An upper sewing process auxiliary positioning robot

Abstract

The application discloses a vamp sewing process auxiliary positioning mechanical hand, which comprises a base, a clamping assembly arranged on the base, the clamping assembly comprising a clamping support, a clamping motor and a clamping claw, the clamping motor being arranged on the clamping support, the clamping claw being connected with the clamping support, a cleaning assembly arranged at one end of the base, the cleaning assembly comprising a water tank, a cleaning disc and a water pump, the water pump being arranged outside the water tank, the cleaning disc being rotationally connected to the water tank, a rope driving mode of inner and outer transmission connection ropes cooperating with multistage guide wheels is adopted, the clamping motor and a rotating motor are remotely arranged at the rear end of the clamping support, the weight and volume of the end of the mechanical arm are greatly reduced, the mechanical hand is endowed with higher motion flexibility and complex posture adjustment capacity, and can better adapt to vamp multi-curved surface sewing requirements.

Description

Technical Field

[0001] This invention relates to the technical field of shoe upper sewing robots, and in particular to an auxiliary positioning robot for the shoe upper sewing process. Background Technology

[0002] In footwear manufacturing, upper sewing is a crucial process, directly impacting the appearance and lifespan of the finished shoe. Traditional upper sewing relies primarily on manual positioning and material feeding, resulting in high labor intensity, low production efficiency, and significant susceptibility to human error in quality, making it difficult to guarantee product consistency. With the widespread adoption of automation technology, some footwear and apparel companies have begun introducing robotic arms to assist in upper sewing. However, existing robotic arms for upper sewing still have limitations in practical applications. Uppers are often made of leather or flexible fabrics, and existing clamping mechanisms are typically quite rigid. During the clamping and transfer process, the shoe upper is easily indented or damaged. To solve this problem, some equipment has added a flexible sleeve to the clamping end. However, during continuous sewing, the flexible sleeve is very easy to get glue, oil or dust from the seam. If it is not cleaned in time, the stains will be transferred to the next shoe upper, causing cross-contamination. Usually, it is necessary to stop the machine and manually replace or clean the flexible sleeve, which seriously restricts the efficiency of the production line. The robotic arm usually places the drive motor directly near the clamping joint, which makes the end of the robotic arm bulky and has a large moment of rotational inertia. When making multi-angle posture adjustments on the complex curved surface of the shoe upper, the flexibility is obviously limited. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is that the existing shoe upper sewing auxiliary equipment has insufficient end flexibility and the clamping flexible sleeve is prone to getting dirty, leading to cross-contamination.

[0004] The above-mentioned technical problems are solved by the following technical solution: This invention proposes an auxiliary positioning robot for the shoe upper sewing process, comprising: Base; A clamping assembly is disposed on the base. The clamping assembly includes a clamping bracket, a clamping motor, and a clamping claw. The clamping motor is disposed on the clamping bracket, and the clamping claw is connected to the clamping bracket. A cleaning assembly is disposed at one end of the base. The cleaning assembly includes a water tank, a cleaning disc, and a water pump. The water pump is disposed outside the water tank, and the cleaning disc is rotatably connected to the water tank.

[0005] In a preferred embodiment of the auxiliary positioning robot for the shoe upper sewing process of the present invention: a mounting base is provided on the clamping bracket, a connecting boss is provided at one end of the mounting base, the clamping motor is provided on the connecting boss, the output end of the clamping motor passes through the motor connecting base and is connected to the translation base, a guide rod is slidably connected on the translation base, a clamping connecting base is provided inside the translation base, and a clamping connecting rope is passed through the clamping connecting base.

[0006] In a preferred embodiment of the auxiliary positioning robot for the shoe upper sewing process of the present invention: a mounting connecting plate is provided at the end of the mounting base away from the connecting boss, a fixed base is provided on the outside of the mounting connecting plate, a first guide plate and a first guide roller are provided on the fixed base, a first partition, a second partition and a second guide plate are provided inside the mounting connecting plate, a second guide roller is provided on the second guide plate, and an inner guide roller is also provided inside the mounting connecting plate. The second guide roller and the inner guide roller constrain the movement direction of the inner transmission connecting rope.

[0007] In a preferred embodiment of the auxiliary positioning robot for the shoe upper sewing process of the present invention: a first rotating wheel and a second rotating wheel are provided on the first partition, and a guide rotating shaft is provided between the two. An external transmission connecting rope is provided on the guide rotating shaft. The second rotating wheel is rotatably connected to the first partition through the second rotating shaft. A second rotating wheel is provided on the second rotating shaft, and the internal transmission connecting rope is wound on the second rotating wheel.

[0008] In a preferred embodiment of the auxiliary positioning robot for the shoe upper sewing process of the present invention: the other end of the inner transmission connecting rope is provided with symmetrical side rotating sleeves, a main rotating sleeve is provided between the side rotating sleeves, a first rotating wheel is provided inside the main rotating sleeve, a storage guide groove is provided on the first rotating wheel, an outer transmission connecting rope is connected to the first rotating wheel, a fixed bracket is provided on the mounting base, a first rotating motor and a second rotating motor are provided on the fixed bracket, the first rotating motor is connected to the second rotating wheel through a second synchronous pulley and a second synchronous belt, and the second rotating motor is connected to the first rotating wheel through a first synchronous pulley and a first synchronous belt.

[0009] In a preferred embodiment of the auxiliary positioning robot for the shoe upper sewing process of the present invention: a rotating seat is provided on the first rotating wheel, the gripping claw is connected to the rotating seat, a flexible sleeve is detachably connected to the gripping claw, a gripping link and a positioning connecting seat are provided on the gripping claw, a tensioning wheel and a return torsion spring are provided in the positioning connecting seat, a transmission unit is provided at one end of the gripping link, the transmission unit includes a first transmission link and a second transmission link arranged in parallel, and the other end of the gripping connecting rope passes around the tensioning wheel and is connected to the first transmission link.

[0010] In a preferred embodiment of the auxiliary positioning robot for the shoe upper sewing process described in this invention: the water pump is provided with a connecting pipe, the connecting pipe is provided with a rinsing head, and the rinsing head is provided with a rinsing nozzle.

[0011] In a preferred embodiment of the auxiliary positioning robot for the shoe upper sewing process of the present invention: a shrinking unit is provided on the water tank, a push plate is provided on the shrinking unit, a drive push rod is provided at one end of the push plate, a linkage plate is provided at the other end, a push inclined surface is provided on the linkage plate, and a positioning guide rod with an elastic element is also provided on the push plate. A translation track is provided at the lower end of the shrinking unit, a cleaning roller is provided on the translation track, a linkage block and a guide seat are provided at the lower end of the cleaning roller, a linkage inclined surface is provided on the linkage block, and the push inclined surface and the linkage inclined surface cooperate to push the linkage block to move in opposite directions.

[0012] In a preferred embodiment of the auxiliary positioning robot for the shoe upper sewing process of the present invention: a support platform is also provided on the water tank, a cleaning motor is provided on the support platform, the cleaning disc is rotatably connected to the cleaning motor, and the cleaning disc is sleeved on the output end of the cleaning motor through a rotating sleeve.

[0013] In a preferred embodiment of the auxiliary positioning robot for the shoe upper sewing process of the present invention: the base includes a first robotic arm and a support seat. The first robotic arm is movably connected to the base through the support seat. A second robotic arm is provided on the first robotic arm. A third robotic arm is provided at the end of the second robotic arm away from the first robotic arm. A fourth robotic arm is provided at the end of the third robotic arm away from the second robotic arm. A rotary connecting seat is provided between the second robotic arm and the third robotic arm. The clamping assembly is provided on the fourth robotic arm.

[0014] The beneficial effects of this invention are as follows: by using a rope drive method with internal and external transmission connecting ropes and multi-stage guide wheels, the clamping motor and rotary motor are placed far behind the clamping bracket, which greatly reduces the weight and volume of the end of the robotic arm, and gives the robotic arm higher mobility and complex posture adjustment capabilities, which can better adapt to the needs of multi-curved surface sewing of shoe uppers. The gripper has a detachable flexible sleeve that works with the tension wheel and return torsion spring to hold the flexible shoe upper stably and without damage, effectively avoiding indentations or surface damage. During the sewing interval, the robot moves the gripper to the cleaning area and cleans it with the cleaning disc. The robot also uses the pusher of the drive rod to push the inclined surface of the drive rod and the linkage inclined surface of the cleaning roller linkage block to make the cleaning roller and the cleaning disc adhere to each other and wipe and clean it. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Wherein: Figure 1 A schematic diagram of the overall structure of the present invention is shown. Figure 1 ; Figure 2 A schematic diagram of the overall structure of the present invention is shown. Figure 2 ; Figure 3 A schematic diagram of the overall structure of the clamping assembly of the present invention is shown. Figure 1 ; Figure 4 A schematic diagram of the overall structure of the clamping assembly of the present invention is shown. Figure 2 ; Figure 5 A schematic diagram of the overall structure of the clamping assembly of the present invention is shown. Figure 3 ; Figure 6 An enlarged structural schematic diagram of point A in this invention is shown; Figure 7 A schematic diagram of the overall structure of the clamping assembly of the present invention is shown. Figure 4 ; Figure 8 An enlarged structural schematic diagram of point B of the present invention is shown; Figure 9 A top view of the clamping assembly of the present invention is shown; Figure 10 An enlarged structural schematic diagram of point C of the present invention is shown; Figure 11 A schematic diagram of the overall structure of the cleaning assembly of the present invention is shown; Figure 12 A schematic diagram of the overall structure of the flushing head of the present invention is shown; Figure 13 A schematic diagram of the overall structure of the shrinkage unit of the present invention is shown. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0018] refer to Figure 1 and Figure 2 The base 100 includes a first robotic arm 101 and a support 105. The first robotic arm 101 is movably connected to the base 100 through the support 105. A second robotic arm 102 is provided on the first robotic arm 101. A third robotic arm 103 is provided at the end of the second robotic arm 102 away from the first robotic arm 101. A fourth robotic arm 104 is provided at the end of the third robotic arm 103 away from the second robotic arm 102. A rotary connecting seat 106 is provided between the second robotic arm 102 and the third robotic arm 103. Through the series and hinge design of the above-mentioned multi-level robotic arms, the robotic hand is given a multi-degree-of-freedom spatial displacement capability, which enables it to flexibly adapt to the complex curved contour of the shoe upper, simulating the human hand. A clamping component 200 is provided on the fourth robotic arm 104 and is used to perform clamping and posture adjustment of the shoe upper. A cleaning component 300 is provided at one end of the base 100 and is used to clean the flexible sleeve on the clamping component online during the sewing gap to prevent cross-contamination of stains. The multi-stage robotic arm of the base 100 works in coordination to move the clamping component 200 to the position of the leather upper. The clamping motor 202 is activated and the clamping link 210a is pulled remotely through the rope drive mechanism, so that the clamping claw 210 closes and the flexible sleeve 208 comes into direct contact with the leather, effectively avoiding surface indentations. At the same time, the tension wheel 210c in the positioning connector 210b cooperates with the reset torsion spring 210d to provide buffer clamping force that adapts to the thickness of the leather, ensuring that the upper is clamped firmly and without damage. When sewing along the curve of the toe, since the first rotary motor 204 and the second rotary motor 205 are remotely placed on the fixed bracket 203, the weight of the clamping end is greatly reduced and the moment of inertia is extremely small. Through the precise linkage of the synchronous belt and the inner and outer transmission connecting ropes, the clamping claw 210 is driven to perform high-frequency, flexible multi-angle rotation, perfectly conforming to the complex stitch trajectory, avoiding the lag and shaking caused by traditional heavy robotic arms when adjusting complex postures. refer to Figure 3 and Figure 4The clamping assembly 200 includes a clamping bracket 201 and a clamping claw 210. A first rotating wheel 217 and a second rotating wheel 218 are provided at the end of the first partition 207b away from the second partition 207c. A guide rotating shaft 217a is provided between the first rotating wheel 217 and the second rotating wheel 218. An external transmission connecting rope 213 is provided on the guide rotating shaft 217a. A second rotating shaft 218a is provided at the end of the second rotating wheel 218 away from the first rotating wheel 217. The second rotating shaft 218a is rotatably connected to the first partition 207b. A second rotating wheel 218b is provided at the end of the second rotating shaft 218a away from the second rotating wheel 218. This part constitutes a rope-driven relay transmission mechanism. Through the cooperation of the guide rotating shaft 217a and the rotating wheel, the power of the rear motor is smoothly transmitted to the front actuator. refer to Figure 5 and Figure 6 The clamping bracket 201 is provided with a mounting base 206. One end of the mounting base 206 is provided with a connecting boss 206a. A guide groove 206b is formed in the mounting base 206. A clamping motor 202 is provided on the connecting boss 206a. A motor connecting seat 202a is provided between the clamping motor 202 and the mounting base 206. The output end of the clamping motor 202 passes through the motor connecting seat 202a and is connected to the translation seat 202b. This invention eliminates the cumbersome method of directly connecting the motor to the clamping joint in traditional robotic arms. The design incorporates a clamping motor 202 whose output drives a translation seat 202b to slide along a guide rod 202c. A clamping connecting seat 202d is provided inside the translation seat 202b, and a clamping connecting rope 219 is threaded through the clamping connecting seat 202d. This converts the rotation or linear motion of the motor into a traction force on the connecting rope, achieving flexible long-distance power transmission. A mounting connecting plate 207 is provided at the end of the mounting seat 206 away from the connecting boss 206a, providing a mounting base for subsequent guide and transmission components. refer to Figure 7 and Figure 8A fixing seat 207a is provided on the outer side of the mounting connecting plate 207. A first guide plate 209 is provided on the fixing seat 207a. Two symmetrical first guide rollers 209a are provided on the first guide plate 209. A first partition 207b and a second partition 207c are provided inside the mounting connecting plate 207. A second guide plate 207d is provided inside the mounting connecting plate 207. A second guide roller 207e is provided on the second guide plate 207d. An inner guide roller 207g is also provided inside the mounting connecting plate 207. The second guide roller 207e and the inner guide roller 207g constrain the movement direction of the inner transmission connecting rope 207f. Through the precise layout of the multi-stage rollers, it is ensured that the movement trajectory of the rope does not deviate or interfere during long-distance transmission. A first rotary motor 204 and a second rotary motor 205 are mounted on a fixed bracket 203. A second synchronous pulley 220 is mounted on the output end of the first rotary motor 204, and a second synchronous belt 220a is mounted on the second synchronous pulley 220. A first synchronous pulley 216 is mounted on the output end of the second rotary motor 205, and a first synchronous belt 216a is mounted on the first synchronous pulley 216. Here, the rotary motors are centrally mounted on the fixed bracket 203, which is far away from the gripping end, which greatly reduces the weight and rotational inertia of the robotic arm end. The other end of the first synchronous belt 216a is rotatably connected to the first rotating wheel 217, and the other end of the second synchronous belt 220a is rotatably connected to the second rotating wheel 218, achieving a perfect combination of heavy-duty rear-mounted motors and lightweight end effector. refer to Figure 9 and Figure 10An inner drive connecting rope 207f is wound around the second rotating wheel 218b. A side rotating sleeve 215 is provided at the other end of the inner drive connecting rope 207f. Two side rotating sleeves 215 are symmetrically arranged, and a main rotating sleeve 214 is arranged between the side rotating sleeves 215. A first rotating wheel 214a is arranged inside the main rotating sleeve 214. A receiving guide groove 214b is opened on the first rotating wheel 214a. An outer drive connecting rope 213 is connected to the first rotating wheel 214a, and the outer drive connecting rope 213 passes through the side rotating wheel 218b. The rotating sleeve 215 extends outward. When the rear motor drives the rotating wheel to rotate, the linkage between the inner and outer transmission connecting ropes drives the first rotating wheel 214a and the main rotating sleeve 214 to achieve precise rotational movement. A fixed bracket 203 is provided on the mounting base 206, and a rotating seat 212 is provided on the first rotating wheel 214a. A clamping claw 210 is connected to the rotating seat 212, and a flexible sleeve 208 is detachably connected to the clamping claw 210. When clamping the shoe upper, the flexible sleeve 208 directly contacts the shoe upper material. This design effectively avoids indentations or surface damage caused by traditional rigid clamping. The clamping jaw 210 is equipped with a clamping link 210a and a positioning connector 210b. A tension wheel 210c is located inside the positioning connector 210b, and a return torsion spring 210d is mounted on the tension wheel 210c. The cooperation between the tension wheel and the return torsion spring provides adaptive buffering and tension adjustment for the clamping action, ensuring a stable and damage-free clamping force for shoe uppers of different thicknesses. A transmission unit 2 is located at one end of the clamping link 210a. 11. The transmission unit 211 includes a first transmission link 211a and a second transmission link 211b. The first transmission link 211a and the second transmission link 211b are arranged in parallel on the clamping link 210a. The other end of the clamping connecting rope 219 passes around the tension wheel 210c and is connected to the first transmission link 211a. When the clamping motor pulls the clamping connecting rope 219, the tension is transmitted to the tension wheel and the first transmission link in sequence, and finally drives the clamping link 210a to realize the closing action of the clamping claw. refer to Figures 11 to 13The cleaning assembly 300 includes a water tank 301 and a cleaning tray 309. A water pump 302 is installed outside the water tank 301, and a connecting pipe 303 is installed on the water pump 302. A rinsing head 306 is installed on the connecting pipe 303, and a rinsing nozzle 306a is installed inside the rinsing head 306. During operation, the water pump draws cleaning fluid from the water tank and sprays it onto the flexible sleeve 208 area of ​​the clamping claw 210 through the rinsing nozzle 306a, achieving automatic wetting and rinsing. A retraction unit is installed on the water tank 301. 307, the retraction unit 307 is provided with a push plate 307a, one end of the push plate 307a is provided with a drive push rod 307b, the push plate 307a is provided with a positioning guide rod 307c, the positioning guide rod 307c is provided with an elastic element 311, the other end of the push plate 307a is provided with a linkage plate 307d, the linkage plate 307d is provided with a push inclined surface 307e, the lower end of the retraction unit 307 is provided with a translation track 312, the translation track 312 is provided with... The cleaning drum 308 contains a drum shaft 308a. A linkage block 308b is located at the lower end of the cleaning drum 308. A linkage inclined surface 308c is located on the linkage block 308b, and a guide seat 308d is located below the linkage block 308b. When a cleaning action is required, the drive push rod 307b extends, and its pushing inclined surface 307e engages with the linkage inclined surface 308c on the linkage block 308b, converting the horizontal thrust into an opposing force on the cleaning drum 308. The pressing force of the movement makes it stick tightly to the flexible sleeve 208 to be cleaned. The water tank 301 is also equipped with a support platform 304. The support platform 304 is equipped with a cleaning motor 305. The cleaning motor 305 is rotatably connected to the cleaning disc 309. The cleaning disc 309 is sleeved on the output end of the cleaning motor 305 through a rotating sleeve 310. The cleaning motor drives the cleaning disc to rotate at high speed. With the help of the sprayed cleaning liquid, the flexible sleeve 208 is efficiently and automatically wiped to remove glue or oil stains from the surface. After the robotic arm finishes sewing one shoe upper and releases it, the multi-stage robotic arms work together to move the gripper 210 to the cleaning component 300 at one end of the base 100. The water pump 302 draws cleaning fluid and sprays it onto the surface of the cleaning disc 309 through the rinsing nozzle 306a. The drive push rod 307b of the shrink unit 307 extends, pushing the inclined surface 307e to engage with the linkage inclined surface 308c of the linkage block 308b, pushing the cleaning roller 308 to move towards each other and closely adhere to the cleaning disc 309. The cleaning motor 305 drives the cleaning disc 309 to rotate at high speed, cleaning the flexible sleeve 208 while simultaneously cleaning the cleaning disc 309, quickly removing residual glue and stains. After cleaning, the robotic arm can then begin gripping and sewing the next shoe upper, achieving online self-cleaning of the flexible sleeve 208 without stopping the machine.

[0019] In use, the clamping assembly 200 is precisely moved to the position of the shoe upper to be sewn through the coordinated action of the first robotic arm 101 of the base 100 via the bearing seat 105 and the connected second robotic arm 102, third robotic arm 103, fourth robotic arm 104 and rotary connecting seat 106. To reduce the weight at the end and improve flexibility, the clamping motor 202 and the first and second rotary motors 204 and 205 are all located on the fixed bracket 203 and mounting seat 206 at the rear end of the clamping bracket 201, and power is transmitted by rope drive. During the clamping process, the output end of the clamping motor 202 passes through the motor connecting seat 202a to drive the translation seat 202b to slide along the guide rod 202c, pulling the clamping connecting rope passing through the clamping connecting seat 202d inside the translation seat. 219. The tension force passes over the tension wheel 210c inside the positioning connecting seat 210b on the clamping claw 210 and is transmitted to the first transmission link 211a, driving the transmission unit 211 and the clamping link 210a to close the clamping claw 210. At this time, the flexible sleeve 208 directly contacts the shoe surface, and with the adaptive buffering of the return torsion spring 210d, it achieves non-destructive clamping of the shoe surface. During posture adjustment, the first and second rotary motors 204 and 205 drive the first and second rotating wheels 217 and 218 on the first partition 207b through the first and second synchronous belts 216a and 220a and the synchronous pulley. The second rotating wheel 218 drives the second rotating wheel 218b to pull the inner transmission connecting rope 207f through the second rotating shaft 218a. The first guide roller 209a and the second Under the precise constraint of the guide roller 207e and the inner guide roller 207g, the power is transmitted through the side rotating sleeve 215 and the main rotating sleeve 214 to drive the first rotating wheel 214a and the rotating seat 212, so that the gripper 210 can rotate at a high frequency and flexibly at multiple angles, perfectly conforming to the complex curved surface stitching trajectory of the shoe upper. After completing a section of sewing and releasing the shoe upper, the robot moves the gripper 210 to the cleaning component 300 at one end of the base 100. At this time, the water pump 302 sprays the cleaning liquid in the water tank 301 through the connecting pipe 303 and the rinsing head 306 through the rinsing nozzle 306a onto the cleaning disc 309. The robot then presses the flexible sleeve 208 onto the high-speed rotating cleaning disc 309 driven by the cleaning motor 305 through the rotating sleeve 310 for powerful scrubbing. To remove glue or oil stains from the surface, and to prevent secondary transfer of stains, the drive push rod 307b of the shrink unit 307 extends. Through the sliding engagement of the push inclined surface 307e on the push plate 307a and the linkage plate 307d with the linkage inclined surface 308c of the lower linkage block 308b of the cleaning roller 308, the horizontal thrust is converted into a clamping force that causes the cleaning roller 308 to move in opposite directions along the translation track 312. This overcomes the resistance of the elastic element 311 on the positioning guide rod 307c, causing the cleaning roller 308 to tightly clamp the rotating cleaning disc 309, achieving synchronous scraping and cleaning of the cleaning disc itself. After cleaning, all mechanisms reset under the action of the elastic element, and the robotic arm immediately enters the next shoe upper clamping and sewing cycle. The entire process achieves online self-cleaning without machine downtime.This effectively prevents cross-contamination of stains and significantly improves the overall efficiency of the production line.

[0020] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A robotic arm for auxiliary positioning in the shoe upper sewing process, characterized in that: include: Base; A clamping assembly is disposed on the base. The clamping assembly includes a clamping bracket, a clamping motor, and a clamping claw. The clamping motor is disposed on the clamping bracket, and the clamping claw is connected to the clamping bracket. A cleaning assembly is disposed at one end of the base. The cleaning assembly includes a water tank, a cleaning disc, and a water pump. The water pump is disposed outside the water tank, and the cleaning disc is rotatably connected to the water tank.

2. The auxiliary positioning robot for the shoe upper sewing process according to claim 1, characterized in that: The clamping bracket is provided with a mounting base, one end of which is provided with a connecting boss. The clamping motor is mounted on the connecting boss. The output end of the clamping motor passes through the motor connecting base and is connected to the translation base. A guide rod is slidably connected to the translation base. A clamping connecting base is provided inside the translation base, and a clamping connecting rope is threaded through the clamping connecting base.

3. The auxiliary positioning robot for the shoe upper sewing process according to claim 2, characterized in that: A mounting connecting plate is provided at the end of the mounting base away from the connecting boss. A fixing seat is provided on the outside of the mounting connecting plate. A first guide plate and a first guide roller are provided on the fixing seat. A first partition, a second partition, and a second guide plate are provided inside the mounting connecting plate. A second guide roller is provided on the second guide plate. An inner guide roller is also provided inside the mounting connecting plate. The second guide roller and the inner guide roller constrain the movement direction of the inner transmission connecting rope.

4. The auxiliary positioning robot for the shoe upper sewing process according to claim 3, characterized in that: The first partition is provided with a first rotating wheel and a second rotating wheel, and a guide rotating shaft is provided between the two. An external transmission connecting rope is provided on the guide rotating shaft. The second rotating wheel is rotatably connected to the first partition through the second rotating shaft. A second rotating wheel is provided on the second rotating shaft, and the internal transmission connecting rope is wound on the second rotating wheel.

5. The auxiliary positioning robot for the shoe upper sewing process according to claim 4, characterized in that: The other end of the inner transmission connecting rope is provided with symmetrical side rotating sleeves, and a main rotating sleeve is provided between the side rotating sleeves. A first rotating wheel is provided inside the main rotating sleeve. The first rotating wheel has a receiving guide groove. An outer transmission connecting rope is connected to the first rotating wheel. A fixed bracket is provided on the mounting base. A first rotating motor and a second rotating motor are provided on the fixed bracket. The first rotating motor is connected to the second rotating wheel through a second synchronous pulley and a second synchronous belt. The second rotating motor is connected to the first rotating wheel through a first synchronous pulley and a first synchronous belt.

6. The auxiliary positioning robot for the shoe upper sewing process according to claim 5, characterized in that: The first rotating wheel is provided with a rotating seat, the clamping claw is connected to the rotating seat, the clamping claw is detachably connected with a flexible sleeve, the clamping claw is provided with a clamping link and a positioning connecting seat, the positioning connecting seat is provided with a tension wheel and a return torsion spring, one end of the clamping link is provided with a transmission unit, the transmission unit includes a first transmission link and a second transmission link arranged in parallel, and the other end of the clamping link passes around the tension wheel and is connected to the first transmission link.

7. The auxiliary positioning robot for the shoe upper sewing process according to claim 1, characterized in that: The water pump is equipped with a connecting pipe, and a flushing head is installed on the connecting pipe. The flushing head contains a flushing nozzle.

8. The auxiliary positioning robot for the shoe upper sewing process according to claim 1, characterized in that: The water tank is equipped with a shrinking unit, which is equipped with a push plate. One end of the push plate is equipped with a drive push rod, and the other end is equipped with a linkage plate. The linkage plate is equipped with a push inclined surface and a positioning guide rod with an elastic element. The lower end of the shrinking unit is equipped with a translation track, and a cleaning roller is equipped on the translation track. The lower end of the cleaning roller is equipped with a linkage block and a guide seat. The linkage block is equipped with a linkage inclined surface. The push inclined surface and the linkage inclined surface cooperate to push the linkage block to move in opposite directions.

9. The auxiliary positioning robot for the shoe upper sewing process according to claim 8, characterized in that: The water tank is also provided with a support platform, and a cleaning motor is provided on the support platform. The cleaning disc is rotatably connected to the cleaning motor, and the cleaning disc is sleeved on the output end of the cleaning motor through a rotating sleeve.

10. The auxiliary positioning robot for the shoe upper sewing process according to claim 1, characterized in that: The base includes a first robotic arm and a support base. The first robotic arm is movably connected to the base through the support base. A second robotic arm is provided on the first robotic arm. A third robotic arm is provided at the end of the second robotic arm away from the first robotic arm. A fourth robotic arm is provided at the end of the third robotic arm away from the second robotic arm. A rotary connecting seat is provided between the second robotic arm and the third robotic arm. The clamping assembly is provided on the fourth robotic arm.

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