) is fixed to the output end of the second linear module 31 (X-axis), and its rotation axis is parallel to the second direction (Y-axis) to drive the subsequent module and clamping module 32 to rotate around the Y-axis, thereby achieving Y-axis oscillation to adjust its angle, such as tilting the shoe last left or right along the Y-axis, or adjusting the pitch angle of the workpiece 4, such as tilting the curved surface to vertically focus the laser head during marking. The second rotating module 332 (rotating around the X-axis) is connected to the output end of the first rotating module 331, and its rotation axis is parallel to the first direction (X-axis) to drive the third rotating module 333 and clamping module 32 to rotate around the X-axis, such as flipping the shoe last forward or backward, or drilling holes laterally or grinding the concave area of ​​the shoe last. The third rotary module 333 (rotating around the Z-axis) is located at the output end of the second rotary module 332, with its rotation axis parallel to the third direction (Z-axis). This allows direct control of the clamping module 32's rotation around the Z-axis, such as horizontally rotating a shoe last to process the circumferential surface, or performing multi-faceted marking or uniformly roughening the outer contour. In other words, by using the three rotary modules corresponding to the rotational degrees of freedom of the Y, X, and Z axes respectively, the combination can achieve universal angle adjustment (similar to a robot's wrist joint) and adjust the workpiece's four angles in real time according to the processing path, ensuring that the processing tools (such as milling cutters or lasers) are always in the optimal working posture.

[0085] The rotating module 33, through the series design of the three-axis rotating modules, constructs a spatial attitude adjustment system for the clamping module 32. Together with the linear module (X / Y / Z axis), it achieves six-degree-of-freedom machining positioning, 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 curved surfaces and multiple features, such as shoe lasts, greatly improving the flexibility and accuracy of automated production.

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

[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 disposed on the base 1 and is provided with the second processing station; the second processing station is arranged with a roughing station and a finishing station along the second direction; the plurality of second processing mechanisms 6 are 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 arranged corresponding to the roughing station and the finishing station to perform different processing.

[0088] The second frame 12, serving as a fundamental support component, possesses sufficient rigidity and stability to ensure the 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 each other, preferably arranged perpendicularly, enabling each second processing mechanism 6 to achieve multi-degree-of-freedom movement in three-dimensional space, thereby meeting the requirements for processing complex curved surfaces 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 a third direction (where the third direction intersects with the first and second directions 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 transported to different processing stations in sequence to complete multi-stage continuous processing operations.

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

[0091] By integrating roughing and finishing into different stations on the same machine, and employing independent secondary machining mechanisms 6 to perform the corresponding stages of machining tasks, frequent tool changes during processing are eliminated. This avoids the need for resetting tools required for tool changes in traditional machining methods, significantly simplifying the machining process and improving efficiency and consistency. Furthermore, since each machining mechanism can be pre-set with optimal tool parameters and machining paths based on its assigned task, it contributes to improved overall machining accuracy and automation.

[0092] Understandably, the finishing station and the roughing station are two functional areas arranged sequentially along the first direction within the integrated shoe last processing equipment, each used to complete different stages of the shoe last processing process. The setup of these two stations enables continuous and efficient multi-stage processing of shoe lasts on the same machine, improving overall processing efficiency and automation levels.

[0093] The roughing station is mainly used for preliminary cutting of the original shoe last blank. In this station, the second machining mechanism 6 is equipped with larger-sized cutting tools, such as large-diameter milling cutters or high-feed-rate forming tools. Its main task is to quickly remove excess material from the surface of the shoe last and form a basic outline shape. This stage requires high machining speed and cutting efficiency, while the requirements for surface finish and dimensional accuracy are relatively low.

[0094] The finishing station, located after the roughing station, is mainly used for fine finishing of the shoe last that has been initially shaped. In this station, the second machining mechanism 6 is usually equipped with smaller but more precise cutting tools, such as fine-bladed milling cutters or multi-bladed grinding heads, to improve the surface finish, contour accuracy, and dimensional consistency of the shoe last, so that it meets the final design requirements.

[0095] Compared to the roughing stage, the finishing stage places greater emphasis on machining accuracy and surface quality. Therefore, machining parameters (such as feed rate and depth of cut) are set more precisely, and the machining motor and transmission system also need to have higher responsiveness and control stability. The second clamping mechanism 7, in conjunction with the rotating component 72, enables flexible adjustment of the shoe last's posture in this station, allowing the cutting tool to accurately contact complex curved surfaces and complete high-quality contour machining.

[0096] In this embodiment, the second processing mechanism 6 includes a first moving component 61, a second moving component 62, a mounting bracket 63, and a processing component 64. The processing component 64 is used to perform cutting, grinding, and other processing operations on the shoe last fixed by the second clamping mechanism 7, and is the core component for material removal and shape forming. The processing component 64 is disposed on the mounting bracket 63. The second frame 12, the first moving component 61, the second moving component 62, and the mounting bracket 63 are connected sequentially. This structural design allows the processing component 64 to independently or in conjunction with other components in the second and third directions, forming a planar coordinate system, thereby achieving accurate positioning and processing of any position 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 on it along the second direction, for example, through a guide rail pair, a lead screw transmission mechanism or a linear motor; the second moving component 62 is used to further drive the processing component 64 along the third direction based on 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] Mounting bracket 63 serves as a support structure for the machining component 64, possessing excellent rigidity and dynamic stability. It effectively resists the cutting forces generated during machining, ensuring machining accuracy. The machining component 64 may include a spindle motor, a tool mount, and corresponding tools. Appropriate 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 component 61 is mounted on the second frame 12 and is used to drive the second processing mechanism 6 to move precisely along the second direction. Specifically: the first moving component 61 includes a fifth lead screw 612, a first nut 613, and a fifth drive motor 611; the fifth lead screw 612 is rotatably mounted on the second frame 12 and extends along the second direction; the first nut 613 is slidably connected to the second frame 12 and threadedly connected to the fifth lead screw 612, and the first nut 613 is connected to the second moving component 62; and the fifth drive motor 611 is mounted on the second frame 12 and is used to drive the fifth lead screw 612 to rotate, thereby driving the second moving component 62 and the processing component 64 to move along the second direction.

[0100] Furthermore, the fifth lead screw 612 is a shaft-like part extending along the second direction (usually horizontally), with precision external threads machined on its surface. The fifth lead screw 612 is rotatably mounted on the second frame 12 and extends along the second direction. Both ends of the fifth lead screw 612 are supported by bearing seats to ensure its stability and coaxiality during rotation, thereby improving overall transmission accuracy. The fifth lead screw 612 is connected to a power source and can achieve smooth rotational motion under drive. The first nut 613 is a slider with an internal matching thread, which tightly engages with the external thread on the fifth lead screw 612 to form a helical pair. The first nut 613 mates with the fifth lead screw 612 and meshes with it via a threaded connection. The first nut 613 is also slidably connected to a guide rail structure on the second frame 12, allowing it to perform linear reciprocating motion along the second direction when the fifth lead screw 612 rotates. The first nut 613 is also fixedly connected to the second moving assembly 62 to transmit its own movement to subsequent components, thereby driving the entire second machining mechanism 6 to move synchronously along the second direction. The fifth drive motor 611 is fixedly mounted on the second frame 12 and connected to one end of the fifth lead screw 612 via a coupling or reduction mechanism to provide driving force to rotate the fifth lead screw 612. The fifth drive motor 611 is preferably a servo motor or a stepper motor, possessing good control accuracy and response performance, enabling high-precision positioning and continuous motion control of the second machining mechanism 6 in the second direction.

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

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

[0103] The second nut 623 is a sliding component with internal threads, forming a helical pair with the external threads of the sixth lead screw 622. The second nut 623 is threadedly connected to the sixth lead screw 622 and can reciprocate linearly along a third direction under the rotation of the sixth lead screw 622. Simultaneously, the second nut 623 is also slidably connected to a guide rail structure on the mounting bracket 63 to ensure guiding accuracy and smooth operation during movement. Furthermore, the second nut 623 is directly connected to the machining assembly 64, used to move the machining assembly 64 along a third direction to a set position to complete the cutting or grinding operation in 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 reduction mechanism, for driving the sixth lead screw 622 to rotate. 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 requirements of path control for complex curved surface machining.

[0105] The second moving component 62, based on the first moving component 61, further extends the motion freedom of the processing component 64 in the third direction, allowing the processing tool to flexibly adjust its position to adapt to the processing needs of shoe lasts of different shapes and sizes. This structure not only improves the space utilization and processing flexibility of the equipment, but also helps to improve the overall processing accuracy and efficiency.

[0106] In this embodiment, the second processing mechanism 6 further includes a third moving component 65, which is disposed 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, arranged horizontally, so as 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 component 65 includes major components such as a rotary drive component, a rotary support structure, and a transmission component. The rotary drive component is preferably a servo motor or a hydraulic motor, capable of providing stable and controllable rotational power; the rotary support structure supports the machining component 64 and ensures its stability and concentricity during rotation; the transmission component, such as a gear set or synchronous pulley, transmits the power from the drive component to the machining component 64, enabling its continuous or intermittent rotation.

[0108] By incorporating the third moving component 65, the machining component 64 can rotate around the second direction while performing cutting or grinding operations. This changes the angle of the cutting tool relative to the shoe last surface, adapting to the machining requirements of different curved contours and improving machining adaptability and flexibility. For example, when performing complex curved surface processing on the toe or heel area of ​​the shoe last, adjusting the rotation angle of the machining component 64 can effectively avoid interference and improve machining accuracy and surface quality.

[0109] In addition, the introduction of the third moving component 65 enhances the diversity of processing paths, enabling the equipment to complete complex process tasks such as contouring, multi-angle chamfering, and irregular contour trimming more efficiently, further improving the automation and intelligence level of the equipment.

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

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

[0112] The seventh lead screw 652 is a drive shaft with a precision external thread structure. Both ends of the seventh lead screw 652 are supported by bearing structures to ensure good coaxiality and transmission accuracy during rotation. As the core component for power transmission, the seventh lead screw 652 is used to convert rotational motion into linear displacement, thereby indirectly driving the machining assembly 64 to change angles.

[0113] The third nut 653 is a sliding component with a matching internal thread, forming a helical pair with the seventh lead screw 652. The third nut 653 and the seventh lead screw 652 are threaded together, and the third nut 653 can reciprocate linearly in a third direction when the seventh lead screw 652 rotates. Simultaneously, the third nut 653 is slidably connected to a guide structure on the mounting bracket 63 to ensure smooth operation. Furthermore, the third nut 653 is also connected to the machining assembly 64; when it moves in the first direction, it pushes the machining assembly 64 to rotate around the second direction, achieving 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 reduction gear, providing driving force to drive the seventh lead screw 652 to rotate. Preferably, the seventh drive motor 651 is a servo motor with high-precision control capabilities, capable of precisely controlling the rotation angle and speed of the machining component 64 according to the machining path requirements, meeting the precision machining requirements of complex curved surface contours.

[0115] Through the above structural design, the third moving component 65 can drive the machining component 64 to make linear displacement in the third direction, and realize the rotational movement of the machining component 64 around the second direction axis through mechanical linkage. This rotational function can effectively adapt to the machining requirements of different parts of the shoe last curved surface, improve the contact compatibility between the tool and the workpiece 4, avoid interference or machining defects caused by improper angles, and thus improve the overall machining quality and efficiency.

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

[0117] The fourth moving component 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 moving component 73 preferably adopts a combination of a guide rail slider structure and a lead screw and nut transmission mechanism to ensure smooth operation and high positioning accuracy. One end of the fourth moving component 73 is fixedly connected to the rotating component 72, thereby driving the rotating component 72 and the clamping component 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 moving assembly 73 and connected to the clamping assembly 71. The clamping assembly 71 is rotatably mounted on the fourth moving assembly 73 via the rotating assembly 72, and can be angularly adjusted around its own axis. The rotation axis of the clamping assembly 71 is aligned with a third direction, i.e., arranged along a horizontal longitudinal direction, allowing the clamping assembly 71 to flexibly adjust the posture of the shoe last during processing to adapt to the processing requirements of different parts, such as cutting complex curved surfaces like the instep area and heel contour.

[0119] The rotating assembly 72 adopts a standard turntable form to enable precise rotation and 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 rotary table is mounted on the fourth moving assembly 73 and securely connected to the clamping assembly 71 via a precision mechanical interface. The core components of this rotary table include a high-precision rotary platform and a drive system. The rotary 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 during long-term operation.

[0121] The drive system typically consists of servo motors or stepper motors, directly driving the rotary platform for angle adjustments. The choice of motor is based on the required rotational speed, positioning accuracy, and torque requirements. Through a sophisticated transmission mechanism (such as gear transmission or direct drive), the drive system's power is efficiently transmitted to the rotary platform, achieving precise control of the shoe last's posture. Furthermore, the drive system is equipped with encoders or other position feedback devices to monitor and correct the rotation angle in real time, ensuring that each rotation operation achieves the preset positional accuracy.

[0122] The clamping assembly 71 is a crucial functional component for fixing and positioning the shoe last, and its structural design directly affects the stability of the processing and the precision of the finished product. This assembly typically includes grippers, a drive mechanism, a rotating connection structure, and protective auxiliary components. The gripper section consists of two or more symmetrically arranged clamping units, with anti-slip or cushioning materials on the surface to increase friction and prevent damage to the shoe last surface during clamping. The opening and closing action of the grippers is controlled by the drive mechanism, commonly including pneumatic cylinders, hydraulic cylinders, or electric actuators, which can provide stable and adjustable clamping force according to processing requirements, ensuring that the shoe last does not shift or vibrate during processing.

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

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

[0125] The fourth nut component 731 is a slider with a matching internal thread, forming a helical pair with the eighth lead screw component 732. The fourth nut component 731 and the eighth lead screw component 732 are threaded together, allowing for linear reciprocating motion along the first direction when the eighth lead screw component 732 rotates. Simultaneously, the fourth nut component 731 is slidably connected to a guide rail structure on the second frame 12, ensuring guiding accuracy and stability during operation. Furthermore, the fourth nut component 731 is fixedly connected to the rotating assembly 72, driving the rotating assembly 72 and its connected clamping assembly 71 to move synchronously along the first direction to a set position, such as a roughing or finishing 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 732 via a coupling or reduction mechanism to provide driving force to drive the eighth lead screw 732 to rotate. Preferably, the eighth drive motor 733 is a servo motor, which has high response speed and high positioning accuracy, and can meet the requirements of multi-speed control and high repeatability positioning accuracy of the second clamping mechanism 7.

[0127] The fourth moving component 73 can stably and accurately drive the clamping component 71 and the shoe last it holds to switch between the roughing and finishing stations, avoiding the problem of multiple tool settings required due to tool changes in traditional equipment, thus improving processing continuity and automation. At the same time, combined with the rotation function of the rotating component 72, it can also realize flexible processing of multiple angle parts of the shoe last, enhancing the adaptability and processing efficiency of the equipment.

[0128] In this embodiment, as Figure 7 As shown, there are multiple second clamping mechanisms 7, which are arranged sequentially at intervals along the first direction. This structural design aims to improve the processing efficiency and continuous operation capability of the equipment, enabling simultaneous processing or phased cyclic processing of multiple shoe lasts.

[0129] Each second clamping mechanism 7 includes a rotating component 72 and a clamping component 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 machine to sequentially perform rough or fine processing on different shoe lasts according to a preset processing flow, forming a production line-like operation mode, thereby significantly increasing the processing output per unit time.

[0130] Furthermore, the spacing between the multiple second clamping mechanisms 7 can be reasonably set according to actual processing needs, ensuring that each second clamping mechanism 7 does not interfere with each other during movement, while also ensuring that the processing component 64 has sufficient operating space and path planning margin when switching processing objects. This layout also facilitates the integration of subsequent automated loading and unloading systems, such as in conjunction with robotic arms or conveyor belt devices, 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 setting up 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 a hardware foundation is also provided for multi-station collaborative processing. This structure is particularly suitable for mass production and high-precision customized processing scenarios, helping to enhance the overall performance and market competitiveness of the equipment.

[0132] In this embodiment, as Figure 1As shown, the camera scanning device 2 includes a camera support frame and multiple camera components; the camera support frame includes a first vertical support, a crossbeam support, and a second vertical support; the first vertical support is located on the side of the first frame 11 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 arranged opposite to each other and form the scanning station for the shoe last to pass through; the multiple camera components are respectively mounted on the first vertical support and the second vertical support via adjustable angle supports.

[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 away from the second processing station, serving as the reference support for the scanning device. The two ends of the crossbeam support are horizontally connected to the first and second vertical supports respectively, forming a stable gantry-type frame structure to ensure rigid support during the scanning process. The second vertical support is positioned opposite to the first vertical support, together forming a scanning station for the shoe last to pass through, ensuring the shoe last is in a stable detection space during scanning. Multiple camera components are mounted on the first and second vertical supports via adjustable angle brackets, allowing for adjustment of pitch and rotation angles to adapt to the scanning requirements of different shoe lasts.

[0134] In this embodiment, eight camera components are provided, symmetrically arranged on the first vertical support and the second vertical support. Preferably, the camera components are arranged to cover multiple angles (e.g., vertically, horizontally, and diagonally) to ensure no blind spots in the scan, improve the integrity and accuracy of the 3D modeling, and efficiently and accurately complete the 3D scanning of the shoe last, ensuring the accuracy of subsequent processing. It should be noted that the number of camera components includes, but is not limited to, eight; it can also be six, seven, nine, or even more, primarily to meet the requirement of omnidirectional scanning of the workpiece.

[0135] In this embodiment, a control system is also included, which is signal-connected to the first processing device, the second processing device and the camera scanning device 2, 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 directly enter the scanning station after rough processing, reducing handling 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, quickly acquire the three-dimensional point cloud data of the shoe last. The adjustable angle support allows the camera to dynamically adjust the shooting angle according to the shape of the shoe last, ensuring complete capture of complex curved surfaces (such as the toe and heel). The scanning 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 deviations and surface defects. If an error is detected, the control system generates a correction command and feeds it back to the first or second processing device for compensation processing, ensuring the dimensional consistency and surface quality of the shoe last processing, and significantly improving production efficiency and product qualification rate.

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

[0138] In this process, the feeding robot fixes the standard shoe last onto the first clamping mechanism 3, and then moves it to the scanning station via the second linear module 31. Multiple camera components scan the standard shoe last. The data scanned by the multiple camera components is transmitted to the control system, and then to the first and second processing devices for corresponding processing steps. Afterward, the feeding robot loads the raw material into 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 optimal position. Furthermore, under the adjustment of the first lifting module 53 and the first linear module 52, the first processing mechanism 5 is positioned at its optimal position. The material is positioned in the optimal processing posture to perform dovetail groove cutting. After the dovetail groove is completed, the material with the dovetail groove is placed in the second clamping mechanism 7 and clamped by the second clamping mechanism 7 under the transfer of the feeding robot. Then, under the processing of the second processing mechanism 6, roughing and finishing are performed respectively. After each roughing or finishing, the material returns to the first clamping mechanism 3 under the transfer of the feeding robot, and returns to the scanning station under the movement of the second linear module 31 so that multiple camera components can perform corresponding scanning and obtain corresponding correction data. The multiple camera components will transmit the obtained correction data to the corresponding second processing mechanism 6. Processing mechanism 6 or the first processing mechanism 5, and the second processing mechanism 6 or the first processing mechanism 5 will adjust the processing parameters to further process the shoe last until it matches the standard shoe last. At this time, the shoe last will be transferred back to the first clamping mechanism 3 by the feeding robot, and then moved to the first workstation by the movement of the second linear module 31. 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 from the shoe last. After the adjustment of the second linear module 31 and the rotating module, the shoe last aligns the shoe last tube opening with the first processing mechanism 5 to open the shoe last tube and drill holes in the corresponding positions. Similarly, it is still in the process of... Under the movement of the second linear module 31, the last is scanned at the scanning station to ensure that the accuracy of the cylinder opening and the relative hole meets the requirements. If it does not meet the requirements, multiple camera components will transmit the correction data obtained from the scan to the first processing mechanism 5. The first processing mechanism 5 will then further process and correct the last based on the correction data. Finally, under the action of the second linear module 31, the last moves to the third station for the final process, namely, to ensure that the last meets the requirements. During this process, especially after the last has been finished, it returns to the first clamping mechanism 3 for subsequent processes. This allows for continuous processing such as drilling and marking to be completed in a single clamping, avoiding multiple positioning errors. Furthermore, the first linear module 52 and the first lifting module 53 adjust the processing posture of the processing mechanism, and work with the second linear module 31 and the rotating module 33 to adjust the processing stage of the last to be processed. The relative posture can be continuously adjusted in real time according to processing requirements to ensure accurate processing each time.

[0139] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0140] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0142] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0143] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0144] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0145] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0146] The above description describes specific embodiments of this application, but the scope of protection of this 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 these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An integrated shoe last processing equipment, characterized in that, include: 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 is arranged along a second direction with the first processing station and the scanning station, and the first direction and the second direction are perpendicular to each other; A first processing device is disposed on the base and corresponding to the first processing station. The first processing device includes a first frame, a first clamping mechanism, and a first processing mechanism. The first frame is disposed on the base and has the first processing station. The first processing station is arranged with a first station, a second station, and a third station along the first direction. The first clamping mechanism is movably disposed on the first frame along the first direction. The first processing mechanism is movably disposed on the first frame along the second direction and the third direction. The first clamping mechanism and the first processing mechanism are respectively disposed corresponding to the third station, the second station, and the first station to perform different processing. The first clamping mechanism includes a second linear module, a rotating module, and a clamping module; the second linear module is disposed on the first frame along the first direction; the rotating module is disposed at the output end of the second linear module; the clamping module is disposed at the output end of the rotating module; wherein, the second linear module drives the clamping module to move along the first direction, and the rotating module drives the clamping module to rotate; The second processing device is located on the base and adjacent to the first processing device, and is set corresponding to the second processing station; A camera scanning device is mounted on the base and is set up corresponding to the scanning station; The working process of the integrated shoe last processing equipment is as follows: A standard shoe last is fixed to the first clamping mechanism and driven to the scanning station by the second linear module. The standard shoe last is then scanned by the camera scanning device. The data scanned by the camera scanning device is transmitted to the control system, and the data is also transmitted to the first and second processing devices for corresponding processing steps. Afterward, the raw material is loaded onto the first clamping mechanism and clamped. Under the adjustment of the second linear module and the rotating module, the raw material faces the first processing mechanism in the optimal position for dovetail groove cutting. After the dovetail groove is processed, the raw material with the dovetail groove undergoes roughing and finishing processes under the processing of the second processing device. After each roughing or finishing process, the material returns to the first clamping mechanism and, under the movement of the second linear module, returns to the scanning station for the camera scanning device to perform a corresponding scan and obtain corresponding correction data. The camera scanning device transmits the obtained correction data to the control system. The first or second processing device adjusts the processing parameters to further process the shoe last until it matches the standard shoe last. The shoe last then returns to the first clamping mechanism and, under the movement of the second linear module, arrives at the first and second workstations respectively. Combined with the adjustment of the first processing mechanism, the dovetail groove is removed from the shoe last. Then, under the adjustment of the second linear module and the rotating module, the shoe last opening is aligned with the first processing mechanism to create the shoe last tube and drill holes at the corresponding positions. Similarly, under the movement of the second linear module, the shoe last is scanned at the scanning station to ensure the accuracy of the tube opening and the corresponding holes meets the requirements. If it does not meet the requirements, the camera scanning device transmits the scanned correction data to the first processing mechanism, which then further processes and corrects it based on the correction data. Finally, under the action of the second linear module, it arrives at the third workstation for the final process, namely, marking the shoe last.

2. The integrated shoe last processing equipment according to claim 1, characterized in that, The first processing mechanism includes: The first lifting module is slidably disposed on the first frame along the third direction; A first linear module is disposed on the first lifting module and is slidably disposed along the first direction; Multiple first processing modules are disposed on the first linear module and are configured corresponding to the first clamping mechanism; the multiple first processing modules are arranged along the first direction, and each first processing module is movably connected to the first frame along the second direction and the third direction.

3. The integrated shoe last processing equipment according to claim 1, characterized in that, The rotation module includes: A first rotating module is disposed at the output end of the second linear module, and the rotation axis of the first rotating module is consistent with the second direction; The second rotating module is located 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 is located at the output end of the second rotating module, and 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.

4. The integrated shoe last processing equipment according to claim 1, characterized in that, The second processing device includes: The second frame is located on the base and has the second processing station; the second processing station is arranged along the second direction with roughing station and finishing station; Multiple second processing mechanisms, each of which is movably connected to the second frame along the second direction and the third direction; The second clamping mechanism is movably connected to the second frame along the first direction; The second clamping mechanism and the second processing mechanism are respectively set up for the roughing station and the finishing station to perform different processing.

5. The integrated shoe last processing equipment according to claim 4, 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 disposed 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.

6. The integrated shoe last processing equipment according to claim 5, 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.

7. The integrated shoe last processing equipment according to claim 4, characterized in that, The second clamping mechanism includes a fourth moving component, a rotating component, and a clamping component. The clamping component is rotatably mounted on the fourth moving component via the rotating component. The rotation axis of the clamping component is consistent with the third direction. The fourth moving component is connected to the second frame to drive the rotating component and the clamping component to move along the first direction.

8. The integrated shoe last processing equipment according to claim 1, characterized in that, The camera scanning device includes: The camera support frame includes a first vertical support, a crossbeam support, and a second vertical support; the first vertical support is located on the side of the first frame 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 arranged opposite to each other and form the scanning station for the shoe last to pass through; Multiple camera components are respectively mounted on the first vertical support and the second vertical support via adjustable angle brackets.

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

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