A dual-robot processing station for a shoe sole flocking production line

Abstract

This invention relates to the field of shoe sole production, and more particularly to a dual-manipulator processing station for a shoe sole flocking production line. The station includes a first automatic manipulator and a second automatic manipulator that work in cooperation with each other, as well as a sponge suction cup fixing plate. Five workstations, designated as the first workstation, second workstation, third workstation, fourth workstation, and fifth workstation, are arranged around the first and second automatic manipulators. The first automatic manipulator is used to transfer the sponge suction cup fixing plate from the first workstation to the second workstation and then to the third workstation. The second automatic manipulator is used to transfer the sponge suction cup fixing plate from the third workstation to the fourth workstation and then to the fifth workstation. The sponge suction cup fixing plate is equipped with at least four sponge suction cups for transferring the shoe sole. This invention solves the technical problem of low transfer efficiency and easy deformation of the shoe sole during the production process in existing shoe sole production equipment.

Description

Technical Field

[0001] This invention relates to the field of shoe sole production, and more particularly to a dual-robot processing station for a shoe sole flocking production line. Background Technology

[0002] Flocking is a processing technique that involves attaching flocked material to the surface of a shoe sole using a specific process. It is primarily used to enhance the functionality and aesthetics of footwear. A common problem in existing shoe sole processing plants is that they rely heavily on workers for applying adhesive and transferring soles. This leads to low production efficiency and disjointed production processes during the flocking process. While some shoe sole manufacturers have gradually invested in research and development to replace manual labor with automation, the improvement in efficiency is limited due to insufficient automation and low equipment precision.

[0003] Chinese patent application number 202410636236.8 discloses an automatic shoe sole painting workstation, including a painting robot, spray guns, a rotating placement platform, a painting chamber, and a water curtain cabinet. The painting chamber contains a painting cavity, and an entrance is located at the upper front of the chamber. The painting robot and the rotating placement platform are both located on the entrance side outside the painting chamber. The water curtain cabinet is located at the rear of the painting chamber. The rotating placement platform has loading / unloading stations and painting stations arranged sequentially around its rotation direction. The rotating placement platform is used to place shoe soles and rotate them between the loading / unloading stations and the painting stations. The painting robot is equipped with at least one spray gun. This invention enables automatic painting of shoe soles, saving time and labor, and achieving higher painting efficiency. It better ensures uniform and consistent painting, thereby improving shoe sole production efficiency and appearance quality, while also ensuring a better working environment and being more environmentally friendly. The technical solution proposed in the above invention is mainly aimed at automatic spraying of shoe soles. It can also be applied to flocking of shoe soles. However, it only improves work efficiency by adding a spray gun on a robotic arm. But during the transfer process, the use of a robotic arm to directly clamp the sole can easily cause deformation. Summary of the Invention

[0004] Therefore, in view of the above problems, the present invention proposes a dual robotic arm processing station for a shoe sole flocking production line, which solves the technical problems of low transfer efficiency and easy deformation of shoe soles during the production process of existing shoe sole production equipment.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a dual-manipulator processing station for a shoe sole flocking production line, comprising a first automatic manipulator and a second automatic manipulator that work together, and a sponge suction cup fixing plate. The first automatic manipulator and the second automatic manipulator are surrounded by five stations, defined as the first station, the second station, the third station, the fourth station, and the fifth station. The first station, the second station, the third station, the fourth station, and the fifth station are arranged in a U-shaped semi-encircling shape around the first automatic manipulator and the second automatic manipulator. The first automatic manipulator is used to transfer the sponge suction cup fixing plate from the first station to the second station to the third station, and the second automatic manipulator is used to transfer the sponge suction cup fixing plate from the third station to the fourth station to the fifth station. The sponge suction cup fixing plate is provided with at least four sponge suction cups for transferring shoe soles.

[0006] Both the first and second automatic robotic arms have a first locking and engaging mechanism at their free ends, and the sponge suction cup fixing plate has a second locking and engaging mechanism that works in cooperation with the first locking and engaging mechanism.

[0007] Furthermore, the first workstation, the second workstation, and the third workstation are on the same straight line, and the third workstation, the fourth workstation, and the fifth workstation are on the same straight line.

[0008] Furthermore, the first station is an automatic shoe sole pushing platform, the second station is a processing machine spraying device, the third station is an adhesive spraying device, the fourth station is a flocking device, and the fifth station is a mesh conveyor belt device.

[0009] Furthermore, the second locking mechanism is disposed on the upper surface of the sponge suction cup fixing plate, and the sponge suction cup is disposed on the lower surface of the sponge suction cup fixing plate.

[0010] Furthermore, the sponge suction cup fixing plate is provided with a linkage mechanism for enabling the second locking and engaging mechanism and the sponge suction cup to move together. When the first locking and engaging mechanism and the second locking and engaging mechanism are connected to each other through the linkage mechanism, the sponge suction cup moves downward by 0.5cm-1cm.

[0011] Furthermore, the first locking and engaging mechanism includes a first support plate and four supporting connecting columns arranged in a matrix on the first support plate. The second locking and engaging mechanism includes four supporting connecting grooves arranged on the upper surface of the sponge suction cup fixing plate. The positions of the supporting connecting columns and the supporting connecting grooves correspond one-to-one. The linkage mechanism includes a connecting rod fixedly arranged on the sponge suction cup, a top block arranged at the free end of the connecting rod, and an elastic locking block arranged on the inner groove surface of the supporting connecting groove. One end of the connecting rod is connected to the sponge suction cup, and the other end extends into the supporting connecting groove. A spring is arranged on the lower bottom surface of the top block, and the other end of the spring is fixedly connected to the lower bottom surface of the supporting connecting groove.

[0012] Furthermore, the supporting connecting column is an electromagnetic adsorption column.

[0013] Furthermore, the supporting connecting column has electromagnetic adsorption force when energized, and is an ordinary metal column when de-energized. When the supporting connecting column is inserted into the supporting connecting groove, it generates electromagnetic force when energized and connects with the top block on the connecting rod, thereby driving the sponge suction cup fixing plate to move.

[0014] Furthermore, when the sponge suction cup fixing plate is transferred to the first, second, third, or fourth work station, the supporting connecting column continues to move downward until it pushes the connecting rod below the elastic block. At this time, the supporting connecting column is de-energized and lifted.

[0015] Furthermore, the supporting connecting column has a built-in vibration motor.

[0016] By adopting the aforementioned technical solution, the beneficial effects of the present invention are:

[0017] 1. Compared to existing shoe sole production and processing stations, this invention improves work efficiency through the collaborative work of two robotic arms. During operation, five stations form a U-shape surrounding the first and second automatic robotic arms. The first, second, and third stations are in a straight line, as are the third, fourth, and fifth stations. This ensures that neither the first nor the second automatic robotic arms needs to rotate significantly during transfer, saving transfer time and improving transfer efficiency. Furthermore, this invention incorporates a first locking mechanism on the first and second automatic robotic arms and a second locking mechanism on the sponge suction cup fixing plate. The purpose of this design is to enhance the stability of the sponge suction cup fixing plate during transfer through the mutual cooperation of the first and second locking mechanisms.

[0018] 2. The sponge suction cup fixing plate in this invention is transferred by a first automatic robot and a second automatic robot. During the transfer process, neither the first automatic robot nor the second automatic robot comes into contact with the sole of the shoe, ensuring that the sole of the shoe will not be deformed during transportation, and at the same time avoiding mutual interference between the robot and each workstation during the transfer process.

[0019] 3. This invention, by setting up a first locking and engaging mechanism and a second locking and engaging structure, ensures that during the transfer process, when the sponge suction cup fixing plate reaches the designated workstation, the first locking and engaging mechanism continues to move downwards a certain distance. This ensures that the supporting connecting column on the first locking and engaging mechanism connects with the top block on the second locking and engaging mechanism, pushing it downwards so that the sponge suction cup on the sponge suction cup fixing plate can smoothly enter each workstation for processing. The principle is that after the supporting connecting column abuts against the top block, it continues to move downwards. After the top block is subjected to downward pressure, it continues to move downwards, driving the connecting rod and the sponge suction cup to continue moving downwards. Downward, when the top block moves below the elastic block, its travel is limited by the elastic block. At this time, the sponge suction cup sends the shoe sole on it into the work station for processing. When the sponge suction cup fixing plate needs to be transferred, the support connecting column is energized to generate electromagnetic attraction force. The top block and connecting rod are attracted upward by the electromagnetic force. At the same time, since it is elastically connected to the bottom of the support connecting groove through a spring, the connecting rod will be disengaged from the limit of the elastic block by the electromagnetic force and elastic force during the lifting process. When it moves to the fifth work station, the support connecting column is de-energized, and the sponge suction cup fixing plate will fall to the fifth work station.

[0020] 4. In this invention, the transfer of the shoe sole is fully automated, and the robotic arm does not directly contact the shoe sole during the transfer process, thus avoiding thermal deformation of the shoe sole after high-temperature processing under the gripping of the robotic arm's claws. At the same time, the cooperation between the first and second clamping mechanisms ensures that the sponge suction cup fixing plate remains stable and does not fall off during the transfer process. Furthermore, when the shoe sole is stopped and processed at each workstation, it can be deeply inserted into the workstation and securely fitted for processing. Attached Figure Description

[0021] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0022] Figure 1 This is a top view of the overall structural layout of the present invention;

[0023] Figure 2 This is a schematic diagram of the first automatic robotic arm structure of the present invention;

[0024] Figure 3 This is a top view of the sponge suction cup fixing plate structure of the present invention;

[0025] Figure 4 This is a bottom view of the sponge suction cup fixing plate structure of the present invention;

[0026] Figure 5 This is a schematic diagram of the internal structure of the sponge suction cup fixing plate of the present invention;

[0027] Figure 6 For the present invention Figure 5 Enlarged view of point A in the middle;

[0028] Figure 7 This is a schematic diagram of the moving state of the connecting rod in this invention. Detailed Implementation

[0029] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0030] Please see Figures 1-7 This invention provides a dual-manipulator processing station for a shoe sole flocking production line, including a first automatic manipulator 1 and a second automatic manipulator 2 that work together, and a sponge suction cup fixing plate 3. The first automatic manipulator 1 and the second automatic manipulator 2 are surrounded by five stations, defined as the first station 4, the second station 5, the third station 6, the fourth station 7, and the fifth station 8. The first station 4, the second station 5, the third station 6, the fourth station 7, and the fifth station 8 are arranged in a U-shaped semi-encircling shape around the first automatic manipulator 1 and the second automatic manipulator 2. The first automatic manipulator 1 is used to transfer the sponge suction cup fixing plate 3 from the first station 4 to the second station 5 to the third station 6, and the second automatic manipulator 2 is used to transfer the sponge suction cup fixing plate 3 from the third station 6 to the fourth station 7 to the fifth station 8. The sponge suction cup fixing plate 3 is provided with four sponge suction cups 32 for transferring shoe soles.

[0031] Both the first automatic robotic arm 1 and the second automatic robotic arm 2 are provided with a first locking and engaging mechanism at their free ends, and the sponge suction cup fixing plate 3 is provided with a second locking and engaging mechanism that works in cooperation with the first locking and engaging mechanism.

[0032] The first workstation 4, the second workstation 5, and the third workstation 6 are on the same straight line, and the third workstation 6, the fourth workstation 7, and the fifth workstation 8 are on the same straight line, which facilitates the movement of the first automatic robot 1 and the second automatic robot 2.

[0033] The first station 4 is an automatic shoe sole pushing platform, the second station 5 is a processing machine spraying device, the third station 6 is an adhesive spraying device, the fourth station 7 is a flocking device, the fifth station 8 is a mesh conveyor belt device, the second locking and engaging mechanism is disposed on the upper surface of the sponge suction cup fixing plate 3, and the sponge suction cup 32 is disposed on the lower surface of the sponge suction cup fixing plate 3.

[0034] The sponge suction cup fixing plate 3 is provided with a linkage mechanism for enabling the second locking and engaging mechanism and the sponge suction cup 32 to move together. When the first locking and engaging mechanism and the second locking and engaging mechanism are connected through the linkage mechanism, the sponge suction cup 32 moves downward by 1cm. The connection between the first locking and engaging mechanism and the second locking and engaging mechanism pushes the sponge suction cup 32 downward a certain distance, ensuring that the sponge suction cup 32 can smoothly enter each workstation for processing and making it easier for the robot arm to lift up.

[0035] The first locking and engaging mechanism includes a first support plate 11 and four supporting connecting columns 12 arranged in a matrix on the first support plate 11. The second locking and engaging mechanism includes four supporting connecting grooves 31 arranged on the upper surface of the sponge suction cup fixing plate 3. The positions of the supporting connecting columns 12 and the supporting connecting grooves 31 correspond one-to-one. The linkage mechanism includes a connecting rod 33 fixedly arranged on the sponge suction cup 32, a top block 34 arranged at the free end of the connecting rod 33, and an elastic locking block 9 arranged on the inner groove surface of the supporting connecting groove 31. One end of the connecting rod 33 is connected to the sponge suction cup 32, and the other end extends into the supporting connecting groove 31. A spring 35 is arranged on the lower bottom surface of the top block 34. The other end of the spring 35 is fixedly connected to the lower bottom surface of the supporting connecting groove 31 to provide a pushing force for the top block 34. The supporting connecting columns 12 are electromagnetic adsorption columns.

[0036] When the supporting connecting column 12 is energized, it has an electromagnetic attraction force. When the supporting connecting column 12 is de-energized, it is an ordinary metal column. When the supporting connecting column 12 is inserted into the supporting connecting groove 31, it is energized to generate an electromagnetic force and connects with the top block 24 on the connecting rod 33, thereby driving the sponge suction cup fixing plate 3 to move. When the sponge suction cup fixing plate 3 moves to the first station 4, or the second station 5, or the third station 6, or the fourth station 7, the supporting connecting column 12 continues to move downward until it pushes the connecting rod 33 below the elastic block 9. At this time, the supporting connecting column 12 is de-energized and lifted. The supporting connecting column 12 has a built-in vibration motor.

[0037] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0038] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A dual-manipulator processing station for a shoe sole flocking production line, comprising a first automatic manipulator and a second automatic manipulator working in cooperation with each other, and a sponge suction cup fixing plate, characterized in that: The first and second automated robotic arms are surrounded by five workstations, defined as the first workstation, the second workstation, the third workstation, the fourth workstation, and the fifth workstation. The first workstation, the second workstation, the third workstation, the fourth workstation, and the fifth workstation are arranged in a U-shaped semi-encircling shape around the first and second automated robotic arms. The first automated robotic arm is used to transfer the sponge suction cup fixing plate from the first workstation to the third workstation via the second workstation, and the second automated robotic arm is used to transfer the sponge suction cup fixing plate from the third workstation to the fifth workstation via the fourth workstation. The sponge suction cup fixing plate is provided with at least four sponge suction cups for transferring shoe soles. Both the first and second automatic robotic arms are provided with a first locking and engaging mechanism at their free ends, and the sponge suction cup fixing plate is provided with a second locking and engaging mechanism that works in cooperation with the first locking and engaging mechanism. The first workstation, the second workstation, and the third workstation are on the same straight line; the third workstation, the fourth workstation, and the fifth workstation are on the same straight line. The first station is an automatic shoe sole pushing platform, the second station is a processing machine spraying device, the third station is an adhesive spraying device, the fourth station is a flocking device, and the fifth station is a mesh conveyor belt device. The second locking and engaging mechanism is disposed on the upper surface of the sponge suction cup fixing plate, and the sponge suction cup is disposed on the lower surface of the sponge suction cup fixing plate; The sponge suction cup fixing plate is provided with a linkage mechanism for enabling the second locking and engaging mechanism and the sponge suction cup to move together. When the first locking and engaging mechanism and the second locking and engaging mechanism are connected to each other through the linkage mechanism, the sponge suction cup moves downward by 0.5cm-1cm. The first locking and engaging mechanism includes a first support plate and four supporting connecting columns arranged in a matrix on the first support plate. The second locking and engaging mechanism includes four supporting connecting grooves disposed on the upper surface of the sponge suction cup fixing plate. The positions of the supporting connecting columns and the supporting connecting grooves correspond one-to-one. The linkage mechanism includes a connecting rod fixedly disposed on the sponge suction cup, a top block disposed at the free end of the connecting rod, and an elastic locking block disposed on the inner groove surface of the supporting connecting groove. One end of the connecting rod is connected to the sponge suction cup, and the other end extends into the supporting connecting groove. A spring is disposed on the lower bottom surface of the top block, and the other end of the spring is fixedly connected to the lower bottom surface of the supporting connecting groove. The supporting connecting columns are electromagnetic adsorption columns.

2. The dual-robot processing station for a shoe sole flocking production line according to claim 1, characterized in that: When the support connecting column is energized, it has an electromagnetic attraction force. When the support connecting column is de-energized, it is an ordinary metal column. When the support connecting column is inserted into the support connecting groove, it is energized to generate an electromagnetic force and connects with the top block on the connecting rod, thereby driving the sponge suction cup fixing plate to move.

3. The dual-robot processing station for a shoe sole flocking production line according to claim 2, characterized in that: When the sponge suction cup fixing plate is transferred to the first, second, third, or fourth station, the support connecting column continues to move downward until the connecting rod is pushed under the elastic block. At this time, the support connecting column is de-energized and lifted.

4. A dual-robot processing station for a shoe sole flocking production line according to claim 3, characterized in that: The supporting connecting column has a built-in vibration motor.

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