Multi-station integrated processing device for shoe tree

Abstract

The invention relates to a multi-station integrated processing device for shoe trees. The multi-station integrated processing device is characterized in that a first station, a second station and a third station are arranged on a rack in the first direction; the positioning and clamping device is movably arranged on the rack in the first direction; the machining device is movably arranged on the rack in the second direction and the third direction and corresponds to the positioning and clamping device. The first direction is perpendicular to the second direction and the third direction respectively; and the positioning and clamping device and the machining device are arranged corresponding to the first station, the second station and the third station respectively so as to carry out different machining. Multiple shoe tree processing procedures can be completed through the same equipment, and the situation that in a traditional shoe tree processing mode, dovetail groove manufacturing, barrel opening supporting block grinding, laser stamping and other steps need to be sequentially completed on different equipment is avoided, so that the processing efficiency and consistency are improved, the occupied area of a production site is fully utilized, and the production cost is greatly reduced.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of shoe tree processing, and in particular to a shoe tree multi-station integrated processing device. BACKGROUND

[0002] As a key mold in the shoe-making process, the processing precision and efficiency of a shoe tree directly affect the forming quality and production efficiency of shoes. Traditional shoe tree processing usually adopts a decentralized process, that is, the dovetail groove making, barrel opening support block polishing, laser stamping and other steps are completed in sequence on different equipment. This processing method not only requires multiple clamping and transferring of workpieces, resulting in a long processing cycle and low efficiency; in particular, during multiple clamping or moving, the workpiece is prone to positional deviation, which further affects the processing precision and consistency. In addition, since multiple devices are needed to complete different processing steps, this not only increases the floor area of the production site, but also increases the labor cost.

[0003] Under the background of pursuing modern intelligent manufacturing and high-efficiency production, this traditional decentralized processing method obviously cannot meet the needs of industry development. SUMMARY

[0004] The application provides a shoe tree multi-station integrated processing device, which can complete multiple shoe tree processing procedures without multiple devices, greatly reducing production costs.

[0005] Therefore, the application provides a shoe tree multi-station integrated processing device, which comprises:

[0006] A rack is provided with a first station, a second station and a third station along a first direction;

[0007] A positioning and clamping device is movably arranged on the rack along the first direction;

[0008] A processing device is movably arranged on the rack along a second direction and a third direction and is arranged corresponding to the positioning and clamping device; the first direction is perpendicular to the second direction and the third direction, respectively;

[0009] The positioning and clamping device and the processing device are arranged corresponding to the first station, the second station and the third station, respectively, to perform different processing.

[0010] As a preferred scheme, the processing device comprises:

[0011] A lifting module is slidably arranged on the rack along the third direction;

[0012] A first linear module is arranged on the lifting module and is slidably arranged along the second direction;

[0013] The processing module is located in the first linear module and is configured corresponding to the positioning and clamping device.

[0014] As a preferred embodiment, the number of processing modules is multiple, and the processing modules are arranged along the first direction.

[0015] As a preferred embodiment, the first linear module includes:

[0016] The first lead screw component is located on the frame;

[0017] A first drive motor is mounted on the frame and drives the first lead screw to move along the second direction, thereby moving the processing module.

[0018] As a preferred embodiment, the lifting module includes:

[0019] The second lead screw is located on the frame;

[0020] A second drive motor is mounted on the frame and drives the second lead screw to move along the third direction, thereby moving the processing module.

[0021] As a preferred embodiment, the positioning and clamping device includes:

[0022] A second linear module is disposed on the frame along the first direction;

[0023] A rotation module is located at the output end of the second linear module;

[0024] The clamping mechanism is located at the output end of the rotating module;

[0025] The second linear module drives the clamping mechanism to move along the first direction, and the rotating module drives the clamping mechanism to rotate.

[0026] As a preferred embodiment, the rotating module includes:

[0027] 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;

[0028] 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;

[0029] 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.

[0030] The first rotating module, the second rotating module, and the third rotating module drive the clamping mechanism to rotate along the second direction, the first direction, and the third direction, respectively.

[0031] As a preferred embodiment, the clamping mechanism includes:

[0032] A positioning platform is located at the output end of the third rotating module;

[0033] The grippers are symmetrically arranged on both sides of the positioning platform;

[0034] A fourth drive motor is located on the positioning platform and connected to the gripper to drive the opening and closing of the gripper.

[0035] As a preferred embodiment, each of the grippers has an elastic buffer layer on its gripping surface.

[0036] As a preferred embodiment, the system also includes a camera scanning device, which is mounted on the frame and positioned corresponding to a scanning station on the frame.

[0037] When the positioning and clamping device moves to the scanning station, the camera scanning device scans the workpiece.

[0038] The beneficial effects of this application are:

[0039] This multi-station integrated processing device for shoe lasts includes a frame, a positioning and clamping device, and a processing device. The frame is arranged with a first station, a second station, and a third station along a first direction. The positioning and clamping device is movably mounted on the frame along the first direction. The processing device is movably mounted on the frame along a second direction and a third direction, and is positioned corresponding to the positioning and clamping device. The first direction is perpendicular to the second direction and the third direction. The positioning and clamping device and the processing device are respectively positioned corresponding to the first station, the second station, and the third station to perform different processing operations.

[0040] Multiple shoe last processing steps can be completed using the same equipment, avoiding the need to complete steps such as dovetail groove making, barrel mouth support block grinding, and laser stamping on different equipment in the traditional shoe last processing method. This not only improves processing efficiency and consistency, but also makes full use of the production site and greatly reduces production costs. Attached Figure Description

[0041] 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.

[0042] Figure 1 This is a structural diagram of a multi-station integrated processing device for shoe lasts according to this application;

[0043] Figure 2 for Figure 1 Structural diagram of the mid-positioning clamping device;

[0044] Figure 3 for Figure 2 Assembly drawing of the clamping mechanism and the rotating module;

[0045] Figure 4 for Figure 1 Structural diagram of the processing device.

[0046] Explanation of reference numerals in the attached figures:

[0047] 1. Frame; 2. Camera scanning device; 3. Positioning and clamping device; 31. Second linear module; 311. Third lead screw; 312. Third drive motor; 32. Clamping mechanism; 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. Processing device; 51. Processing module; 511. Dovetail groove making module; 512. Grinding module; 513. Marking module; 52. First linear module; 521. First drive motor; 522. First lead screw; 53. Lifting module; 531. Second drive motor; 532. Second lead screw;

[0048] The first direction is the X-axis; the second direction is the Y-axis; and the third direction is the Z-axis. Detailed Implementation

[0049] 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.

[0050] 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.

[0051] like Figures 1 to 4 As shown, this application provides a multi-station integrated processing device 5 for shoe lasts, including a frame 1, a positioning and clamping device 3, and a processing device 5; the frame 1 is provided with a first station, a second station, and a third station arranged along a first direction; the positioning and clamping device 3 is movably disposed on the frame 1 along the first direction; the processing device 5 is movably disposed on the frame 1 along a second direction and a third direction, and is disposed corresponding to the positioning and clamping device 3; the first direction is perpendicular to the second direction and the third direction respectively; wherein, the positioning and clamping device 3 and the processing device 5 are respectively disposed corresponding to the first station, the second station, and the third station to perform different processing.

[0052] To further explain, frame 1 provides rigid support for other components, ensuring stability during processing. Frame 1 is along the first direction ( Figure 1 The X-axis of the assembly line is used to sequentially arrange the first, second, and third workstations in a linear arrangement, forming a production line layout and achieving process centralization. The positioning and clamping device 3 is used to clamp the workpiece 4, which includes raw materials, rough shoe lasts, or shoe lasts, ensuring no displacement during processing. It moves along the first direction (X-axis) to sequentially transport the workpiece 4 to the first, second, or third workstation, ensuring that the positioning and clamping device 3 stops at different workstations for different processing. The processing device 5 moves along the second direction (X-axis). Figure 1 (Y-axis) and third direction ( Figure 1 The Z-axis movement has multiple degrees of freedom, forming a two-dimensional plane or three-dimensional space adjustment capability. Specifically, the Y-axis movement enables the lateral adjustment of the tool position of the machining device 5 to adapt to different machining areas of the workpiece 4; the Z-axis movement controls the tool feed depth of the machining device 5; that is, by adjusting the machining posture of the machining device 5 to match the different postures of the workpiece 4 held by the positioning and clamping device 3, different machining processes can be completed at different workstations, thereby meeting the different machining requirements of different parts of the workpiece 4.

[0053] Specifically, when the positioning and clamping device 3 moves to the first station, the processing device 5 is configured to roughen the workpiece 4 held by the positioning and clamping device 3; when the positioning and clamping device 3 moves to the second station, the processing device 5 is configured to grind the barrel mouth support block of the workpiece 4 held by the positioning and clamping device 3; and when the positioning and clamping device 3 moves to the third station, the processing device 5 is configured to mark the workpiece 4 held by the positioning and clamping device 3.

[0054] That is, when the positioning and clamping device 3 moves the device to the first workstation, the third workstation, or the second workstation, the processing device 5 is configured with different processing modules 51 to perform different processing at different workstations. In other words, by integrating multiple processing workstations on the same equipment, multiple shoe last processing steps can be completed, avoiding the need to complete steps such as dovetail groove making, barrel mouth support block grinding, and laser stamping on different equipment in the traditional shoe last processing method. This not only improves processing efficiency and consistency, but also makes full use of the production site and greatly reduces production costs.

[0055] Understandably, the first station is primarily used for creating dovetail grooves on the raw materials. Specifically, the raw materials are fed to the first station. At this time, the processing device 5, equipped with a milling cutter, adjusts its movement along the Y and Z axes, in conjunction with the X-axis adjustment of the positioning and clamping device 3. Following a preset processing path, it performs dovetail groove cutting to initially process the raw materials, creating the dovetail grooves. This allows for subsequent roughing and finishing when the materials are transferred to the shoe last processing equipment. By fixing and clamping the dovetail grooves, the raw materials with the dovetail grooves are processed into rough shoe lasts on the shoe last processing equipment. After roughing and finishing on the shoe last processing equipment, the shoe lasts return to the first station. At this point, the processing device 5 and the positioning and clamping device 3 adjust the posture of the shoe last and grind its mouth support block to facilitate subsequent processing such as mouth support block grinding and marking. It is worth noting that the 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 precision requirements for removing the dovetail groove are much higher than those for opening it. 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 equipped in processing device 5 has a relatively finer precision to improve the surface finish of the corresponding cylinder opening after removing the dovetail groove, so that it meets the final design requirements.

[0056] The main function of the second station is to grind the support block at the mouth of the shoe after the dovetail groove has been removed. At this second station, the processing device 5, through the movement adjustment of the Y and Z axes, and in conjunction with the movement adjustment of the X axis of the positioning and clamping device 3, grinds the support block at the mouth of the shoe according to the preset processing path along the Z axis. Afterwards, the positioning and clamping device 3 further adjusts the posture of the shoe last so that the side hole can be processed on the side near the mouth of the shoe last. Since this grinding process of the support block at the mouth is an important step in the finished product processing, the processing device 5 used in the grinding operation must be equipped with high-precision cutting tools to ensure that the required precision can be achieved during the grinding process, thereby obtaining a high-quality finished product.

[0057] The third workstation is the final process in all shoe last processing steps. At this stage, processing device 5 is configured for marking, applying laser markings to the shoe last for subsequent tracking and management. Preferably, the marking machine is one of a laser marking machine, a pneumatic marking machine, or a fiber optic marking machine to meet different production needs.

[0058] In this embodiment, the processing device 5 includes a lifting module 53, a first linear module 52, and a processing module 51; the lifting module 53 is slidably disposed on the frame 1 along the third direction; the first linear module 52 is disposed on the lifting module 53 and slidably disposed along the second direction; the processing module 51 is disposed on the first linear module 52 and is disposed corresponding to the positioning and clamping device 3; wherein, the lifting module 53 and the first linear module 52 respectively drive the processing module 51 to move along the third direction or the second direction.

[0059] Specifically, the lifting module 53 is slidably mounted on the frame 1 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 vertical movement and control the height of the processing module 51, such as the feed depth during grinding of the barrel mouth support block or the contact pressure during marking. The first linear module 52 is fixed to the movable end of the lifting module 53 and slides horizontally along the second direction (Y-axis). Its drive mechanism also employs a servo motor and ball screw or belt drive to achieve precise lateral positioning, adjusting the lateral position of the processing module 51, such as switching roughing areas or aligning with the grinding or marking points of the barrel mouth support block. The vertically intersecting layout of the lifting module 53 (Z-axis) and the first linear module 52 (Y-axis) endows the processing module 51 with multiple freedom of movement within a two-dimensional plane. Combined with the clamping device that moves along the X-axis, this allows the processing module 51 to be positioned corresponding to the third, second, or first workstation, thereby achieving efficient multi-station, multi-process processing.

[0060] In this embodiment, as Figure 1 and Figure 2As shown, there are multiple processing modules 51 arranged along the first direction. Preferably, there are three processing modules 51: a dovetail groove making module 511, a grinding module 512, and a marking module 513. More specifically, they can be rotary milling cutters, drill bits, laser marking machines, or tools that can be switched via a quick-change mechanism. Driven by the lifting module 53 and the first linear module 52, the dovetail groove making module 511, the grinding module 512, and the 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 processing module 51 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 processing module 51 feeds vertically (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 processing module 51 moves within the Y-axis or Z-axis plane to imprint marks along the trajectory. After processing is completed, the 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.

[0061] Further explanation of the barrel opening support block grinding process: The positioning and clamping device 3 clamps the workpiece 4 and moves along the first direction (X-axis) to switch between different workstations, so as to send the workpiece 4 to the target workstation, such as the second workstation. Then, in conjunction with the first linear module 52, the processing module 51 moves laterally to achieve Y-axis positioning, so as to align the workpiece 4 with the area to be processed, such as the grinding position of the barrel opening support block on the side of the shoe last; then, in conjunction with the lifting module 53, the processing module 51 is positioned on the Z-axis, so that its tool head reaches the preset processing depth. After reaching the depth, it automatically retracts and lifts up. If there are multiple holes to be processed, the Y-axis moves sequentially to the next hole position, and the lifting module 53 is lowered and lifted up repeatedly until all holes are completed, thereby realizing the barrel opening support block grinding of the shoe last. Through the superimposed movement of the lifting module 53 and the linear module, the processing requirements of the entire surface of the workpiece 4 are covered, without the need for a complex robotic arm.

[0062] In this embodiment, as Figures 1 to 3 As shown, 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 frame 1; the first drive motor 521 is disposed on the frame 1 and drives the first lead screw 522 to move along the second direction, thereby driving the processing module 51 to move.

[0063] The first linear module 52 is fixed on the frame 1 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, thereby driving the 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 on the side of the frame 1, 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 processing module 51 is accurately, stably, and repeatably positioned in the Y-axis direction. Together with the lifting module 53 (Z-axis) and the positioning and clamping device 3 (X-axis), it forms a three-dimensional processing space, thereby efficiently completing composite processes such as dovetail groove fabrication, barrel mouth support block grinding, and laser stamping. Simultaneously, after Y-axis positioning is completed, it can also be linked with lifting module 53 (Z-axis), allowing lifting module 53 to move along the Z-axis (e.g., when grinding the barrel support block, first align the Y-axis with the hole, then drill down along the Z-axis), to ensure that the Y-axis and Z-axis do not move at high speed simultaneously. In addition, it can also coordinate with positioning and clamping device 3 (X-axis) to switch between different workstations.

[0064] Specifically, the marking process at the third station is as follows: the first drive motor 521 drives the first lead screw 522 to rotate, thereby moving the processing module 51 (laser head) to the marking starting point on the shoe last surface; the lifting module 53 descends, allowing the laser head to focus at the optimal working distance; the Y-axis moves according to the programmed trajectory (such as text or patterns), and the Z-axis is finely adjusted to maintain the focal length, thus completing the marking.

[0065] In this embodiment, as Figure 1 and Figure 2 As shown, the lifting module 53 includes a second lead screw 532 and a second drive motor 531; the second lead screw 532 is disposed on the frame 1; the second drive motor 531 is disposed on the frame 1 and drives the second lead screw 532 to move along the third direction, thereby moving the processing module 51, thereby realizing the vertical lifting motion of the processing module 51 along the third direction (Z-axis).

[0066] The second lead screw 532, serving as the core of the vertical transmission, is vertically fixed to the frame 1 and 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) to convert the rotational motion of the second drive motor 531 into linear lifting motion, thus driving the 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 or bottom of the frame 1 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 processing module 51 in the Z-axis direction. Together with the Y-axis of the first linear module 52 and the X-axis of the positioning and clamping device 3, it constructs a three-dimensional processing space, thereby efficiently completing composite processes such as dovetail groove fabrication, barrel mouth support block grinding, and laser stamping. 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, when grinding the barrel support block, aligning it first before drilling; or by first adjusting the vertical position via the Z-axis and then feeding laterally via the Y-axis, for example, when opening or removing dovetail grooves. It is important to note that when the positioning and clamping device 3 moves along the X-axis to switch positions, the lifting module 53 must be raised to a safe height to avoid interference.

[0067] Specifically, the processing procedure at the first station is as follows: the lifting module 53 descends, bringing the milling cutter head close to the surface of the shoe last, with a safety distance required; the first linear module 52 drives the milling cutter to move laterally, while the Z-axis is slightly pressed down to control the grinding depth until a dovetail groove is cut or removed at a suitable position. During this process, the Z-axis height needs to be adjusted in real time according to the surface contour to ensure uniform grinding, in order to meet the complex process requirements of frequently switching height and pressure in shoe last processing.

[0068] In this embodiment, as Figures 1 to 3As shown, the positioning and clamping device 3 includes a second linear module 31, a rotating module 33, and a clamping mechanism 32. The second linear module 31 is disposed on the frame 1 along the first direction. Preferably, the second linear module 31 includes a third lead screw 311 and a third drive motor 312. The third lead screw 311 is disposed on the frame 1. The first drive motor 521 is disposed on the frame 1 and drives the third lead screw 311 to move along the first direction, thereby moving the positioning and clamping device 3. The rotating module 33 is disposed at the output end of the second linear module 31; the clamping mechanism 32 is disposed at the output end of the rotating module 33. The second linear module 31 drives the clamping mechanism 32 to move along the first direction, and the rotating module 33 drives the clamping mechanism 32 to rotate. The positioning and clamping device 3 is an important functional component for fixing and positioning raw materials and rough shoe lasts. Its structural design directly affects the stability of the processing process and the accuracy of the finished product. The positioning and clamping device 3, through the coordinated action of the second linear module 31, the rotating module 33 and the clamping mechanism 32, realizes the multi-degree-of-freedom positioning and clamping of the workpiece 4 (shoe last), thereby meeting the complex requirements of multi-station processing.

[0069] To further explain, the second linear module 31 (X-axis linear motion) is mounted on the frame 1 along the first direction (X-axis). It is typically driven by a ball screw or synchronous belt and powered by a servo motor, controlling the precise movement of the clamping mechanism 32 between the first, second, and third workstations. The rotary module 33 (rotational degree of freedom) is fixed to the moving end of the second linear module 31 and can move along the X-axis. It uses a servo motor and a reducer (such as a harmonic reducer) to drive the clamping mechanism 32 to rotate, adjusting the angle of the workpiece 4 so that the workpiece 4 is better adapted to the posture of different workstations. Specifically: at the first workstation, the rotary module 33 can be rotated to a suitable tilt angle to grind curved surfaces; at the second workstation, the rotary module 33 can be used to align the hole positions with the drill bit of the processing module 51; at the third workstation, the rotary module 33 can be used in conjunction with a laser head to complete multi-face marking. The clamping mechanism 32 (fixing the workpiece 4) can be a pneumatic clamp (for quick clamping / releasing) or a hydraulic clamp (for high clamping force). The clamping mechanism 32 can be adjusted to accommodate different shoe last models. In other words, this positioning and clamping device 3, through the three-level coordination of the second linear module 31 (X-axis), the rotary module 33, and the clamping mechanism 32, achieves linear transport, angle adjustment, and stable fixing of the workpiece 4. This, combined with the Y-axis and Z-axis movements of the processing device 5, forms a multi-degree-of-freedom positioning system to cover the full surface processing requirements of the workpiece 4, ensuring real-time matching between the processing module 51 and the workpiece 4, thereby achieving automated processing. This is particularly suitable for the production of complex parts such as shoe lasts that require multi-process and multi-angle machining.

[0070] Specifically, for multi-face marking at the third station: the clamping mechanism 32 closes and fixes the workpiece 4, and the second linear module 31 receives the instruction and moves along the X-axis to the target station, such as from the second station to the third station; at this time, at the third station, the clamping mechanism 32 is rotated according to the processing requirements, and the rotating module 33 rotates the shoe last to face the processing module 51 so as to mark the back of the shoe last without re-clamping. Especially when laser marking curved surfaces, the rotation can be adjusted in real time, and the angle can be adaptively adjusted during processing to ensure rotation accuracy. Combined with the multi-free movement of the first linear module 52 and the lifting module 53, multi-axis and multi-angle processing can be realized to adapt to the complex shape of the workpiece 4, further expand the processing range, and reduce the time for manual intervention.

[0071] In this embodiment, as Figure 2 and Figure 3 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 third rotation module... The rotation axis of 333 is consistent with the third direction; wherein, the first rotation module 331, the second rotation module 332 and the third rotation module 333 drive the clamping mechanism 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 rotation module 331, the second rotation module 332 and the third rotation module 333, the rotation module 33 gives the clamping mechanism 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.

[0072] 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 mechanism 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 mechanism 32 to rotate around the X-axis, such as flipping the shoe last forward or backward, or grinding the side support block of the barrel opening. The third rotary module 333 (rotating around the Z-axis) is located at the output end of the second rotary module 332. Its rotation axis is parallel to the third direction (Z-axis) to directly control the clamping mechanism 32 to rotate around the Z-axis. For example, it can be used to horizontally rotate a shoe last to process the circumferential surface, or to perform multi-face marking or uniform roughening of 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 the wrist joint of a robot) and adjust the workpiece's four angles in real time according to the processing path to ensure that the processing tools (such as milling cutters and lasers) are always in the optimal working posture.

[0073] Furthermore, the first rotating module 331 rotates around the Y-axis to change the pitch angle of the workpiece 4; the second rotating module 332 rotates around the X-axis to change the side tilt angle of the workpiece 4; and the third rotating module 333 rotates around the Z-axis to change the horizontal orientation of the workpiece 4.

[0074] The rotating module 33, through the series design of the three-axis rotating modules, constructs a spatial attitude adjustment system for the clamping mechanism 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, 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.

[0075] Specifically, the shoe last is roughened in all directions, which involves the process of adjusting the posture:

[0076] The second linear module 31 moves to the first station for angle adjustment: the first rotating module 331 tilts 15° (around the Y-axis) to expose the curved surface of the heel; the third rotating module 333 rotates 180° (around the Z-axis) to switch the grinding surface; then the Y-axis and Z-axis processing modules 51 grind along the path, while the rotating modules simultaneously fine-tune the angle.

[0077] In this embodiment, the clamping mechanism 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 mechanism 32 achieves fast, stable, and adjustable clamping and release of the workpiece 4 (shoe last).

[0078] The positioning platform 323 serves as an installation and support platform, fixed to the output end of the third rotating module 333. It adjusts its spatial angle with the rotating module, providing rigid support for the grippers 321. It also integrates the fourth drive motor 322 and transmission components. Its surface can be set with positioning pins or reference surfaces to assist in the initial alignment of the workpiece 4. The grippers 321, performing the clamping action, are symmetrically distributed on both sides of the positioning platform 323, such as left-right or top-bottom arrangements, to accommodate different shoe last sizes. The fourth drive motor 322, serving as power and transmission, is typically a servo motor or stepper motor, enabling precise control of the gripper's opening and closing. Preferably, its transmission method can employ a rack and pinion mechanism, where the motor drives the gear, causing the rack to move linearly and push the grippers to open and close; or a linkage mechanism, converting the rotational motion into parallel opening and closing of the grippers, suitable for symmetrical clamping.

[0079] Specifically, the rotating module 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 mechanism 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.

[0080] The clamping mechanism 32, through the basic support of the positioning table 323, the flexible clamping of the grippers 321, and the precise control of the fourth drive motor 322, seamlessly links with the processing device 5 and the rotating module 33 to form a closed-loop automated process. This ensures stable clamping in any posture and achieves firm fixation and rapid replacement of the workpiece 4 during complex processing. This design is particularly suitable for processing workpieces 4 such as shoe lasts that require frequent angle adjustments and have easily damaged surfaces, significantly improving production efficiency and consistency.

[0081] In this embodiment, each of the grippers 321 has an elastic buffer layer on its gripping surface. This elastic buffer layer can be a replaceable soft pad, such as polyurethane, to increase friction and protect the workpiece 4.

[0082] In this embodiment, as Figure 1 As shown, the system also includes a camera scanning device 2, which is mounted on the frame 1 and positioned corresponding to the scanning station of the frame 1. When the positioning and clamping device 3 moves to the scanning station, the camera scanning device 2 scans the workpiece 4. The introduction of the camera scanning device 2 significantly improves the intelligence level and processing accuracy of the shoe last processing system, achieving fully automatic positioning, quality inspection, and adaptive processing of the workpiece 4 through non-contact 3D scanning. Preferably, the camera scanning device 2 can be equipped with a laser line scanning module for 3D reconstruction of complex curved surfaces. The camera scanning device 2 is equipped with a ring-shaped supplementary light to ensure consistent imaging of shoe lasts made of different materials. This design is particularly suitable for small-batch, multi-variety customized shoe last production, improving accuracy while reducing reliance on skilled workers, representing a typical application of modern intelligent manufacturing in traditional industries.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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. A multi-station integrated processing device for shoe lasts, characterized in that, include: The machine frame is arranged with a first workstation, a second workstation, and a third workstation along a first direction; A positioning and clamping device is movably disposed on the frame along the first direction; The processing device is movably mounted on the frame along a second direction and a third direction, and is configured corresponding to the positioning and clamping device; the first direction is perpendicular to the second direction and the third direction, respectively. The positioning and clamping device and the processing device are respectively set up at the first station, the second station and the third station to perform different processing.

2. The multi-station integrated processing device for shoe lasts according to claim 1, characterized in that, The processing apparatus includes: A lifting module is slidably mounted on the frame along the third direction; A first linear module is disposed on the lifting module and is slidably disposed along the second direction; The processing module is located in the first linear module and is configured corresponding to the positioning and clamping device.

3. The multi-station integrated processing device for shoe lasts according to claim 2, characterized in that, The number of processing modules is multiple, and the processing modules are arranged along the first direction.

4. The multi-station integrated processing device for shoe lasts according to claim 2, characterized in that, The first linear module includes: The first lead screw component is located on the frame; A first drive motor is mounted on the frame and drives the first lead screw to move along the second direction, thereby moving the processing module.

5. The multi-station integrated processing device for shoe lasts according to claim 2, characterized in that, The lifting module includes: The second lead screw is located on the frame; A second drive motor is mounted on the frame and drives the second lead screw to move along the third direction, thereby moving the processing module.

6. The multi-station integrated processing device for shoe lasts according to claim 1, characterized in that, The positioning and clamping device includes: A second linear module is disposed on the frame along the first direction; A rotation module is located at the output end of the second linear module; The clamping mechanism is located at the output end of the rotating module; The second linear module drives the clamping mechanism to move along the first direction, and the rotating module drives the clamping mechanism to rotate.

7. The multi-station integrated processing device for shoe lasts according to claim 6, 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 mechanism to rotate along the second direction, the first direction, and the third direction, respectively.

8. The multi-station integrated processing device for shoe lasts according to claim 7, characterized in that, The clamping mechanism includes: A positioning platform is located at the output end of the third rotating module; The grippers are symmetrically arranged on both sides of the positioning platform; A fourth drive motor is located on the positioning platform and connected to the gripper to drive the opening and closing of the gripper.

9. The multi-station integrated processing device for shoe lasts according to claim 8, characterized in that, Each of the grippers has an elastic buffer layer on its gripping surface.

10. The multi-station integrated processing device for shoe lasts according to any one of claims 1 to 9, characterized in that, It also includes a camera scanning device, which is mounted on the frame and set up corresponding to the scanning station of the frame; When the positioning and clamping device moves to the scanning station, the camera scanning device scans the workpiece.

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