Visual track servo frictioning toe lasting machine

Abstract

The utility model relates to the technical field of shoemaking equipment, in particular to a visual track servo frictioning toe lasting machine which comprises a machine table panel, a supporting table mechanism, a servo frictioning mechanism, a heel mechanism, a hopper pushing mechanism, a five-section claw disc mechanism, a five-point tightening mechanism, a tightening pushing mechanism and a control system. A portal frame is arranged on the support, a control screen and a visual display are arranged on the left side and the right side of the portal frame respectively, a cross aligner is arranged in the center of the portal frame, and a visual lens and a visual recognition material table are arranged on the side edge of the visual display. Glue wiping parameters recognized by a visual lens are accurately read through a control program, a glue wiping track is automatically generated, a glue pen is controlled in a servo mode to wipe glue, walking is uniform, glue wiping can be completed according to different shoe type tracks, glue wiping is uniform, the working speed is high, and the product quality is high.

Description

Technical Field

[0001] The utility model relates to the technical field of shoe-making equipment, and particularly refers to a visual trajectory servo glue-scraping front shoe-lasting machine. Background Art

[0002] Shoes are indispensable to human life. With the improvement of the quality of human life, people have begun to pursue high-end shoes. In the shoe-making process, the front shoe-lasting of shoes is an important link. With the progress of industry, the traditional manual shoe-lasting has been replaced by machines. Among the front shoe-lasting processes, sole glue scraping and shoe upper lasting are the most important links, because the evenness of glue application, the amount of glue applied, and the firmness of lasting all affect the quality of products.

[0003] At present, the commonly used sole glue scraping method in the industry is the glue tray coating method. Different shoe models require corresponding glue trays to be customized according to the shoe models. The evenness of glue discharge and the amount of glue are not easy to accurately control, and the price of glue strips is relatively expensive. If the amount of glue does not meet the standard, it will waste materials. In addition, some lasting machines cannot conveniently adjust the lasting size of shoe models, are not suitable for lasting of various shoe models, have low production efficiency, and the lasting effect is not ideal, seriously affecting the quality of shoe production. Content of the Utility Model

[0004] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a visual trajectory servo glue-scraping front shoe-lasting machine, whose structure is scientific and ingenious. By using a visual lens to identify and remember the shape and size of the midsole of the sole, and accurately reading the glue scraping parameters identified by the visual lens through a control program, an automatic glue scraping trajectory is generated. The servo-controlled glue pen not only walks evenly when scraping glue, but also can complete glue scraping according to the trajectories of different shoe models, and the glue scraping is even. At the same time, an adjustable heel switching mechanism, a five-section claw disc mechanism, a five-point tightening mechanism, and a tightening pushing mechanism that can adjust the tightening position for different shoe models are adopted, so that the front shoe-lasting machine is suitable for lasting of various shoe models, has a relatively fast working speed, and high product quality.

[0005] To achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A visual trajectory servo glue-scraping front shoe-lasting machine includes a machine table panel, a support table mechanism for placing the midsole of the sole, a servo glue-scraping mechanism for applying glue to the midsole, a heel mechanism for switching different shoe models and left and right feet, a hopper pushing mechanism for receiving materials, a five-section claw disc mechanism for accurate lasting, a five-point tightening mechanism for firm lasting, a tightening pushing mechanism for adjusting the tightening position for different shoe models, and a control system;

[0007] The supporting table mechanism is arranged at the center of the machine table panel, the servo rubber wiping mechanism is arranged at the bottom surface of the machine table panel, the heel mechanism and the hopper pushing mechanism are adjacently arranged on the upper surface of the machine table panel, the five-section claw chuck mechanism is arranged around the supporting table mechanism on the upper surface of the machine table panel, a support is also arranged on the upper surface of the machine table panel, the support is arranged on the side of the supporting table mechanism, the tightening and pushing mechanism is arranged on the side of the support, a five-point tightening mechanism and a gantry are arranged on the upper surface of the support, control screens and visual displays are respectively arranged on the left and right sides of the gantry, a cross aligner is arranged at the center position of the gantry, a visual lens and a visual recognition table are arranged on the side of the visual display, the visual lens and the visual recognition table are arranged corresponding to each other vertically, and the control screens, the visual displays, the visual lens, and the cross aligner are all electrically connected to the control system. An outer supporting table and an inner supporting table are arranged on the supporting table mechanism.

[0008] Preferably, the supporting table mechanism includes an outer supporting table oil cylinder and an inner supporting table oil cylinder. The outer supporting table oil cylinder and the inner supporting table oil cylinder are both fixed on the bottom surface of the machine table panel. The piston rod of the outer supporting table oil cylinder penetrates upward through the machine table panel, and an outer supporting table is arranged at the end of the piston rod of the outer supporting table oil cylinder. The piston rod of the inner supporting table oil cylinder penetrates upward through the machine table panel, and an inner supporting table is arranged at the end of the piston rod of the inner supporting table oil cylinder. The outer supporting table is an unclosed elliptical structure surrounding the inner supporting table. A supporting table displacement sensor is arranged on the side of the inner supporting table oil cylinder, and a supporting table limit device is arranged on the upper part of the inner supporting table oil cylinder. The outer supporting table moves up and down through the outer supporting table oil cylinder, and the inner supporting table moves up and down through the inner supporting table oil cylinder.

[0009] Preferably, the servo rubber wiping mechanism includes a servo drive bottom plate. The servo drive bottom plate is fixedly connected to the bottom surface of the machine table panel through guide columns. An X-axis servo drive assembly is arranged on the servo drive bottom plate. A Y-axis servo support plate is arranged on the X-axis servo drive assembly. Two groups of symmetrically arranged Y-axis servo drive assemblies are arranged on the Y-axis servo support plate. A Z-axis rubber wiping support plate is arranged on the side of each Y-axis servo drive assembly. A Z-axis rubber wiping lifting oil cylinder and a Z-axis rubber wiping lifting slider are arranged on the Z-axis rubber wiping support plate. The piston rod of the Z-axis rubber wiping lifting oil cylinder is connected to the Z-axis rubber wiping lifting slider. A rubber head connecting plate is arranged on the Z-axis rubber wiping lifting slider. A rubber wiping head is arranged on the rubber head connecting plate. The rubber wiping head is arranged corresponding to the outer supporting table left and right.

[0010] Preferably, the heel mechanism includes a heel advancing device, a heel support, and a heel adjusting device. The heel advancing device is fixed on the upper surface of the machine table panel. The heel support is arranged on the heel advancing device. The heel adjusting device is arranged on the heel support. A heel block is arranged on the side of the heel adjusting device. The heel block is arranged corresponding to the inner supporting table front and back.

[0011] Preferably, the hopper pushing mechanism includes a hopper support seat fixed on the machine table panel. A hopper lifting oil cylinder is arranged on the hopper support seat. A receiving hopper is fixed on the piston rod of the hopper lifting oil cylinder. A hopper telescopic oil cylinder is fixed on the outer side surface of the hopper opening of the receiving hopper. An extended hopper is arranged inside the receiving hopper. The piston rod of the hopper telescopic oil cylinder is connected to the extended hopper. The extended hopper and the inner support table are arranged corresponding to each other in the front and back.

[0012] Preferably, the five-section claw disc mechanism includes two symmetrically arranged claw disc bottom plates arranged on both side surfaces of the support table mechanism and movably connected to the upper surface of the machine table panel. Side claw devices are arranged on the claw disc bottom plates and are arranged corresponding to the outer support table left and right. The five-section claw disc mechanism further includes a middle claw support seat movably connected to the machine table panel. An upper end of the middle claw support seat is provided with a middle claw device arranged corresponding to the inner support table in the front and back.

[0013] Preferably, the five-point tightening mechanism includes a tightening displacement bottom plate with a tightener arranged on the upper surface thereof and a pressing head device arranged on the tail side edge of the tightening displacement bottom plate. The tightening pushing mechanism includes a displacement pushing motor, a displacement transmission device, a transmission nut, and a moving chute. The displacement pushing motor and the displacement transmission device are arranged on the tail side edge of the support seat. The displacement pushing motor and the displacement transmission device are chain-driven. The moving chutes are two symmetrically arranged on the upper surface of the support seat. The tightening displacement bottom plate is arranged between the two moving chutes. A transmission nut is arranged on the displacement transmission device and is fixedly connected to the bottom surface of the tightening displacement bottom plate. The tightener is arranged corresponding to the outer support table in the front and back. The pressing head device is arranged corresponding to the inner support table up and down.

[0014] Preferably, the control system accurately identifies the size of the midsole of the shoe sole through a vision lens, performs origin positioning on the lasting station through a cross-aligner, and accurately applies glue to the midsole of the shoe sole on the support table mechanism through a servo glue-applying mechanism.

[0015] The utility model has the following beneficial effects:

[0016] A visual trajectory servo rubber - rubbing front - helping machine includes a machine - table panel, a supporting - table mechanism, a servo rubber - rubbing mechanism, a heel - seat mechanism, a hopper pushing mechanism, a five - section claw - disc mechanism, a five - point tightening mechanism, a tightening pushing mechanism, and a control system. There is also a support on the machine - table panel, and a gantry is arranged on the support. On the left and right sides of the gantry, there are respectively an operation screen and a visual display. A cross - aligner is arranged at the center position of the gantry. A visual lens and a visual recognition table are arranged on the side of the visual display. By using the visual lens to identify and memorize the shape and size of the insole mid - sole, and by accurately reading the rubber - rubbing parameters identified by the visual lens through the control program, the rubber - rubbing trajectory is automatically generated. The servo - controlled rubber pen not only rubs evenly but also can complete rubber - rubbing according to the trajectories of different shoe types, with uniform rubber - rubbing. At the same time, an adjustable heel - seat switching mechanism, a five - section claw - disc mechanism, a five - point tightening mechanism, and a tightening pushing mechanism that can adjust the tightening position for different shoe types are adopted, enabling this front - helping machine to adapt to the lasting of various shoe types, with a relatively fast working speed and high product quality. Brief Description of the Drawings

[0017] Figure 1 is the structural schematic diagram of the present utility model;

[0018] Figure 2 is the schematic diagram of another perspective of the present utility model;

[0019] Figure 3 is the schematic diagram of the front - half structure of the present utility model;

[0020] Figure 4 is the schematic diagram of the rear - half structure of the present utility model;

[0021] Figure 5 is the schematic diagram of another perspective of the rear - half of the present utility model;

[0022] Figure 6 is the schematic diagram of the servo rubber - rubbing mechanism of the present utility model;

[0023] Figure 7 is the schematic diagram of the supporting - table mechanism of the present utility model. Detailed Embodiment

[0024] The principles and features of the present utility model are described below with reference to the attached drawings. The examples given are only used to explain the present utility model and are not intended to limit the scope of the present utility model. According to the following description and the claims, the advantages and features of the present utility model will be clearer. It should be noted that the attached drawings are all in a very simplified form and use non - precise scales, only for conveniently and clearly assisting in explaining the purpose of the embodiments of the present utility model.

[0025] See Figures 1 to 7As shown in the figure: A visual trajectory servo rubber wiping front lasting machine of the present utility model includes a machine table panel 1, a supporting table mechanism 2 for placing the midsole of the shoe sole, a servo rubber wiping mechanism 3 for applying glue to the midsole, a heel mechanism 4 for switching different shoe types and left and right feet, a hopper pushing mechanism 5 for receiving materials, a five-section claw disc mechanism 6 for precisely lasting, a five-point tightening mechanism 7 for firmly lasting, a tightening pushing mechanism 8 for adjusting the tightening position for different shoe types, and a control system. The supporting table mechanism 2 is arranged at the center of the machine table panel 1, the servo rubber wiping mechanism 3 is arranged at the bottom surface of the machine table panel 1, the heel mechanism 4 and the hopper pushing mechanism 5 are adjacently arranged on the upper surface of the machine table panel 1, the five-section claw disc mechanism 6 is arranged around the supporting table mechanism 2 on the upper surface of the machine table panel 1. A support 10 is also arranged on the upper surface of the machine table panel 1, the support 10 is arranged on the side of the supporting table mechanism 2, the tightening pushing mechanism 8 is arranged on the side of the support 10, a five-point tightening mechanism 7 and a gantry 11 are arranged on the upper surface of the support 10. Control panels 12 and visual displays 13 are respectively arranged on the left and right sides of the gantry 11, a cross-aligner 16 is arranged at the central position of the gantry 11, a visual lens 14 and a visual recognition material table 15 are arranged on the side of the visual display 13, the visual lens 14 and the visual recognition material table 15 are arranged corresponding to each other up and down. The control panel 12, the visual display 13, the visual lens 14, and the cross-aligner 16 are all electrically connected to the control system.

[0026] The supporting table mechanism 2 includes an outer supporting table oil cylinder 21 and an inner supporting table oil cylinder 22. Both the outer supporting table oil cylinder 21 and the inner supporting table oil cylinder 22 are fixed on the bottom surface of the machine table panel 1. The piston rod of the outer supporting table oil cylinder 21 penetrates upward through the machine table panel 1, and an outer supporting table 23 is arranged at the end of the piston rod of the outer supporting table oil cylinder 21. The piston rod of the inner supporting table oil cylinder 22 penetrates upward through the machine table panel 1, and an inner supporting table 24 is arranged at the end of the piston rod of the inner supporting table oil cylinder 22. The outer supporting table 23 is an unclosed elliptical structure surrounding the inner supporting table 24. A supporting table displacement sensor 25 is arranged on the side of the inner supporting table oil cylinder 22, and a supporting table limit device 26 is arranged on the upper part of the inner supporting table oil cylinder 22. The outer supporting table 23 moves up and down through the outer supporting table oil cylinder 21, and the inner supporting table 24 moves up and down through the inner supporting table oil cylinder 22.

[0027] The servo rubber wiping mechanism 3 includes a servo drive bottom plate 30. The servo drive bottom plate 30 is fixedly connected to the bottom surface of the machine table panel 1 through guide columns. An X-axis servo drive assembly 31 is arranged on the servo drive bottom plate 30. A Y-axis servo support plate 32 is arranged above the X-axis servo drive assembly 31. Two symmetrically arranged Y-axis servo drive assemblies 33 are arranged above the Y-axis servo support plate 32. A Z-axis rubber wiping support plate 34 is arranged on the side of each Y-axis servo drive assembly 33. A Z-axis rubber wiping lifting oil cylinder 35 and a Z-axis rubber wiping lifting slider 36 are arranged on the Z-axis rubber wiping support plate 34. The piston rod of the Z-axis rubber wiping lifting oil cylinder 35 is connected to the Z-axis rubber wiping lifting slider 36. A rubber head connecting plate 37 is arranged above the Z-axis rubber wiping lifting slider 36. A rubber wiping head 38 is arranged on the rubber head connecting plate 37. The rubber wiping head 38 is arranged corresponding to the outer support table 23 left and right.

[0028] The heel mechanism 4 includes a heel advancing device 40, a heel support 41, and a heel adjusting device 42. The heel advancing device 40 is fixed on the machine table panel 1. The heel support 41 is arranged above the heel advancing device 40. The heel adjusting device 42 is arranged above the heel support 41. A heel block 43 is arranged on the side of the heel adjusting device 42. The heel block 43 is arranged corresponding to the inner support table 24 front and back.

[0029] The hopper pushing mechanism 5 includes a hopper support 50. The hopper support 50 is fixed on the machine table panel 1. A hopper lifting oil cylinder 51 is arranged on the hopper support 50. A receiving hopper 52 is fixed on the piston rod of the hopper lifting oil cylinder 51. A hopper telescopic oil cylinder 53 is fixed on the outer side surface of the hopper opening of the receiving hopper 52. An extended hopper 54 is arranged inside the receiving hopper 52. The piston rod of the hopper telescopic oil cylinder 53 is connected to the extended hopper 54. The extended hopper 54 is arranged corresponding to the inner support table 24 front and back.

[0030] The five-section claw chuck mechanism 6 includes two symmetrically arranged claw chuck bottom plates 60. The claw chuck bottom plates 60 are arranged on both side surfaces of the support table mechanism 2 and are movably connected to the upper surface of the machine table panel 1. A side clamping claw device 63 is arranged on the claw chuck bottom plates 60. The side clamping claw device 63 is arranged corresponding to the outer support table 23 left and right; the five-section claw chuck mechanism 6 further includes a middle clamping claw support 64. The middle clamping claw support 64 is movably connected to the machine table panel 1. An upper end of the middle clamping claw support 64 is provided with a middle clamping claw device 65. The middle clamping claw device 65 is arranged corresponding to the inner support table 24 front and back.

[0031] The five-point tightening mechanism 7 includes a tightening displacement base plate 70. A tightener 74 is arranged on the upper surface of the tightening displacement base plate 70. A pressing head device 78 is arranged on the tail side edge of the tightening displacement base plate 70. The tightening pushing mechanism 8 includes a displacement pushing motor 81, a displacement transmission device 82, a transmission nut 83, and a moving chute 84. The displacement pushing motor 81 and the displacement transmission device 82 are arranged on the tail side edge of the support 10. The displacement pushing motor 81 and the displacement transmission device 82 are driven by a chain. The two moving chutes 84 are symmetrically arranged on the upper surface of the support 10. The tightening displacement base plate 70 is arranged between the two moving chutes 84. The transmission nut 83 is arranged on the displacement transmission device 82, and the transmission nut 83 is fixedly connected to the bottom surface of the tightening displacement base plate 70. The tightener 74 is arranged corresponding to the front and back of the outer support table 23, and the pressing head device 78 is arranged corresponding to the upper and lower of the inner support table 24.

[0032] The control system accurately identifies the size of the insole midsole through the vision lens 14, performs origin positioning on the lasting station through the cross-aligner 16, and precisely applies glue to the insole midsole on the support table mechanism 2 through the servo glue application mechanism 3.

[0033] The present utility model provides a vision trajectory servo glue-applying front lasting machine through improvement, and its working principle is as follows:

[0034] Place the insole midsole on the vision recognition material table 15. The vision lens 14 takes a photo of it to identify the outer dimension. The vision display 13 displays the current recorded image and parameters and records them in the control system. The inner support table 24 adjusts to a suitable height according to the shoe type size and thickness through the inner support table oil cylinder 22, aligns the reference position through the cross-aligner 16, then place the shoe last to be lasted on the inner support table 24, and then start the control program.

[0035] At this time, the tightening oil cylinder 70 on the five-point tightening mechanism 7 pushes the tightening base plate 72 to make the entire five-point tightening mechanism 7 push towards the support table mechanism 2. The tightener 74 on the five-point tightening mechanism 7 fits with the shoe head. The angle of the tightener 74 can also be changed by the tightener pushing oil cylinder 73 according to different shoe types of left and right feet. The middle part of the shoe upper is assisted in tightening through the auxiliary tightener 75 and the auxiliary tightening pressing block. At the same time, the pressing head cylinder 77 works to make the pressing head device 78 press down, firmly pressing the shoe last on the inner support table 24. The heel mechanism 4 pushes the heel block 43 to the tail of the shoe last through the heel advancing device 40 for tail positioning. According to the shoe type size and the difference between left and right feet, the position of the heel block 43 can be adjusted through the heel adjustment device 42.

[0036] Then, the servo rubber wiping mechanism 3 starts to work. The Z-axis rubber wiping lifting oil cylinder 35 raises the rubber wiping head 38 to the same height as the inner support table 24. The X-axis servo drive assembly 31 and the Y-axis servo drive assembly 33 move according to the sole midsole parameters recorded by the vision lens 14. The two groups of rubber wiping heads 38 respectively wipe the rubber along both sides of the bottom surface of the shoe toe. The control program accurately controls the servo movement directions of the X-axis and Y-axis according to the memorized parameters, so that the rubber wiping head 38 wipes the rubber precisely and evenly.

[0037] After the rubber wiping is completed, the five-section claw disc mechanism 6 starts to work. The side claw devices 63 on the five-section claw disc mechanism 6 tighten the shoe upper on both sides of the shoe toe, and the middle claw device 65 tightens the shoe upper at the shoe tip. After tightening the shoe upper, the sweeping knife on the bottom surface of the five-point tightening mechanism 7 closes the shoe upper exceeding the midsole inward. At the same time, the outer support table oil cylinder 21 on the support table mechanism 2 works to press the outer support table 23 upward, so that the shoe upper and the bottom surface of the midsole are firmly bonded by glue. The claw disc rotation oil cylinder 61 on the five-section claw disc mechanism 6 can push the claw disc bottom plate 60 and the claw seat 62 to rotate at an angle to adapt to the arcs of different shoe models or left and right feet.

[0038] After the shoe upper and the midsole are fitted, the front-upper lacing process is completed, and the next cycle of work can be carried out. The shoe last pushing mechanism 5 can perform temporary transfer of the shoe last up and down, which is more convenient to operate and improves work efficiency.

[0039] Therefore, for the visual trajectory servo rubber wiping front-upper lacing machine of the present utility model, the shape and size of the sole midsole are recognized and memorized by using a vision lens. The rubber wiping parameters recognized by the vision lens are accurately read through a control program, and a rubber wiping trajectory is automatically generated. The servo control of the rubber pen for rubber wiping not only walks evenly, but also can complete rubber wiping according to the trajectories of different shoe models, and the rubber wiping is uniform. At the same time, an adjustable heel switching mechanism, a five-section claw disc mechanism, a five-point tightening mechanism, and a tightening pushing mechanism that can adjust the tightening position for different shoe models are adopted, so that the front-upper lacing machine of the present utility model is suitable for lacing of various shoe models, has a relatively fast working speed, and high product quality.

[0040] The above description is only a preferred embodiment of the present utility model. Therefore, all equivalent changes or modifications made according to the structure, features, and principles described in the scope of the patent application of the present utility model are included in the scope of the patent application of the present utility model.

Claims

1. A visual track servo gluing upper machine, comprising a machine panel (1), a support mechanism (2) for placing a midsole plate of a shoe sole, a servo gluing mechanism (3) for applying glue to the midsole plate, a heel mechanism (4) for switching between different shoe types and between left and right feet, a hopper pushing mechanism (5) for receiving materials, a five-stage claw plate mechanism (6) for lifting the shoe upper, a five-point tightening mechanism (7) for firmly fastening the upper, a tightening pushing mechanism (8) for adjusting the tightening position for different shoe types, and a control system; Features: The support mechanism (2) is arranged at the center of the machine panel (1), the servo eraser mechanism (3) is arranged on the bottom surface of the machine panel (1), the heel mechanism (4) and the hopper push mechanism (5) are arranged adjacent to each other on the top of the machine panel (1), the five-stage claw plate mechanism (6) is arranged around the support mechanism (2) on the top of the machine panel (1), a support (10) is also arranged on the top of the machine panel (1), the support (10) is arranged on the side of the support mechanism (2), the tightening and pushing mechanism (8) is arranged on the side of the support (10), and a five-point tightening mechanism (7) and a gantry (11) are arranged on the top of the support (10). ), a control screen (12) and a visual display (13) are respectively arranged on the left and right sides of the gantry (11), a cross aligner (16) is arranged at the center of the gantry (11), a visual lens (14) and a visual recognition material table (15) are arranged on the side of the visual display (13), and the visual lens (14) and the visual recognition material table (15) are arranged correspondingly up and down, the control screen (12), the visual display (13), the visual lens (14), and the cross aligner (16) are all electrically connected to the control system, and the support platform mechanism (2) is provided with an outer support platform (23) and an inner support platform (24).

2. The visual track servo rubber upper wiping machine according to claim 1, characterized in that: The support mechanism (2) comprises an outer support cylinder (21) and an inner support cylinder (22), both of which are fixed to the bottom surface of the machine panel (1), the piston rod of the outer support cylinder (21) passes through the machine panel (1) upwards, and an outer support platform (23) is arranged at the end of the piston rod of the outer support cylinder (21), the piston rod of the inner support cylinder (22) passes through the machine panel (1) upwards, and the inner support cylinder (22) is provided with a plurality of support cylinders. ) is provided with an inner support platform (24) at the end of the piston rod, the outer support platform (23) is an unclosed elliptical structure surrounding the inner support platform (24), a support platform displacement sensor (25) is provided on the side of the inner support platform cylinder (22), and a support platform limit device (26) is provided on the upper part of the inner support platform cylinder (22), the outer support platform (23) is moved up and down by the outer support platform cylinder (21), and the inner support platform (24) is moved up and down by the inner support platform cylinder (22).

3. The visual track servo rubber upper wiping machine according to claim 1, characterized in that: The servo eraser mechanism (3) comprises a servo drive base plate (30), the servo drive base plate (30) being fixedly connected to the bottom surface of the machine panel (1) via guide pillars, an X-axis servo drive assembly (31) being arranged on the servo drive base plate (30), a Y-axis servo support plate (32) being arranged on the X-axis servo drive assembly (31), two groups of symmetrically arranged Y-axis servo drive assemblies (33) being arranged on the Y-axis servo support plate (32), each Y-axis servo drive assembly (33) being arranged on the X-axis servo drive assembly (31). A Z-axis glue rubbing support plate (34) is provided on the side thereof, a Z-axis glue rubbing lifting cylinder (35) and a Z-axis glue rubbing lifting slider (36) are provided on the Z-axis glue rubbing lifting cylinder (35), a piston rod of the Z-axis glue rubbing lifting cylinder (35) is connected to the Z-axis glue rubbing lifting slider (36), a glue head connecting plate (37) is provided on the Z-axis glue rubbing lifting slider (36), a glue head connecting plate (37) is provided on the glue head connecting plate (37), and a glue rubbing head (38) is provided on the left and right of the outer support platform (23).

4. The visual track servo rubber upper wiping machine according to claim 1, characterized in that: The heel mechanism (4) comprises a heel advancing device (40), a heel bracket (41), and a heel adjusting device (42). The heel advancing device (40) is fixed on the machine panel (1), the heel bracket (41) is arranged on the heel advancing device (40), the heel adjusting device (42) is arranged on the heel bracket (41), and a heel block (43) is arranged on the side of the heel adjusting device (42). The heel block (43) and the inner support platform (24) are arranged in a front-to-rear correspondence.

5. The visual track servo rubber upper wiping machine according to claim 1, characterized in that: The hopper pushing mechanism (5) comprises a hopper support (50), the hopper support (50) is fixed on the machine panel (1), a hopper lifting cylinder (51) is arranged on the hopper support (50), a receiving hopper (52) is fixed on the piston rod of the hopper lifting cylinder (51), a hopper telescopic cylinder (53) is fixed on the outer side of the hopper opening of the receiving hopper (52), an extended hopper (54) is arranged inside the receiving hopper (52), the piston rod of the hopper telescopic cylinder (53) is connected to the extended hopper (54), and the extended hopper (54) is arranged front and rear corresponding to the inner support platform (24).

6. The visual track servo rubber upper wiping machine according to claim 1, characterized in that: The five-stage claw plate mechanism (6) comprises two symmetrically arranged claw plate bottom plates (60), which are arranged on two side surfaces of the support platform mechanism (2) and are movably connected to the upper surface of the machine platform panel (1), and a side clamping claw device (63) is arranged on the claw plate bottom plate (60), and the side clamping claw device (63) is arranged in correspondence with the outer support platform (23) on the left and right; the five-stage claw plate mechanism (6) also comprises a middle clamping claw support (64), the middle clamping claw support (64) is movably connected to the machine platform panel (1), and a middle clamping claw device (65) is arranged at the upper end of the middle clamping claw support (64), and the middle clamping claw device (65) is arranged in correspondence with the inner support platform (24) on the front and back.

7. The visual track servo rubber upper wiping machine according to claim 1, characterized in that: The five-point tightening mechanism (7) includes a tightening displacement base plate (70), a tightening device (74) is arranged on the top of the tightening displacement base plate (70), and a pressure head device (78) is arranged on the rear side of the tightening displacement base plate (70). The tightening pushing mechanism (8) includes a displacement pushing motor (81), a displacement transmission device (82), a transmission nut (83), and a movable slide groove (84). The displacement pushing motor (81) and the displacement transmission device (82) are arranged on the rear side of the support (10). The displacement pushing motor (81) and the displacement transmission device (82) are arranged on the rear side of the support (10). 1) and the displacement transmission device (82) are driven by a chain, two movable slide grooves (84) are symmetrically arranged on the support (10), the tightening displacement base plate (70) is arranged between the two movable slide grooves (84), the displacement transmission device (82) is provided with a transmission nut (83), the transmission nut (83) is fixedly connected to the bottom surface of the tightening displacement base plate (70), the tightener (74) and the outer support platform (23) are arranged in front and back correspondence, and the pressure head device (78) and the inner support platform (24) are arranged in upper and lower correspondence.

8. The visual track servo rubber upper wiping machine according to claim 1, characterized in that: The control system accurately identifies the size of the midsole plate of the sole through a visual lens (14), locates the origin of the lasting station through a cross aligner (16), and accurately rubs the midsole plate of the sole on the support mechanism (2) through a servo rubbing mechanism (3).

Images