An automatic shoe upper and sole bonding robot for producing boots and a control method thereof

Abstract

The application relates to the technical field of cotton shoe production robots, and discloses an automatic upper and sole bonding robot for cotton shoe production and a control method thereof, which comprises a workbench and a mechanical arm, the mechanical arm is arranged on the surface of the workbench, one end of the mechanical arm is provided with a glue gun, a limiting groove is arranged on the surface of the workbench, and a sole is arranged in the limiting groove; the surface of the workbench is provided with a bonding assembly, the bonding assembly comprises an arc-shaped ring, a sliding seat and a supporting die. The end glue gun is driven to move by the multi-degree-of-freedom mechanical arm, the glue is accurately applied to the bonding surface of the sole and the bonding surface of the upper in sequence according to a preset track, after the glue application is completed, the arc-shaped ring is driven to rotate by a gear and a gear ring, the support is moved above the sole, then the ellipsoidal block and the supporting die are driven to overturn by a second motor, the bottom of the upper is directed to the top of the sole, the sliding seat and the supporting die are moved by the electric telescopic rod, the upper with glue is accurately positioned and attached to the surface of the sole, and the automatic bonding of the sole and the upper is realized.

Description

Technical Field

[0001] This invention relates to the field of cotton shoe production robot technology, and in particular to an automated upper and sole bonding robot for cotton shoe production and its control method. Background Technology

[0002] Cotton shoes are an essential winter footwear product with high market demand and a high need for large-scale production. In the traditional production process of cotton shoes, the bonding process between the upper and the sole is the core and key process that determines the quality of the shoe's molding, the strength of the bond, and the smoothness of its appearance, directly affecting the product's lifespan and sales quality.

[0003] Currently, most cotton shoe manufacturers still use semi-automated or purely manual bonding operations. Manual gluing has poor precision and uneven application, easily leading to localized glue overflow and insufficient glue, resulting in weak adhesion between the upper and sole, separation, and a high defect rate. Furthermore, manual bonding has low positioning accuracy, causing the upper and sole to easily shift or tilt, resulting in defects in the finished cotton shoes and making it difficult to guarantee a high yield rate. On the other hand, some existing automated bonding equipment has a simple structure and limited functionality, only capable of simple gluing, making it difficult to accurately position and fix the upper. The upper is prone to loosening and shifting, and the pressing range is limited, failing to achieve uniform pressing of the sole and upper from all directions, resulting in poor bonding stability. Summary of the Invention

[0004] The purpose of this invention is to provide an automated upper and sole bonding robot for cotton shoe production and its control method. This invention solves the problems of existing automated upper and sole bonding robots for cotton shoe production, which have simple structures, limited functionality, can only perform simple glue application, are difficult to accurately position and fix the upper, are prone to loosening and displacement of the upper, and have limited pressing range, making it impossible to achieve all-round uniform pressing of the sole and upper, resulting in poor bonding stability.

[0005] To achieve the above objectives, the present invention provides an automated shoe upper and sole bonding robot for cotton shoe production, comprising a worktable and a robotic arm. The robotic arm is disposed on the surface of the worktable, and a glue gun is disposed at one end of the robotic arm for applying glue. A limiting groove is formed on the surface of the worktable, and a shoe sole is placed in the limiting groove. An bonding assembly is disposed on the surface of the worktable, the bonding assembly comprising: An arc-shaped ring is rotatably mounted inside the workbench cavity, and a support is fixedly mounted at one end of the arc-shaped ring; A slide block is slidably mounted in the inner cavity of a support, and an elliptical block is rotatably mounted in the inner cavity of the slide block; A support mold is installed on the surface of an elliptical block, and a shoe upper is fitted onto the surface of the support mold.

[0006] The arc-shaped ring is fixedly mounted with a gear ring on its side, and a gear is rotatably mounted in the inner cavity of the worktable. The gear meshes with the gear ring, and a first motor is fixedly mounted on the side wall of the worktable. The output end of the first motor is fixedly connected to the gear.

[0007] The support is equipped with an electric telescopic rod, the telescopic end of which is fixedly connected to the slide block for pushing the slide block to move. A second motor is fixedly installed on the side wall of the slide block, and the output end of the second motor is fixedly connected to the elliptical block for driving the support mold to rotate.

[0008] The support mold is equipped with a positioning component for positioning the shoe upper. The positioning component includes an arc-shaped limiting block and a sliding rod. The arc-shaped limiting block is slidably disposed on both sides of the support mold, and the sliding rod is connected to one end of the arc-shaped limiting block. The other end of the sliding rod is slidably installed in the support mold.

[0009] The support mold has a first cavity, in which pistons are symmetrically slidably installed. The pistons are fixedly connected to a slide rod, and a first spring is sleeved on the surface of the slide rod. One end of the first spring is connected to the support mold, and the other end of the first spring is connected to the piston, which is used to push the arc-shaped limiting block to move towards the support mold.

[0010] The support mold has an air chamber inside, and the slide has a first elastic airbag. A hose connects the first elastic airbag to the air chamber.

[0011] The workbench surface is also provided with a pressing assembly for pressing the sole and upper of the shoe. The pressing assembly includes a second cavity and an elastic membrane. The second cavity is opened in the side wall of the limiting groove, and an elastic membrane is provided between the second cavity and the limiting groove for pressing the sole and upper of the shoe.

[0012] The limiting groove has a contact plate slidably installed in it, and a support rod is fixedly installed at the bottom of the contact plate. The other end of the support rod is slidably inserted into the inner cavity of the worktable. A second spring is sleeved on the surface of the support rod. One end of the second spring is fixedly connected to the contact plate, and the other end of the second spring is fixedly connected to the worktable, which is used to push the contact plate to move upward.

[0013] The other end of the support rod is equipped with a pressure plate, and the inner cavity of the workbench is equipped with a second elastic airbag. The pressure plate is in contact with the second elastic airbag, and an air tube connects the second elastic airbag and the second cavity.

[0014] A control method for an automated upper and sole bonding robot used in cotton shoe production, applicable to the aforementioned automated upper and sole bonding robot for cotton shoe production, includes the following steps: S1: Applying glue; The multi-degree-of-freedom robotic arm drives the end-effector glue gun to move and apply glue to the sole bonding surface and the upper bonding surface in sequence according to the preset trajectory. S2: Positioning; After the glue is applied, the first motor is started, and the arc ring is rotated through the gear and gear ring transmission to move the support to the top of the sole. Then, the second motor drives the elliptical block and the support mold to flip so that the bottom of the upper faces the top of the sole. The elliptical block squeezes the first elastic airbag and injects air into the first cavity, thereby pushing the pistons on both sides to drive the arc limiting block to fit and position itself towards the toe and heel in sequence. S3: Pressing; The electric telescopic rod pushes the slide and support mold to move and press. The contact plate is pressed down and moves down through the support rod to push the pressure plate down on the second elastic airbag, squeezing the gas inside the second elastic airbag. The gas enters the second cavity through the air tube and pushes the elastic membrane to expand and bulge towards the center of the limiting groove, squeezing the gap between the sole and the upper from all sides.

[0015] The advantages and positive effects of the automated shoe upper and sole bonding robot and its control method for cotton shoe production of the present invention are as follows: 1. This invention uses a multi-degree-of-freedom robotic arm to move the end-effector glue gun, applying glue precisely and evenly to the sole and upper bonding surfaces according to a preset trajectory. After the glue application is completed, the first motor is started, which drives the arc ring to rotate through gear and gear transmission, moving the support above the sole. Then, the second motor drives the elliptical block and support mold to flip, so that the bottom of the upper faces directly above the sole. The electric telescopic rod can then push the slide and support mold to move, so that the glued upper is precisely aligned and bonded to the sole surface, achieving automatic bonding between the sole and upper.

[0016] 2. When the second motor of the present invention drives the elliptical block and the support mold to flip, the elliptical block squeezes the first elastic airbag and injects air into the first cavity, thereby pushing the pistons on both sides to drive the arc-shaped limiting blocks to move sequentially towards the toe and heel of the shoe to avoid loosening, displacement, and wrinkling of the shoe upper, and ensure the subsequent bonding effect.

[0017] 3. During the pressing process of this invention, the contact plate is pressed down, and the support rod drives the pressure plate to press down on the second elastic airbag, squeezing the gas inside the second elastic airbag. The gas enters the second cavity through the air tube, pushing the elastic membrane to expand and bulge towards the center of the limiting groove, squeezing the gap between the sole and the upper from all directions, achieving flexible and uniform pressing, eliminating the gap, and improving the adhesion. After pressing is completed, the second spring pushes the contact plate back to its original position, the air pressure is released, the elastic membrane returns to its original shape, and the automatic pressure relief and reset is completed. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0019] Figure 1 This is a frontal perspective view provided by an embodiment of the present invention; Figure 2 This is a side cross-sectional view provided in an embodiment of the present invention; Figure 3 This is provided by the embodiments of the present invention. Figure 2 Enlarged view of point A in the middle; Figure 4 This is a three-dimensional view of the arc-shaped ring provided in the embodiments of the present invention; Figure 5 This is a perspective view of the support mold provided in the embodiment of the present invention; Figure 6 This is a cross-sectional view of the support mold provided in an embodiment of the present invention; Figure 7 This is a process flow diagram provided by an embodiment of the present invention.

[0020] In the diagram: 1. Workbench; 2. Robotic arm; 3. Glue gun; 4. Limiting groove; 5. Shoe sole; 6. Adhesive assembly; 601. Arc ring; 602. Gear ring; 603. Gear; 604. First motor; 605. Support; 606. Slide; 607. Electric telescopic rod; 608. Elliptical block; 609. Second motor; 610. Support mold; 7. Shoe upper; 8. Positioning assembly; 801. Arc limiting block; 802. Slide rod; 803. First cavity; 804. Piston; 805. First spring; 806. Air cavity; 807. First elastic airbag; 9. Pressing assembly; 901. Second cavity; 902. Elastic membrane; 903. Contact plate; 904. Support rod; 905. Pressure plate; 906. Second spring; 907. Second elastic airbag. Detailed Implementation

[0021] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0022] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention 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 the invention. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] In this application, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. In case of any inconsistency, the meaning set forth in this specification or derived from the content described herein shall prevail. Furthermore, the terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit the scope of this application.

[0024] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0025] Please refer to Figures 1 to 7 This invention provides an automated shoe upper and sole bonding robot for cotton shoe production, including a workbench 1 and a robotic arm 2. The workbench 1 is integrally formed from hard alloy plate, with a stable structure and strong load-bearing capacity, which can effectively ensure the overall stability of the equipment during operation and avoid the impact of operation vibration on processing accuracy. The robotic arm 2 is set on the surface of the workbench 1 and is fixedly installed by bolt fastening, which is firmly installed and stable in position, ensuring that the robotic arm 2 does not deviate or shake during operation. The robotic arm 2 is a multi-degree-of-freedom rotating robotic arm, and a glue gun 3 is set at one end of the robotic arm 2. The glue gun 3 is connected to an automatic glue supply device through a pipeline for applying glue. The robotic arm 2 can realize multi-dimensional movements of horizontal rotation, vertical lifting, and forward and backward extension, accurately driving the glue gun 3 to move and automatically and accurately apply glue to the bonding surface of the sole 5 and the inner bonding surface of the upper 7 according to a preset trajectory, replacing manual glue application, effectively controlling the glue thickness and glue application range, and ensuring glue uniformity.

[0026] Please refer to Figures 1 to 6The workbench 1 has a limiting groove 4 on its surface, in which a shoe sole 5 is placed. The limiting groove 4 is a contoured groove structure adapted to the shape of the shoe sole 5, which can accurately limit the placement of the shoe sole 5 to be processed, preventing displacement of the shoe sole 5 during the gluing, bonding, and pressing processes, and providing basic positioning assurance for subsequent accurate bonding. The workbench 1 is provided with an bonding component 6, which includes an arc ring 601, a slide 606, and a support mold 610. The arc ring 601 is rotatably installed in the inner cavity of the workbench 1. A gear ring 602 is fixedly installed on the side of the worktable 1. A gear 603 is rotatably installed inside the worktable 1. The gear 603 meshes with the gear ring 602. A first motor 604 is fixedly installed on the side wall of the worktable 1. The output end of the first motor 604 is fixedly connected to the gear 603. The first motor 604 is a servo drive motor, which can precisely control the forward and reverse rotation, rotation angle and speed of the gear 603. The gear ring 602 and the arc ring 601 are rotated as a whole by the gear 603, thereby adjusting the angle of the support mold 610.

[0027] Please refer to Figures 1 to 6 A support 605 is fixedly installed at one end of the arc ring 601. A slide 606 is slidably installed inside the support 605. An electric telescopic rod 607 is fixedly installed on the side of the support 605. The telescopic end of the electric telescopic rod 607 is fixedly connected to the slide 606 and is used to push the slide 606 to move. Through the telescopic action of the electric telescopic rod 607, the slide 606 can be precisely pushed to slide back and forth inside the support 605, realizing the horizontal displacement adjustment of the support mold and completing the precise alignment of the shoe upper 7 and the shoe sole 5. Alignment and fit; an elliptical block 608 is rotatably mounted in the inner cavity of the slide 606, and a support mold 610 is mounted on the surface of the elliptical block 608. A shoe upper 7 is fitted onto the surface of the support mold 610. A second motor 609 is fixedly mounted on the side wall of the slide 606. The output end of the second motor 609 is fixedly connected to the elliptical block 608 and is used to drive the support mold 610 to rotate. After the second motor 609 is started, it can drive the elliptical block 608 to drive the support mold 610 to rotate as a whole, so as to realize the multi-angle flipping adjustment of the shoe upper 7.

[0028] Working principle: The multi-degree-of-freedom robotic arm 2 drives the end glue gun 3 to move, and applies glue precisely and evenly to the bonding surfaces of the sole 5 and the upper 7 in sequence according to the preset trajectory. After the glue is applied, the first motor 604 is started, which drives the arc ring 601 to rotate through the gear 603 and gear ring 602, moving the support 605 above the sole 5. Then, the second motor 609 drives the elliptical block 608 and the support mold 610 to flip, so that the bottom of the upper 7 faces directly above the sole 5. Then, the electric telescopic rod 607 pushes the slide 606 and the support mold 610 to move, so that the glued upper 7 is precisely aligned and attached to the surface of the sole 5, realizing the automatic bonding of the sole 5 and the upper 7.

[0029] Please refer to Figures 1 to 6The support mold 610 is provided with a positioning component 8 for positioning the shoe upper 7. The positioning component 8 includes an arc-shaped limiting block 801 and a sliding rod 802. The arc-shaped limiting block 801 is slidably disposed on both sides of the support mold 610, and the sliding rod 802 is connected to one end of the arc-shaped limiting block 801. The other end of the sliding rod 802 is slidably installed in the support mold 610.

[0030] Please refer to Figures 1 to 6 The support mold 610 has a first cavity 803 inside, and a piston 804 is symmetrically slidably installed in the first cavity 803, which can slide smoothly back and forth along the inner wall of the first cavity 803. The piston 804 is fixedly connected to the slide rod 802, and a first spring 805 is sleeved on the surface of the slide rod 802. One end of the first spring 805 is connected to the support mold 610, and the other end of the first spring 805 is connected to the piston 804, which is used to push the arc-shaped limiting block 801 to move towards the support mold 610. Under normal conditions, the first spring 805 is in the popped-out state, which can continuously provide thrust to the piston 804, driving the slide rod 802 and the arc-shaped limiting block 801. Block 801 contracts and fits towards the support mold 610. The support mold 610 has an air chamber 806 inside. The slide 606 has a first elastic airbag 807. A hose connects the first elastic airbag 807 and the air chamber 806. When the second motor 609 drives the elliptical block 608 and the support mold 610 to rotate, the elliptical block 608 squeezes the first elastic airbag 807, injecting air into the first cavity 803. This pushes the pistons 804 on both sides to move the arc-shaped limiting block 801 sequentially towards the toe and heel of the shoe, preventing the upper 7 from loosening, shifting, or wrinkling, and ensuring the subsequent bonding effect.

[0031] Working principle: Under normal conditions, the first spring 805 is in the pop-out state, which can continuously provide thrust to the piston 804, causing the slide rod 802 and the arc-shaped limiting block 801 to conform and contract towards the support mold 610; when the second motor 609 drives the elliptical block 608 and the support mold 610 to rotate, the elliptical block 608 compresses the first elastic airbag 807, injecting air into the first cavity 803, thereby pushing the pistons 804 on both sides to move the arc-shaped limiting block 801 sequentially towards the toe and heel of the shoe, preventing the upper 7 from loosening, shifting, or wrinkling, and ensuring the subsequent bonding effect.

[0032] Please refer to Figures 1 to 3 The workbench 1 is also equipped with a pressing component 9, which is used to press the sole 5 and the upper 7. The pressing component 9 includes a second cavity 901 and an elastic membrane 902. The second cavity 901 is opened on the side wall of the limiting groove 4. An elastic membrane 902 is provided between the second cavity 901 and the limiting groove 4 for pressing the sole 5 and the upper 7. The elastic membrane 902 is made of highly elastic and wear-resistant rubber material, which can undergo elastic deformation and directly contact the outer side wall of the sole 5 and the contact part of the upper 7 to achieve flexible pressing operation.

[0033] Please refer to Figures 1 to 3 A contact plate 903 is slidably installed in the limiting groove 4. A support rod 904 is fixedly installed at the bottom of the contact plate 903. The other end of the support rod 904 is slidably inserted into the inner cavity of the worktable 1. A second spring 906 is sleeved on the surface of the support rod 904. One end of the second spring 906 is fixedly connected to the contact plate 903, and the other end of the second spring 906 is fixedly connected to the worktable 1. It is used to push the contact plate 903 upward. A pressure plate 905 is installed at the other end of the support rod 904. A second elastic airbag 907 is installed in the inner cavity of the worktable 1. The pressure plate 905 is in contact with the second elastic airbag 907. An air tube is connected between the second elastic airbag 907 and the second cavity 901.

[0034] Working principle: The electric telescopic rod 607 pushes the slide 606 and support mold 610 to move. During pressing, the contact plate 903 is pressed down, and the support rod 904 drives the pressure plate 905 to press down the second elastic airbag 907, squeezing the gas inside the second elastic airbag 907. The gas enters the second cavity 901 through the air pipe, pushing the elastic membrane 902 to expand and bulge towards the center of the limiting groove 4, squeezing the gap between the sole 5 and the upper 7 from all sides, achieving flexible and uniform pressing, eliminating the gap, and improving the adhesion. After pressing is completed, the second spring 906 pushes the contact plate 903 back to its original position, the air pressure is released, the elastic membrane 902 returns to its original shape, and the automatic pressure relief and reset is completed.

[0035] Therefore, the automated shoe upper and sole bonding robot for cotton shoe production described in this invention uses a multi-degree-of-freedom robotic arm 2 to drive the end glue gun 3 to move, and apply glue precisely and evenly to the bonding surfaces of the sole 5 and the upper 7 according to a preset trajectory. After the glue is applied, the first motor 604 is started, and the arc ring 601 is rotated through the gear 603 and the gear ring 602 to move the support 605 above the sole 5. Then, the second motor 609 drives the elliptical block 608 and the support mold 610 to flip, so that the bottom of the upper 7 faces directly above the sole 5. Then, the electric telescopic rod 607 pushes the slide 606 and the support mold 610 to move, so that the glued upper 7 is precisely aligned and attached to the surface of the sole 5, realizing the automatic bonding of the sole 5 and the upper 7.

[0036] Under normal conditions, the first spring 805 is in the pop-out state, which can continuously provide thrust to the piston 804, causing the slide rod 802 and the arc-shaped limiting block 801 to conform and contract towards the support mold 610; when the second motor 609 drives the elliptical block 608 and the support mold 610 to rotate, the elliptical block 608 compresses the first elastic airbag 807, injecting air into the first cavity 803, thereby pushing the pistons 804 on both sides to move the arc-shaped limiting block 801 sequentially towards the toe and heel of the shoe, preventing the shoe upper 7 from loosening, shifting, or wrinkling, and ensuring the subsequent bonding effect.

[0037] The electric telescopic rod 607 pushes the slide block 606 and the support mold 610 to move. During the pressing process, the contact plate 903 is pressed down, and the support rod 904 drives the pressure plate 905 to press down on the second elastic airbag 907, squeezing the gas inside the second elastic airbag 907. The gas enters the second cavity 901 through the air pipe, pushing the elastic membrane 902 to expand and bulge towards the center of the limiting groove 4, squeezing the gap between the sole 5 and the upper 7 from all sides, achieving flexible and uniform pressing, eliminating the gap, and improving the adhesion. After pressing is completed, the second spring 906 pushes the contact plate 903 back to its original position, the air pressure is released, the elastic membrane 902 returns to its original state, and the automatic pressure relief and reset is completed.

[0038] A control method for an automated upper and sole bonding robot used in cotton shoe production, applicable to the aforementioned automated upper and sole bonding robot for cotton shoe production, includes the following steps: S1: Applying glue; The multi-degree-of-freedom robotic arm 2 drives the end glue gun 3 to move and apply glue to the bonding surface of the sole 5 and the bonding surface of the upper 7 in sequence according to the preset trajectory. S2: Positioning; After the glue is applied, the first motor 604 is started, and the arc ring 601 is rotated through the gear 603 and gear ring 602 to move the support 605 above the sole 5. Then, the second motor 609 drives the elliptical block 608 and the support mold 610 to flip, so that the bottom of the upper 7 faces directly above the sole 5. The elliptical block 608 squeezes the first elastic airbag 807 to inject air into the first cavity 803, thereby pushing the pistons 804 on both sides to drive the arc limiting block 801 to fit and position itself towards the toe and heel in sequence. S3: Pressing; The electric telescopic rod 607 pushes the slide block 606 and the support mold 610 to move and press. The contact plate 903 is pressed down and moves down through the support rod 904 to drive the pressure plate 905 to press down the second elastic airbag 907, squeezing the gas inside the second elastic airbag 907. The gas enters the second cavity 901 through the air pipe, pushing the elastic membrane 902 to expand and bulge towards the center of the limiting groove 4, squeezing the fit gap between the sole 5 and the upper 7 from all sides.

[0039] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. An automated shoe upper and sole bonding robot for cotton shoe production, comprising a workbench (1) and a robotic arm (2), wherein the robotic arm (2) is disposed on the surface of the workbench (1), and a glue gun (3) is disposed at one end of the robotic arm (2) for applying glue, and a limiting groove (4) is formed on the surface of the workbench (1), wherein a shoe sole (5) is placed in the limiting groove (4); characterized in that, An adhesive assembly (6) is provided on the surface of the workbench (1), the adhesive assembly (6) comprising: Arc ring (601), the arc ring (601) is rotatably installed in the inner cavity of the workbench (1), and a support (605) is fixedly installed at one end of the arc ring (601). A slide (606) is slidably installed in the inner cavity of the support (605), and an elliptical block (608) is rotatably installed in the inner cavity of the slide (606). A support mold (610) is mounted on the surface of an elliptical block (608), and a shoe upper (7) is fitted onto the surface of the support mold (610).

2. The automated shoe upper and sole bonding robot for cotton shoe production as described in claim 1, characterized in that: A gear ring (602) is fixedly installed on the side of the arc ring (601), and a gear (603) is rotatably installed in the inner cavity of the worktable (1). The gear (603) meshes with the gear ring (602). A first motor (604) is fixedly installed on the side wall of the worktable (1), and the output end of the first motor (604) is fixedly connected to the gear (603).

3. The automated shoe upper and sole bonding robot for cotton shoe production as described in claim 2, characterized in that: An electric telescopic rod (607) is fixedly installed on the side of the support (605). The telescopic end of the electric telescopic rod (607) is fixedly connected to the slide (606) for pushing the slide (606) to move. A second motor (609) is fixedly installed on the side wall of the slide (606). The output end of the second motor (609) is fixedly connected to the elliptical block (608) for driving the support mold (610) to rotate.

4. The automated shoe upper and sole bonding robot for cotton shoe production as described in claim 3, characterized in that: The support mold (610) is provided with a positioning component (8) for positioning the shoe upper (7). The positioning component (8) includes an arc-shaped limiting block (801) and a sliding rod (802). The arc-shaped limiting block (801) is slidably disposed on both sides of the support mold (610). The sliding rod (802) is connected to one end of the arc-shaped limiting block (801), and the other end of the sliding rod (802) is slidably installed in the support mold (610).

5. The automated shoe upper and sole bonding robot for cotton shoe production as described in claim 4, characterized in that: The inner cavity of the support mold (610) is provided with a first cavity (803). A piston (804) is symmetrically slidably installed in the first cavity (803). The piston (804) is fixedly connected to the slide rod (802). A first spring (805) is sleeved on the surface of the slide rod (802). One end of the first spring (805) is connected to the support mold (610), and the other end of the first spring (805) is connected to the piston (804), which is used to push the arc-shaped limiting block (801) to move towards the support mold (610).

6. The automated shoe upper and sole bonding robot for cotton shoe production as described in claim 5, characterized in that: The inner cavity of the support mold (610) is provided with an air chamber (806), and a first elastic airbag (807) is provided in the slide (606). A flexible tube is connected between the first elastic airbag (807) and the air chamber (806).

7. The automated shoe upper and sole bonding robot for cotton shoe production as described in claim 6, characterized in that: The workbench (1) is also provided with a pressing component (9) for pressing the sole (5) and upper (7). The pressing component (9) includes a second cavity (901) and an elastic membrane (902). The second cavity (901) is opened on the side wall of the limiting groove (4). An elastic membrane (902) is provided between the second cavity (901) and the limiting groove (4) for pressing the sole (5) and upper (7).

8. The automated shoe upper and sole bonding robot for cotton shoe production as described in claim 7, characterized in that: A contact plate (903) is slidably installed in the limiting groove (4). A support rod (904) is fixedly installed at the bottom of the contact plate (903). The other end of the support rod (904) is slidably inserted into the inner cavity of the worktable (1). A second spring (906) is sleeved on the surface of the support rod (904). One end of the second spring (906) is fixedly connected to the contact plate (903), and the other end of the second spring (906) is fixedly connected to the worktable (1) to push the contact plate (903) upward.

9. The automated shoe upper and sole bonding robot for cotton shoe production as described in claim 8, characterized in that: A pressure plate (905) is installed at the other end of the support rod (904), and a second elastic airbag (907) is installed in the inner cavity of the workbench (1). The pressure plate (905) is in contact with the second elastic airbag (907), and an air tube is connected between the second elastic airbag (907) and the second cavity (901).

10. A control method for an automated upper-and-sole bonding robot for cotton shoe production, applicable to the automated upper-and-sole bonding robot for cotton shoe production as described in any one of claims 1-9, characterized in that, Includes the following steps: S1: Apply glue; The multi-degree-of-freedom robotic arm (2) drives the end glue gun (3) to move and apply glue to the bonding surface of the sole (5) and the bonding surface of the upper (7) in sequence according to the preset trajectory; S2: Positioning; After the glue is applied, the first motor (604) is started, and the arc ring (601) is rotated through the gear (603) and gear ring (602) to move the support (605) above the sole (5). Then, the second motor (609) drives the elliptical block (608) and the support mold (610) to flip, so that the bottom of the upper (7) faces the sole (5) directly above. The elliptical block (608) squeezes the first elastic airbag (807) to inject air into the first cavity (803), thereby pushing the pistons (804) on both sides to drive the arc limiting block (801) to fit and position to the toe and heel in sequence. S3: Pressing; The electric telescopic rod (607) pushes the slide (606) and support mold (610) to move and press. The contact plate (903) is pressed down and the support rod (904) drives the pressure plate (905) to press down the second elastic airbag (907), squeezing the gas inside the second elastic airbag (907). The gas enters the second cavity (901) through the air tube and pushes the elastic membrane (902) to expand and bulge towards the center of the limiting groove (4), squeezing the fit gap between the sole (5) and the upper (7) from all sides.

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