Delasting machine

Abstract

The utility model relates to the technical field of shoe material processing, in particular to a delasting machine which comprises a machine box, a first conveying mechanism, a second conveying mechanism, a camera shooting mechanism, a clamping mechanism, a mechanical arm shoelace untying and cloth liner taking mechanism, an air cylinder blocking mechanism and a roller delasting mechanism. The air cylinder blocking mechanism is used for blocking a shoe material to be delasted on the first conveying mechanism, the roller delasting mechanism is used for grabbing the shoe material to be delasted, after rolling delasting, a shoe last is moved to the second conveying mechanism, during delasting, the left shoe material and the right shoe material are conveyed by the first conveying mechanism, and after camera shooting, the positions of the left shoe material and the right shoe material are calibrated and supported by the clamping mechanism. A shoe rope is pulled open by the manipulator, a cloth liner is taken out, then the shoe rope is placed on the first conveying mechanism to be conveyed, and left and right shoe materials are respectively discharged after the shoe rope is blocked by the air cylinder, the roller delasting mechanism grabs the shoe rope and delasts the shoe rope, so that efficient delasting processing is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of shoe material processing, in particular to a shoe unlasting machine. Background Art

[0002] After the shoes are formed, it is necessary to remove the shoes from the shoe lasts for unlasting. At present, most shoe manufacturers use manual operation to pull out the shoe lasts from the shoes, which is laborious and inefficient. Using a shoe unlasting machine can replace manual operation, which is more labor-saving and improves efficiency. However, the existing shoe unlasting machine can only unlast one shoe at a time, with low working efficiency, and cannot convey the unlasted shoes, which is not conducive to automated production.

[0003] In view of this, the present application aims to provide a shoe unlasting machine to better solve the above technical problems. Summary of the Utility Model

[0004] To solve the above problems, the utility model provides a shoe unlasting machine, which can synchronously unlast the left and right shoes, simultaneously use a camera for shooting and positioning, with high unlasting accuracy, and can synchronously discharge materials, with high unlasting efficiency.

[0005] The technical solution adopted by the utility model is as follows:

[0006] A shoe unlasting machine includes a machine case, a first conveying mechanism, a second conveying mechanism, a camera shooting mechanism, a clamping mechanism, a mechanical hand for unlacing and removing the backing cloth mechanism, a cylinder blocking mechanism, and a roller unlasting mechanism. The first conveying mechanism is installed on the machine case and is used for conveying the shoe materials to be unlasted and the unlasted shoes. The second conveying mechanism is installed on the machine case and is used for conveying the unlasted shoe lasts. The clamping mechanism is installed on the first conveying mechanism and is used for calibrating and clamping the shoe materials to be unlasted. The mechanical hand for unlacing and removing the backing cloth mechanism is installed on the machine case, above the clamping mechanism, and is used for unlacing the shoes and removing the gaskets. The cylinder blocking mechanism is installed on the first conveying mechanism, behind the clamping mechanism, and is used for blocking the shoe materials to be unlasted on the first conveying mechanism. The roller unlasting mechanism is installed on the machine case, above the cylinder blocking mechanism, and is used for grasping the shoe materials to be unlasted, moving the shoe lasts after unlasting to the second conveying mechanism.

[0007] Further, the first conveying mechanism includes a first conveyor belt and a second conveyor belt arranged in parallel, which are used for respectively conveying the left and right shoe materials to be unlasted.

[0008] Further, there is a set of clamping mechanisms. Each set of clamping mechanisms is respectively provided with a first bracket, a first driving cylinder, and a connecting rod clamping plate. The first bracket is installed on the first conveying mechanism. The first driving cylinder is installed on the first bracket and is drivingly connected to the connecting rod clamping plate.

[0009] Further, the mechanism for unlacing shoes and taking the backing cloth of the manipulator is provided with a second bracket, a first translation assembly, a second translation assembly, a first lifting assembly, a rotating assembly and a mechanical gripper. The second bracket is installed on the chassis. The first translation assembly is installed on the second bracket. The second translation assembly is installed on the first translation assembly, and the moving direction of the second translation assembly is perpendicular to the moving direction of the first translation assembly. The first lifting assembly is installed on the second translation assembly. The rotating assembly is installed on the first lifting assembly. The mechanical gripper is installed on the rotating assembly.

[0010] Further, the camera shooting mechanism is installed on the first lifting assembly. A material receiving box is provided on the chassis, and the material receiving box is located on one side of the second bracket.

[0011] Further, there is a set of cylinder blocking mechanisms. Each set of cylinder blocking mechanisms is respectively provided with a third bracket, a second driving cylinder and a blocking clamping plate. The third bracket is installed on the first conveying mechanism. The second driving cylinder is installed on the third bracket and is drivingly connected to the blocking clamping plate.

[0012] Further, there is a set of roller last-removing mechanisms. Each set of roller last-removing mechanisms is respectively provided with a fourth bracket, a lead screw translation assembly, a slide rail lifting and clamping assembly and a roller lifting assembly. The fourth bracket is installed on the chassis. The lead screw translation assembly is installed on the fourth bracket. The slide rail lifting and clamping assembly is installed on the lead screw translation assembly. The roller lifting assembly is installed at the rear of the slide rail lifting and clamping assembly and is used for rolling the heel of the shoe material to be last-removed to remove the last.

[0013] Further, a set of the roller last-removing mechanisms is arranged at intervals along the conveying direction of the first conveying mechanism.

[0014] Further, the second conveying mechanism is provided with a third conveyor belt and a chute. The chute is used for connecting the last removed by the roller last-removing mechanism at the front end of the first conveying mechanism. The third conveyor belt is arranged opposite to the roller last-removing mechanism at the rear end of the first conveying mechanism.

[0015] Further, a protective cover is installed on the chassis.

[0016] The beneficial effects of the present utility model are as follows:

[0017] The last removing machine provided by the utility model comprises a chassis, a first conveying mechanism, a second conveying mechanism, a camera shooting mechanism, a clamping mechanism, a mechanical hand for unlacing shoes and removing a backing cloth, a cylinder blocking mechanism and a roller last removing mechanism. The first conveying mechanism is used for conveying the shoe materials to be last removed and the shoes after last removal. The second conveying mechanism is used for conveying the lasts after last removal. The clamping mechanism is used for calibrating and clamping the shoe materials to be last removed. The mechanical hand for unlacing shoes and removing a backing cloth is used for unlacing the shoes and removing the backing cloth. The cylinder blocking mechanism is used for blocking the shoe materials to be last removed on the first conveying mechanism. The roller last removing mechanism is used for grasping the shoe materials to be last removed, moving the last after rolling last removal to the second conveying mechanism. The structure of the utility model is simple and reasonably designed. During last removal, the left and right shoe materials are conveyed by the first conveying mechanism. After being shot by the camera, the positions are calibrated by the clamping mechanism and lifted up. The mechanical hand pulls open the shoelaces and removes the backing cloth, and then places them on the first conveying mechanism for conveying. Then, they are blocked by the cylinder, grasped by the roller last removing mechanism, and pushed down to remove the last. Then, the left and right shoe materials are respectively unloaded, so as to realize efficient last removal processing. Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of some embodiments of the present application;

[0019] Figure 2 is a schematic structural diagram of some embodiments of the present application;

[0020] Figure 3 is a schematic structural diagram of the clamping mechanism of some embodiments of the present application;

[0021] Figure 4 is a schematic structural diagram of the mechanical hand for unlacing shoes and removing a backing cloth of some embodiments of the present application (the bracket is not shown);

[0022] Figure 5 is a schematic structural diagram of the cylinder blocking mechanism of some embodiments of the present application;

[0023] Figure 6 is a schematic structural diagram of the roller last removing mechanism of some embodiments of the present application (the bracket is not shown).

[0024] Description of the Reference Numerals:

[0025] Chassis 1, material receiving box 11, protective cover 12, first conveyor mechanism 2, first conveyor belt 21, second conveyor belt 22, second conveyor mechanism 3, third conveyor belt 31, chute 32, camera shooting mechanism 4, clamping mechanism 5, first bracket 51, first driving cylinder 52, connecting rod clamping plate 53, mechanical hand for unlacing shoes and taking out insole mechanism 6, second bracket 61, first translation assembly 62, second translation assembly 63, first lifting assembly 64, rotating assembly 65, mechanical gripper 66, cylinder blocking mechanism 7, third bracket 71, second driving cylinder 72, blocking clamping plate 73, roller last removing mechanism 8, fourth bracket 81, lead screw translation assembly 82, slide rail lifting clamping assembly 83, roller lifting assembly 84. Detailed implementation manners

[0026] The technical solutions of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0027] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "rear", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0028] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0029] Such as Figures 1 to 6As shown in the figure, the last-removing machine described in this embodiment includes a chassis 1, a first conveying mechanism 2, a second conveying mechanism 3, a camera shooting mechanism 4, a clamping mechanism 5, a mechanical hand for unlacing shoes and removing the backing cloth mechanism 6, a cylinder blocking mechanism 7, and a roller last-removing mechanism 8. The first conveying mechanism 2 is installed on the chassis 1 and is used to convey the shoe materials to be last-removed and the shoes after last-removing. The second conveying mechanism 3 is installed on the chassis 1 and is used to convey the last after last-removing. The clamping mechanism 5 is installed on the first conveying mechanism 2 and is used to calibrate and clamp the shoe materials to be last-removed. The mechanical hand for unlacing shoes and removing the backing cloth mechanism 6 is installed on the chassis 1, above the clamping mechanism 5, and is used to untie the shoelaces and remove the gasket. The cylinder blocking mechanism 7 is installed on the first conveying mechanism 2, behind the clamping mechanism 5, and is used to block the shoe materials to be last-removed on the first conveying mechanism 2. The roller last-removing mechanism 8 is installed on the chassis 1, above the cylinder blocking mechanism 7, and is used to grab the shoe materials to be last-removed. After rolling and last-removing, the last is moved to the second conveying mechanism 3.

[0030] The structure of this embodiment is simple and reasonable in design. During last-removing, both the left and right shoe materials are conveyed by the first conveying mechanism 2. After being photographed by the camera, the position is calibrated by the clamping mechanism 5 and lifted up. The mechanical hand pulls the shoelaces and removes the backing cloth, and then places them on the first conveying mechanism 2 for conveying. Then, it is blocked by the cylinder, and the roller last-removing mechanism 8 grabs it and pushes it down to remove the last. After that, the left and right shoe materials are respectively unloaded, thus realizing efficient last-removing processing.

[0031] Specifically, in this embodiment, the first conveying mechanism 2 includes a first conveyor belt 21 and a second conveyor belt 22 arranged in parallel, which are used to convey the left and right shoe materials to be last-removed respectively.

[0032] In this embodiment, it is specifically shown that by setting two conveyor belts, the left and right shoe materials are conveyed, so as to realize synchronous processing and effectively improve the last-removing efficiency.

[0033] In some embodiments, there is a set of the clamping mechanism 5. Each set of the clamping mechanism 5 is respectively provided with a first bracket 51, a first driving cylinder 52, and a connecting rod clamping plate 53. The first bracket 51 is installed on the first conveying mechanism 2, and the first driving cylinder 52 is installed on the first bracket 51 and is drivingly connected to the connecting rod clamping plate 53.

[0034] In this embodiment, the setting of the clamping mechanism 5 is specifically shown. After being photographed and recognized by the camera shooting mechanism 4, the first driving cylinder 52 drives the connecting rod clamping plate 53 to clamp and lift the shoe materials to be last-removed. Then, the mechanical hand descends to untie and take away the shoelaces and / or the backing cloth.

[0035] In some embodiments, the shoe-lace untying and pad cloth picking mechanism 6 of the manipulator is provided with a second bracket 61, a first translation assembly 62, a second translation assembly 63, a first lifting assembly 64, a rotating assembly 65 and a mechanical gripper 66. The second bracket 61 is installed on the chassis 1, the first translation assembly 62 is installed on the second bracket 61, the second translation assembly 63 is installed on the first translation assembly 62, and the moving direction of the second translation assembly 63 is perpendicular to the moving direction of the first translation assembly 62. The first lifting assembly 64 is installed on the second translation assembly 63, the rotating assembly 65 is installed on the first lifting assembly 64, and the mechanical gripper 66 is installed on the rotating assembly 65.

[0036] In this embodiment, the setting of the shoe-lace untying and pad cloth picking mechanism 6 of the manipulator is specifically shown. By setting two translation assemblies, specifically linear rails, the movement in the XY directions can be realized. Then, in cooperation with the first lifting assembly 64, specifically a conventional lifting structure such as a lifting cylinder, the movement in the XYZ directions can be realized, so as to facilitate the flexible movement of the mechanical gripper 66 to a suitable position. During the process of untying the shoe-laces / removing the gasket, flexible operation can be realized through the rotating assembly 65.

[0037] On the basis of the above embodiment, the camera shooting mechanism 4 is installed on the first lifting assembly 64. A material receiving box 11 is provided on the chassis 1, and the material receiving box 11 is located on one side of the second bracket 61.

[0038] In this embodiment, the camera shooting mechanism 4 is installed on the first lifting assembly 64 and can be lifted accordingly to better take pictures and identify the model and position, so as to realize the untying of the shoe-laces and / or the removal of the pad cloth. The removed pad cloth can be placed in the material receiving box 11 and cleaned regularly.

[0039] In some embodiments, there is a set of the cylinder blocking mechanism 7. Each set of the cylinder blocking mechanism 7 is respectively provided with a third bracket 71, a second driving cylinder 72 and a blocking clamping plate 73. The third bracket 71 is installed on the first conveying mechanism 2, and the second driving cylinder 72 is installed on the third bracket 71 and is drivingly connected to the blocking clamping plate 73.

[0040] In this embodiment, the setting of the cylinder blocking mechanism 7 is specifically shown. Such a setting is convenient for blocking the positioning of the shoe material to be unlasted after the shoe-laces are untied and / or the pad cloth is removed, so as to facilitate the grasping by the roller unlasting mechanism 8 and avoid directly discharging with the conveying assembly.

[0041] In some embodiments, there is a set of roller unshaping mechanisms 8. Each roller unshaping mechanism 8 is respectively provided with a fourth bracket 81, a lead screw translation assembly 82, a slide rail lifting and clamping assembly 83, and a roller lifting assembly 84. The fourth bracket 81 is installed on the chassis 1. The lead screw translation assembly 82 is installed on the fourth bracket 81. The slide rail lifting and clamping assembly 83 is installed on the lead screw translation assembly 82. The roller lifting assembly 84 is installed at the rear side of the slide rail lifting and clamping assembly 83 and is used to roll the heel of the shoe material to be unshaped for unshaping.

[0042] Specifically, a set of the roller unshaping mechanisms 8 are arranged at intervals along the conveying direction of the first conveying mechanism 2.

[0043] In this embodiment, the setting of the roller unshaping mechanism 8 is specifically shown. Through the lead screw translation mechanism, the slide rail lifting and clamping assembly 83 can be driven to move translationally to grab the shoe last to be unshaped and place the shoe last after unshaping. The slide rail lifting and clamping assembly 83 can clamp and fix the shoe last to be unshaped and move up and down, so as to facilitate the downward rolling of the roller lifting assembly 84 for unshaping. After unshaping, the last is driven by the lead screw translation assembly 82 to move the slide rail lifting and clamping assembly 83 and placed on the second conveying mechanism 3 for blanking. The unshaped shoe material directly falls on the first conveying mechanism 2 and is conveyed for blanking.

[0044] In some embodiments, the second conveying mechanism 3 is provided with a third conveyor belt 31 and a chute 32. The chute 32 is used to connect the shoe last after unshaping by the roller unshaping mechanism 8 at the front end of the first conveying mechanism 2. The third conveyor belt 31 is arranged in alignment with the roller unshaping mechanism 8 at the rear end of the first conveying mechanism 2.

[0045] In this embodiment, by setting the conveyor belt and the chute 32 in cooperation in the second conveying mechanism 3, it is convenient for blanking the last after unshaping by a set of roller unshaping mechanisms 8. Its structure is simple and its practicability is strong.

[0046] In some embodiments, a protective cover 12 is installed on the chassis 1.

[0047] In this embodiment, by setting the protective cover 12, its structure is simple and the safety protection effect is good, and safe and efficient unshaping processing can be realized.

[0048] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

1. A shoe last stripping machine, characterized in that: It includes a chassis, a first conveying mechanism, a second conveying mechanism, a camera shooting mechanism, a clamping mechanism, a robot shoelace untying and padding taking mechanism, a cylinder blocking mechanism and a roller last-removing mechanism. The first conveying mechanism is installed on the chassis, and is used to convey the shoe materials to be removed from the last and the shoes after being removed from the last. The second conveying mechanism is installed on the chassis, and is used to convey the last after being removed from the last. The clamping mechanism is installed on the first conveying mechanism, and is used to calibrate and clamp the shoe materials to be removed from the last. The robot shoelace untying and padding taking mechanism is installed on the chassis, located above the clamping mechanism, and is used to untie the shoelaces and take out the pads. The cylinder blocking mechanism is installed on the first conveying mechanism, located behind the clamping mechanism, and is used to block the shoe materials to be removed from the last located on the first conveying mechanism. The roller last-removing mechanism is installed on the chassis, and is located above the cylinder blocking mechanism, and is used to grab the shoe materials to be removed from the last, and after rolling the last, the last is moved to the second conveying mechanism.

2. The shoe last stripping machine according to claim 1, characterized in that: The first conveying mechanism comprises a first conveyor belt and a second conveyor belt arranged in parallel, and is used to respectively convey the left and right shoe materials to be removed from the lasts.

3. The shoe last stripping machine according to claim 1, characterized in that: The clamping mechanism is provided in a group, and each of the clamping mechanisms is provided with a first bracket, a first driving cylinder and a connecting rod clamp. The first bracket is installed on the first transmission mechanism, and the first driving cylinder is installed on the first bracket and is drivingly connected to the connecting rod clamp.

4. The shoe last stripping machine according to claim 1, characterized in that: The robot shoelace untying and shoe cloth removing mechanism is provided with a second bracket, a first translation assembly, a second translation assembly, a first lifting assembly, a rotating assembly and a mechanical clamp; the second bracket is mounted on the chassis, the first translation assembly is mounted on the second bracket, the second translation assembly is mounted on the first translation assembly, and the moving direction of the second translation assembly is perpendicular to the moving direction of the first translation assembly, the first lifting assembly is mounted on the second translation assembly, the rotating assembly is mounted on the first lifting assembly, and the mechanical clamp is mounted on the rotating assembly.

5. The shoe last stripping machine according to claim 4, characterized in that: The camera shooting mechanism is installed on the first lifting assembly, and a material receiving box is provided on the chassis, and the material receiving box is located at one side of the second bracket.

6. The shoe last stripping machine according to claim 1, characterized in that: The cylinder blocking mechanism is provided with a group, and each group of the cylinder blocking mechanism is provided with a third bracket, a second driving cylinder and a blocking clamping plate. The third bracket is installed on the first conveying mechanism, and the second driving cylinder is installed on the third bracket and is driven and connected to the blocking clamping plate.

7. The shoe last stripping machine according to claim 1, characterized in that: The roller last-removing mechanism is provided with a group, and the group of roller last-removing mechanisms is respectively provided with a fourth bracket, a screw translation assembly, a slide rail lifting and clamping assembly and a roller lifting assembly. The fourth bracket is installed on the chassis, the screw translation assembly is installed on the fourth bracket, the slide rail lifting and clamping assembly is installed on the screw translation assembly, and the roller lifting assembly is installed on the rear side of the slide rail lifting and clamping assembly, which is used to roll the heel of the shoe material to be removed from the last to remove the shoe from the last.

8. The shoe last stripping machine according to claim 7, characterized in that: A group of roller last-removing mechanisms are arranged at intervals along the conveying direction of the first conveying mechanism.

9. The shoe last stripping machine according to claim 7, characterized in that: The second conveying mechanism is provided with a third conveyor belt and a slide groove, the slide groove is used to connect the shoe last after being removed by the roller last removal mechanism located at the front end of the first conveying mechanism, and the third conveyor belt is arranged in alignment with the roller last removal mechanism located at the rear end of the first conveying mechanism.

10. The shoe last stripping machine according to claim 1, characterized in that: A protective cover is installed on the chassis.

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