Automatic shoe tree taking-off equipment

Abstract

The utility model relates to the technical field of shoe body production, and discloses an automatic shoe tree taking-off device which comprises a workbench, a feeding mechanism, a shoe tree untying mechanism, a shoe body taking-off mechanism and a discharging mechanism. A transmission mechanism is arranged on the workbench; a feeding station, a shoelace untying station, a shoe body taking-off station and a discharging station are sequentially arranged on the conveying mechanism. A plurality of groups of clamping seats are further arranged on the transmission mechanism; the feeding mechanism is arranged on the workbench. The shoelace untying mechanism is arranged on the workbench; the shoe body taking-off mechanism is arranged on the workbench; the discharging mechanism is arranged on the workbench. By arranging the feeding mechanism, the shoelace untying mechanism, the shoe body taking-off mechanism and the discharging mechanism, whole-process automatic operation of feeding, shoelace untying, shoe body taking-off and shoe body and shoe tree discharging is achieved, a large amount of manual participation is reduced, the delasting period is greatly shortened, all stations are efficiently connected through the conveying mechanism, manual carrying and waiting are not needed, and the working efficiency is improved. And the high efficiency of continuous operation is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to shoe body production technical field especially, and relates to an automatic shoe last equipment. BACKGROUND

[0002] Shoe last, Chinese traditional shoemaking tool, also called last head, is popular in most areas of the country. Wood products are cut into foot shape and filled in shoes to fit feet. Shoe last is the matrix of shoes and the forming mold of shoes. Shoe last not only determines the shape and style of shoes, but also determines whether the shoes fit feet and whether the shoes can protect feet. Therefore, shoe last design must be based on foot shape, but it cannot be the same as foot shape because the shape, size and stress of feet change in static and motion states. In addition, shoe varieties, styles, processing technology, performance of raw and auxiliary materials, wearing environment and conditions are different, so the shape and size of shoe last cannot be completely the same as foot shape.

[0003] After the production of shoes is completed, the shoe last needs to be taken out of the shoes to complete the manufacturing. The existing shoe last removing equipment is generally manually sleeved with the product on the fixing frame during use, and then the shoe body is manually pulled out, and the shoe last is taken out. However, this way has low shoe last removing efficiency and high labor cost, and each operation needs to be manually completed by workers. Especially when a large number of shoes are processed, a large amount of time and labor is consumed, manual shoe last removing consumes a large amount of labor of workers, and long-time operation easily causes fatigue of workers, which not only affects work efficiency, but also may cause damage of shoes or shoe lasts due to operation errors, thereby increasing production cost.

[0004] Therefore, a new technical scheme needs to be researched to solve the above problems. CONTENT OF THE UTILITY MODEL

[0005] Therefore, the utility model mainly aims at providing an automatic shoe last equipment in view of the defects of the prior art.

[0006] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0007] The utility model provides an automatic shoe tree equipment of taking off, including work table, feeding mechanism, shoe lace releasing mechanism, shoe body taking off mechanism and discharging mechanism, be equipped with transmission mechanism for shoe tree transmission on the work table, transmission mechanism is equipped with feeding station, shoe lace releasing station, shoe body taking off station and discharging station in proper order on, still be equipped with multiple groups of the clamping seat for shoe tree clamping on transmission mechanism, feeding mechanism is located one side of feeding station and is located on the work table, and is used for the feeding of shoe tree with shoe body, shoe lace releasing mechanism is located one side of shoe lace releasing station and is located on the work table, and is used for the unbinding of shoe body shoe lace, shoe body taking off mechanism is located one side of shoe body taking off station and is located on the work table, and is used for the shoe body's taking off and discharging, discharging mechanism is located one side of discharging station and is located on the work table, and is used for the discharge of shoe tree.

[0008] As further elaboration, the transmission mechanism is provided with a first fixing assembly, a second fixing assembly, a third fixing assembly, a fourth fixing assembly and a fifth fixing assembly; the first fixing assembly, the second fixing assembly, the third fixing assembly, the fourth fixing assembly and the fifth fixing assembly are all provided with two groups and are symmetrically distributed on both sides of the transmission mechanism;

[0009] The first fixing assembly is arranged between the feeding station and the shoe lace releasing station; the second fixing assembly and the third fixing assembly are arranged in front of and behind the shoe body taking off station; the fourth fixing assembly and the fifth fixing assembly are arranged in front of and behind the discharging station.

[0010] As further elaboration, the first fixing assembly comprises a first fixing frame, a first cylinder and a first push plate; the first fixing frame is arranged on the work table; the first cylinder is arranged on the first fixing frame, and the output end of the first cylinder is connected to the first push plate; the two ends of the first push plate are respectively provided with a first pressing part abutting against the outside of the clamping seat, and a first fixing guide is arranged between the first push plate and the first fixing frame.

[0011] As further elaboration, the second fixing assembly comprises a second fixing frame, a second cylinder and a locking part; the second fixing frame is arranged on the work table and located outside the transmission mechanism; the second cylinder is arranged inside the top end of the second fixing frame; the locking part comprises a locking connecting plate, a locking cylinder and a limiting block; the locking connecting plate slides on the top end of the second fixing frame through a second fixing guide and is connected to the output end of the second cylinder through a locking connecting frame; the locking cylinder is arranged at the top end of the locking connecting plate, and two groups of symmetrically distributed locking clamps are arranged on the output end of the locking cylinder; the output end of the second cylinder extends outward or contracts inward, drives the locking connecting plate to approach or move away from the shoe tree, so as to fix or release the locking clamps from the clamping groove of the shoe tree; the limiting block is arranged at the bottom end of the locking connecting plate and is arranged opposite to the locking cylinder.

[0012] As a further illustration, the third, fourth and fifth fixing assemblies are all identical in structure; the third fixing assembly comprises a third fixing frame, a third cylinder and a locking block; the third fixing frame is arranged on the workbench and located outside the transmission mechanism; the locking block and the third cylinder are arranged on the top end of the third fixing frame, and the output end of the third cylinder is connected to the locking block; the locking block and the third fixing frame are connected through a third fixing guide rail; a positioning pin for locking the clamping seat is arranged on one side of the locking block;

[0013] The fourth fixing assembly is provided with a reader / writer for identifying the label information on the shoe tree.

[0014] As a further illustration, the feeding mechanism comprises a feeding manipulator, a feeding clamping seat, a feeding cylinder and two groups of feeding clamping jaws; the feeding manipulator is arranged on one side of the feeding station; the feeding clamping seat is arranged on the output end of the feeding manipulator; the feeding cylinder is arranged on one side of the feeding clamping seat; two groups of the feeding clamping jaws are symmetrically arranged on the other side of the feeding clamping seat, and a feeding guide plate is arranged between the two groups of the feeding clamping jaws; the feeding guide plate and the feeding cylinder are connected through a feeding push plate, and a feeding guide rail is arranged between the feeding push plate and the feeding clamping seat;

[0015] One end of the feeding clamping jaw is provided with a feeding pulley; two groups of feeding guide grooves are arranged on the feeding guide plate and are in sliding connection with the feeding pulley, and the feeding guide grooves are inclinedly arranged;

[0016] The output end of the feeding cylinder is retracted inwardly or extended outwardly, driving the feeding push plate and the feeding guide plate of the feeding push plate to move backward or forward, and the feeding guide plate drives the feeding pulleys on the two groups of feeding clamping jaws to slide along the feeding guide grooves, i.e. the two groups of feeding clamping jaws are relatively closed or opened, so that the feeding clamping jaws clamp or release the shoe tree.

[0017] As a further illustration, the feeding mechanism further comprises a first vision assembly and a second vision assembly; the first vision assembly is arranged below the side of the feeding clamping seat away from the feeding clamping jaw, for position detection when the shoe tree is clamped or released; the second vision assembly is arranged between the feeding station and the feeding mechanism, for detecting the clamping position on the shoe tree;

[0018] The first visual component and the second visual component are structurally identical; the first visual component comprises a first support frame and a first detection unit; the first support frame is vertically arranged below the feeding clamping seat; the first support frame is provided with a horizontally extended first support portion at the end thereof; the first detection unit is arranged on the first support portion; the first support portion is provided with a first illumination unit on the other side of the first detection unit.

[0019] As a further elaboration, the shoe-untying mechanism comprises a shoe-untying manipulator, a shoe-untying assembly and a third visual component; the shoe-untying manipulator is arranged on one side of the shoe-untying station; the shoe-untying assembly comprises a shoe-untying mounting seat and a shoe-untying cylinder; the shoe-untying mounting seat is arranged on the output end of the shoe-untying manipulator; the shoe-untying cylinder is arranged on the shoe-untying mounting seat, and two groups of symmetrically distributed shoe-untying clamps are arranged on the output end of the shoe-untying cylinder; the third visual component comprises a second support frame and a second detection unit for detecting the position of the shoelace; the second support frame is arranged between the shoe-untying manipulator and the shoe-untying station; the second detection unit is arranged obliquely on the second support frame.

[0020] As a further elaboration, the shoe-untying mechanism comprises a shoe-untying manipulator, a shoe-untying assembly and a third visual component; the shoe-untying manipulator is arranged on one side of the shoe-untying station; the shoe-untying assembly comprises a shoe-untying mounting seat and a shoe-untying cylinder; the shoe-untying mounting seat is arranged on the output end of the shoe-untying manipulator; the shoe-untying cylinder is arranged on the shoe-untying mounting seat, and two groups of symmetrically distributed shoe-untying clamps are arranged on the output end of the shoe-untying cylinder; the third visual component comprises a second support frame and a second detection unit for detecting the position of the shoelace; the second support frame is arranged between the shoe-untying manipulator and the shoe-untying station; the second detection unit is arranged obliquely on the second support frame.

[0021] As a further elaboration, the shoe-untying mechanism comprises a shoe-untying manipulator, a shoe-untying assembly and a third visual component; the shoe-untying manipulator is arranged on one side of the shoe-untying station; the shoe-untying assembly comprises a shoe-untying mounting seat and a shoe-untying cylinder; the shoe-untying mounting seat is arranged on the output end of the shoe-untying manipulator; the shoe-untying cylinder is arranged on the shoe-untying mounting seat, and two groups of symmetrically distributed shoe-untying clamps are arranged on the output end of the shoe-untying cylinder; the third visual component comprises a second support frame and a second detection unit for detecting the position of the shoelace; the second support frame is arranged between the shoe-untying manipulator and the shoe-untying station; the second detection unit is arranged obliquely on the second support frame.

[0022] As further explained, the unloading mechanism includes an unloading frame, an unloading robot, an unloading clamping seat, an unloading cylinder, and two sets of unloading claws; the unloading frame is located at the end of the unloading station; the unloading robot is located on one side of the unloading station and on one side of the unloading frame; the unloading clamping seat is located on the output end of the unloading robot; the unloading cylinder is located on one side of the unloading clamping seat; the two sets of unloading claws are symmetrically distributed on the other side of the unloading clamping seat, and a common unloading guide plate is provided between the two sets of unloading claws; the unloading guide plate is connected to the unloading cylinder through an unloading push plate, and an unloading guide rail is provided between the unloading push plate and the unloading clamping seat;

[0023] The material feeding gripper is provided with a material feeding pulley at one end; the material feeding guide plate is provided with two sets of material feeding guide grooves that are slidably connected to the material feeding pulley, and the material feeding guide grooves are inclined.

[0024] The output end of the feeding cylinder retracts inward or extends outward, driving the feeding guide plate of the feeding push plate to move backward or forward. The feeding guide plate drives the feeding pulleys on the two sets of feeding claws to slide along the feeding guide groove, that is, the two sets of feeding claws close or open relative to each other, so as to clamp or release the shoe last.

[0025] Compared with the prior art, this utility model has obvious advantages and beneficial effects. Specifically, as can be seen from the above technical solution:

[0026] By setting up a feeding mechanism, a shoelace untying mechanism, a shoe body removal mechanism, and a unloading mechanism, the entire process from feeding, untying, removing the shoe body, and unloading the shoe body and shoe last is fully automated. This reduces a large amount of manual intervention, greatly shortens the last removal cycle, and the various workstations are efficiently connected through a transmission mechanism, eliminating the need for manual handling and waiting, ensuring the high efficiency of continuous operation. At the same time, the fully automated operation of feeding, untying, removing, and unloading the shoe body and shoe last reduces the scrap rate and rework rate caused by human error, further reducing production costs. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A schematic diagram of the overall structure of an automatic shoe last removal device provided by this utility model;

[0029] Figure 2A schematic diagram of the overall structure of the first fixing component provided by this utility model;

[0030] Figure 3 This is a schematic diagram of the overall structure of the second fixing component provided by this utility model;

[0031] Figure 4 A schematic diagram of the overall structure of the fourth fixing component provided by this utility model;

[0032] Figure 5 A schematic diagram of the overall structure of the feeding mechanism provided by this utility model;

[0033] Figure 6 This is a schematic diagram of the overall structure of the shoelace untying mechanism provided by this utility model;

[0034] Figure 7 A schematic diagram of the overall structure of the shoe removal mechanism provided by this utility model;

[0035] Figure 8 A schematic diagram of the overall structure of the shoe-retrieving mechanism provided by this utility model;

[0036] Figure 9 This is a schematic diagram of the overall structure of the feeding mechanism provided by this utility model.

[0037] The following are the labeling elements in the figure:

[0038] 10. Workbench; 11. Transmission mechanism; 111. Socket; 12. First fixing component; 121. First fixing frame; 122. First cylinder; 123. First push plate; 124. First clamping part;

[0039] 13. Second fixing component; 131. Second fixing frame; 132. Second cylinder; 133. Locking connecting plate; 134. Locking cylinder; 135. Limit block; 136. Locking gripper;

[0040] 14. Third fixing component; 141. Third fixing bracket; 142. Third cylinder; 143. Locking block; 144. Positioning pin; 15. Fourth fixing component; 151. Reader / writer; 16. Fifth fixing component;

[0041] 20. Feeding mechanism; 21. Feeding robot; 22. Feeding clamp; 23. Feeding cylinder; 24. Feeding gripper; 25. Feeding guide plate; 26. Feeding pulley;

[0042] 27. First vision component; 271. First support frame; 272. First detection unit; 273. First illumination unit; 28. Second vision component;

[0043] 30. Shoelace untying mechanism; 31. Shoelace untying robot; 32. Shoelace untying mounting base; 33. Shoelace untying cylinder; 34. Shoelace untying gripper; 35. Third vision component; 351. Second support frame; 352. Second detection unit;

[0044] 40. Shoe removal mechanism; 41. Translation module; 42. Lifting module; 431. Shoe removal fixing plate; 432. Pushing module; 44. Shoe removal robot arm; 451. Support; 452. Support block; 453. Adjusting block; 454. Bolt; 455. Locking nut; 456. Fitting block; 457. Arc section; 46. Shoe body unloading module; 47. Telescopic rod; 48. Shoe body removal cylinder; 49. Shoe body removal gripper;

[0045] 50. Unloading mechanism; 51. Unloading robot; 52. Unloading clamping seat; 53. Unloading cylinder; 54. Unloading gripper; 55. Unloading guide plate; 56. Unloading pulley; 57. Unloading frame. Detailed Implementation

[0046] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0047] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0048] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0050] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0051] In one embodiment of this utility model, such as Figures 1-9 As shown, an automatic shoe last removal device is provided, including a workbench 10, a feeding mechanism 20, a shoelace untying mechanism 30, a shoe body removal mechanism 40, and a unloading mechanism 50. The workbench 10 is equipped with a transmission mechanism 11 for conveying shoe lasts. The transmission mechanism 11 is sequentially equipped with a feeding station, a shoelace untying station, a shoe body removal station, and a unloading station. The transmission mechanism 11 is also equipped with multiple sets of clamping seats 111 for clamping shoe lasts. The feeding mechanism 20 is located on the workbench 10 and on one side of the feeding station, and is used for feeding shoe lasts with shoe bodies. The shoelace untying mechanism 30 is located on the workbench 10 and on one side of the shoelace untying station, and is used for untying the shoe laces. The shoe body removal mechanism 40 is located on the workbench 10 and on one side of the shoe body removal station, and is used for removing and unloading the shoe body. The feeding mechanism 50 is located on the workbench 10 and on one side of the feeding station, and is used for feeding shoe lasts.

[0052] In this embodiment, the transmission mechanism 11 can be a conveyor belt or a linear transmission module. The placement seat is transported to various workstations through the transmission mechanism 11, eliminating the need for manual handling and waiting, thus ensuring the high efficiency of continuous operation and reducing production costs.

[0053] By setting up a feeding mechanism 20, a shoelace untying mechanism 30, a shoe body removal mechanism 40, and a unloading mechanism 50, the entire process of feeding, untying, removing the shoe body, and unloading the shoe body and shoe last is fully automated, reducing a large amount of manual intervention and greatly shortening the last removal cycle. Moreover, the various workstations are efficiently connected through the transmission mechanism 11, eliminating the need for manual handling and waiting, ensuring the high efficiency of continuous operation. At the same time, due to the fully automated operation of feeding, untying, removing, and unloading the shoe body and shoe last, the scrap rate and rework rate caused by human operation errors are reduced, further reducing production costs.

[0054] Preferably, the transmission mechanism 11 is provided with a first fixing component 12, a second fixing component 13, a third fixing component 14, a fourth fixing component 15, and a fifth fixing component 16. The first fixing component 12, the second fixing component 13, the third fixing component 14, the fourth fixing component 15, and the fifth fixing component 16 are each provided in two sets and are symmetrically distributed on both sides of the transmission mechanism 11.

[0055] The first fixing component 12 is located between the loading station and the shoelace untying station. The second fixing component 13 and the third fixing component 14 are distributed front and rear on the shoe removal station. The fourth fixing component 15 and the fifth fixing component 16 are distributed front and rear on the unloading station. In this embodiment, each of the first fixing component 12, the second fixing component 13, the third fixing component 14, the fourth fixing component 15, and the fifth fixing component 16 is equipped with an infrared sensor for incoming material detection on one side. By sequentially setting the first fixing component 12, the second fixing component 13, the third fixing component 14, the fourth fixing component 15, and the fifth fixing component 16, the placement seat can be firmly fixed on each station, avoiding displacement, ensuring that each station can operate accurately, and improving the working efficiency of the equipment.

[0056] Specifically, the first fixing component 12 includes a first fixing frame 121, a first cylinder 122, and a first push plate 123. The first fixing frame 121 is mounted on the workbench 10. The first cylinder 122 is mounted on the first fixing frame 121, and its output end is connected to the first push plate 123. The first push plate 123 has first pressing parts 124 at both ends that abut against the outer side of the locking seat 111. The first pressing parts 124 are rubber blocks, and a first fixing guide rail is provided between the first push plate 123 and the first fixing frame 121. Driven by the first cylinder 122, the first pressing parts 124 on the first push plate 123 can press the shoe last firmly, preventing it from shifting during operation. This reduces the need for manual shoe last fixing, improves work efficiency, and reduces the risk of operational errors and damage caused by shoe last shifting.

[0057] More specifically, the second fixing component 13 includes a second fixing frame 131, a second cylinder 132, and a locking component. The second fixing frame 131 is mounted on the worktable 10 and located outside the transmission mechanism 11. The second cylinder 132 is located inside the top of the second fixing frame 131. The locking component includes a locking connecting plate 133, a locking cylinder 134, and a limiting block 135. The locking connecting plate 133 slides on the top of the second fixing frame 131 via a second fixing guide rail and is connected to the output end of the second cylinder 132 via the locking connecting plate. The locking cylinder 134 is located on the top of the locking connecting plate 133, and the output end of the locking cylinder 134 has two sets of symmetrically distributed locking claws 136. The output end of the second cylinder 132 extends outward or retracts inward, causing the locking connecting plate 133 to move closer to or away from the shoe last, so as to fix or disengage the locking claws 136 from the slots of the shoe last. The limiting block 135 is located at the bottom of the locking connecting plate 133 and is positioned opposite to the locking cylinder 134.

[0058] The output end of the second cylinder 132 extends outward or retracts inward, causing the locking connecting plate 133 to move closer to or further away from the shoe last, so that the locking claw 136 is fixed in the slot of the shoe last or disengaged from the slot, avoiding the tedious process of manually locking the shoe last, improving the efficiency of removing shoes, and reducing the risk of damage to shoes or shoe lasts due to insecure locking.

[0059] More specifically, the third fixing component 14, the fourth fixing component 15, and the fifth fixing component 16 all have the same structure. The third fixing component 14 includes a third fixing frame 141, a third cylinder 142, and a locking block 143. The third fixing frame 141 is mounted on the worktable 10 and located outside the transmission mechanism 11. The locking block 143 and the third cylinder 142 are located on the top of the third fixing frame 141 on the left and right sides, and the output end of the third cylinder 142 is connected to the locking block 143. The locking block 143 and the third fixing frame 141 are slidably connected by a third fixing guide rail, and a positioning pin 144 for locking the latch seat 111 is provided on one side of the locking block 143. The output end of the third cylinder 142 extends outward or retracts inward, causing the positioning pin 144 on the locking block 143 to engage with the positioning hole on one side of the placement seat, thereby fixing and releasing the placement seat, preventing it from shifting during operation, reducing the need for manual fixing of the shoe last, improving work efficiency, and reducing the risk of operational errors and damage caused by shoe last shift.

[0060] The fourth fixing component 15 is equipped with a reader / writer 151 for identifying label information on the shoe last. By setting up the reader / writer 151, the label information on the shoe last can be identified, realizing automated information collection.

[0061] Preferably, the feeding mechanism 20 includes a feeding robot 21, a feeding clamping seat 22, a feeding cylinder 23, and two sets of feeding grippers 24. The feeding robot 21 is located on one side of the feeding station. The feeding clamping seat 22 is located on the output end of the feeding robot 21. The feeding cylinder 23 is located on one side of the feeding clamping seat 22. The two sets of feeding grippers 24 are symmetrically distributed on the other side of the feeding clamping seat 22, and a feeding guide plate 25 is provided between the two sets of feeding grippers 24 for common connection. The feeding guide plate 25 is connected to the feeding cylinder 23 through a feeding push plate, and a feeding guide rail is provided between the feeding push plate and the feeding clamping seat 22.

[0062] The feeding gripper 24 has a feeding pulley 26 at one end. The feeding guide plate 25 has two sets of feeding guide grooves that are slidably connected to the feeding pulley 26, and the feeding guide grooves are inclined.

[0063] The output end of the feeding cylinder 23 retracts inward or extends outward, driving the feeding guide plate 25 of the feeding push plate to move backward or forward. The feeding guide plate 25 drives the feeding pulleys 26 on the two sets of feeding claws 24 to slide along the feeding guide groove, that is, the two sets of feeding claws 24 close or open relative to each other, and the feeding claws 24 clamp or release the shoe last, thereby realizing the automation of the feeding process, avoiding the tediousness and time-consuming manual feeding, and significantly improving the feeding efficiency.

[0064] Furthermore, the feeding mechanism 20 also includes a first vision component 27 and a second vision component 28. The first vision component 27 is located below the feeding clamp 22 on the side away from the feeding claw 24, and is used for position detection when the shoe last is picked up or put down. The second vision component 28 is located between the feeding station and the feeding mechanism 20, and is used to detect the snap-fit ​​position on the shoe last.

[0065] The first vision component 27 and the second vision component 28 have the same structure and function; therefore, only the first vision component 27 will be described in detail. The first vision component 27 includes a first support frame 271 and a first detection unit 272. The first support frame 271 is vertically positioned below the feeding clamp 22. A horizontally extending first support portion is provided at the end of the first support frame 271. The first detection unit 272 is located on the first support portion. A first lighting unit 273 is provided on the other side of the first support portion, which corresponds to the first detection unit 272. The second vision component 28 differs from the first vision component 27 in that its second support frame 351 is located on the workbench 10. Through the arrangement of the first vision component 27 and the second vision component 28, the position and locking position of the shoe last can be accurately detected, ensuring the accuracy and stability of the feeding process.

[0066] Preferably, the shoelace untying mechanism 30 includes a shoelace untying robot 31, a shoelace untying assembly, and a third vision assembly 35. The shoelace untying robot 31 is located on one side of the shoelace untying station. The shoelace untying assembly includes a shoelace untying mounting base 32 and a shoelace untying cylinder 33. The shoelace untying mounting base 32 is located on the output end of the shoelace untying robot 31. The shoelace untying cylinder 33 is located on the shoelace untying mounting base 32, and its output end has two sets of symmetrically distributed shoelace untying grippers 34. The third vision assembly 35 includes a second support frame 351 and a second detection unit 352 for detecting the position of the shoelaces. The second support frame 351 is located between the shoelace untying robot 31 and the shoelace untying station. The second detection unit 352 is inclinedly mounted on the second support frame 351. Driven by the shoelace untying cylinder 33, the shoelace untying claw 34 accurately grips and unties the shoelaces, avoiding the tedious process of manually untying them, improving efficiency, and reducing the risk of shoe damage due to improper untying. Simultaneously, a third-vision component 35 is used to precisely detect the position of the shoelaces, further ensuring the accuracy of untying.

[0067] Preferably, the shoe removal mechanism 40 includes a translation module 41, a lifting module 42, a shoe removal assembly, and a shoe-retrieving robot 44. The translation module 41 is located on one side of the shoe removal station. The lifting module 42 slides on the translation module 41. The shoe removal assembly includes a shoe removal fixing plate 431, a pushing module 432, and a clamping component. The shoe removal fixing plate 431 slides on the translation module 41 via a translation guide rail. The pushing module 432 is located on the shoe removal fixing plate 431. The clamping component is located on the output end of the pushing module 432, and two sets of symmetrically distributed telescopic rods 47 are provided between the shoe removal fixing plate 431 and the clamping component. The shoe-retrieving robot 44 is located on the other side of the shoe removal station, and a shoe-retrieving cylinder 48 is provided on the output end of the shoe-retrieving robot 44. Two sets of symmetrically distributed shoe-retrieving grippers 49 are provided on the output end of the shoe-retrieving cylinder 48. The shoe-picking robot 44 has a shoe-unloading module 46 on the side away from the shoe-removal station for unloading the shoe body. By setting up a translation module 41, a lifting module 42, and a shoe-removal assembly, the process of last removal and unloading of the shoe body is automated, avoiding the tedious and time-consuming manual shoe removal and significantly improving efficiency. Simultaneously, the shoe-picking robot 44 and the shoe-unloading module 46 can automatically unload the removed shoe body to a designated position, facilitating subsequent production processes.

[0068] The fitting assembly includes a fitting bracket and a fitting block 456. The fitting bracket includes a support 451 and two sets of symmetrically distributed support blocks 452. The support 451 has two sets of symmetrically distributed adjusting blocks 453, which are inclined. The adjusting blocks 453 have two sets of bolts 454 distributed front and rear. The support blocks 452 are located outside the adjusting blocks 453. One end of the support block 452 has a through hole for the bolts 454 to pass through. A locking nut 455 is provided between the support block 452 and the bolts 454. The two ends of the fitting block 456 are fixedly connected to the other ends of the support block 452, and the center of the fitting block 456 has an arc-shaped portion 457 for tightly fitting the instep of the shoe. In this embodiment, the fastening block 456 can be made of elastic material, such as natural rubber or silicone rubber. By setting the fastening block 456 made of elastic material, it can fit tightly to the instep. Through appropriate deformation and recovery force, it is easier to push the shoe body out of the shoe last, reducing the effort and repetition of manual operation. Moreover, the elastic material can reduce the impact force when in contact with the instep, avoiding damage to the shoe body and ensuring the integrity and aesthetics of the shoe body.

[0069] When removing the shoe, the flat-push module 432 moves the pressing block 456 closer to the instep, and the arc-shaped part 457 on the pressing block 456 fits better with the instep, facilitating subsequent shoe removal. Simultaneously, by adjusting the tilt of the adjusting block 453, the operator can fine-tune the opening shape of the pressing block 456 according to the actual shoe shape. By loosening or tightening the locking nut 455 on the bolt 454, the tilt angle of the support block 452 can be adjusted accordingly, thereby widening or narrowing the opening between the two support blocks 452 to accommodate different shoe shapes, ensuring a better fit between the pressing block 456 and the instep, and improving the efficiency of shoe last removal.

[0070] Preferably, the unloading mechanism 50 includes an unloading frame 57, an unloading robot 51, an unloading clamping seat 52, an unloading cylinder 53, and two sets of unloading grippers 54. The unloading frame 57 is located at the end of the unloading station. The unloading robot 51 is located on one side of the unloading station and is situated on one side of the unloading frame 57. The unloading clamping seat 52 is located on the output end of the unloading robot 51. The unloading cylinder 53 is located on one side of the unloading clamping seat 52. The two sets of unloading grippers 54 are symmetrically distributed on the other side of the unloading clamping seat 52, and a common unloading guide plate 55 is provided between the two sets of unloading grippers 54. The unloading guide plate 55 is connected to the unloading cylinder 53 through an unloading push plate, and an unloading guide rail is provided between the unloading push plate and the unloading clamping seat 52.

[0071] The feeding gripper 54 has a feeding pulley 56 at one end. The feeding guide plate 55 has two sets of feeding guide grooves that are slidably connected to the feeding pulley 56, and the feeding guide grooves are inclined.

[0072] The output end of the feeding cylinder 53 retracts inward or extends outward, driving the feeding guide plate 55 of the feeding push plate to move backward or forward. The feeding guide plate 55 drives the feeding pulleys 56 on the two sets of feeding claws 54 to slide along the feeding guide groove, that is, the two sets of feeding claws 54 close or open relative to each other, clamping or releasing the shoe last. At the same time, a feeding rack 57 is also provided, on which the feeding shoe last is placed, so that the operator can collect the shoe last. This realizes the automation of the feeding process, avoids the tediousness and time-consuming manual feeding, and significantly improves the feeding efficiency.

[0073] The above are merely preferred embodiments of the present utility model, and only specifically describe the technical principles of the present utility model. These descriptions are only for explaining the principles of the present utility model and should not be construed as limiting the scope of protection of the present utility model in any way. Based on this explanation, any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model, as well as other specific embodiments of the present utility model that can be conceived by those skilled in the art without creative effort, should be included within the scope of protection of the present utility model.

Claims

1. An automatic shoe last removal device, characterized in that, include: The workbench is equipped with a transmission mechanism for conveying shoe lasts; the transmission mechanism is sequentially equipped with a loading station, a shoelace untying station, a shoe body removal station, and a unloading station; the transmission mechanism is also equipped with multiple sets of clamping seats for clamping shoe lasts. A feeding mechanism is provided on the workbench and located on one side of the feeding station, and is used for feeding shoe lasts with shoe bodies; A shoelace untying mechanism is provided on the workbench and located on one side of the shoelace untying station, and is used to untie the shoelaces of the shoe body; A shoe removal mechanism is provided on the workbench and located on one side of the shoe removal station, and is used to remove and unload the shoe body; The material feeding mechanism is located on the workbench and on one side of the material feeding station, and is used for feeding shoe lasts.

2. The automatic shoe last removal device according to claim 1, characterized in that, The transmission mechanism is provided with a first fixing component, a second fixing component, a third fixing component, a fourth fixing component, and a fifth fixing component; the first fixing component, the second fixing component, the third fixing component, the fourth fixing component, and the fifth fixing component are all provided in two sets and are symmetrically distributed on both sides of the transmission mechanism; The first fixing component is located between the loading station and the shoelace untying station; the second fixing component and the third fixing component are distributed front and back on the shoe removal station; the fourth fixing component and the fifth fixing component are distributed front and back on the unloading station.

3. The automatic shoe last removal device according to claim 2, characterized in that, The first fixing component includes a first fixing frame, a first cylinder, and a first push plate; the first fixing frame is mounted on the workbench; the first cylinder is mounted on the first fixing frame, and the output end of the first cylinder is connected to the first push plate; the two ends of the first push plate are respectively provided with a first pressing part that abuts against the outside of the snap-fit ​​seat, and a first fixing guide rail is provided between the first push plate and the first fixing frame.

4. The automatic shoe last removal device according to claim 2, characterized in that, The second fixing component includes a second fixing frame, a second cylinder, and a locking component; the second fixing frame is mounted on the workbench and located outside the transmission mechanism; the second cylinder is located inside the top of the second fixing frame; the locking component includes a locking connecting plate, a locking cylinder, and a limiting block; the locking connecting plate slides on the top of the second fixing frame via a second fixing guide rail and is connected to the output end of the second cylinder via the locking connecting frame; the locking cylinder is located at the top of the locking connecting plate, and the output end of the locking cylinder has two sets of symmetrically distributed locking claws; the output end of the second cylinder extends outward or retracts inward, causing the locking connecting plate to move closer to or away from the shoe last, so as to fix or disengage the locking claws from the slot of the shoe last; the limiting block is located at the bottom of the locking connecting plate and is opposite to the locking cylinder.

5. The automatic shoe last removal device according to claim 2, characterized in that, The third, fourth, and fifth fixing components are all structurally identical. The third fixing component includes a third fixing frame, a third cylinder, and a locking block. The third fixing frame is mounted on the worktable and located outside the transmission mechanism. The locking block and the third cylinder are positioned on the top of the third fixing frame, with the output end of the third cylinder connected to the locking block. The locking block and the third fixing frame are slidably connected via a third fixing guide rail, and a positioning pin for locking the latching seat is provided on one side of the locking block. The fourth fixing component is equipped with a reader / writer for identifying label information on the shoe last.

6. The automatic shoe last removal device according to claim 1, characterized in that, The feeding mechanism includes a feeding robot, a feeding clamping seat, a feeding cylinder, and two sets of feeding claws; the feeding robot is located on one side of the feeding station; the feeding clamping seat is located on the output end of the feeding robot; the feeding cylinder is located on one side of the feeding clamping seat; the two sets of feeding claws are symmetrically distributed on the other side of the feeding clamping seat, and a feeding guide plate is provided between the two sets of feeding claws; the feeding guide plate is connected to the feeding cylinder through a feeding push plate, and a feeding guide rail is provided between the feeding push plate and the feeding clamping seat; The feeding gripper is provided with a feeding pulley at one end; the feeding guide plate is provided with two sets of feeding guide grooves that are slidably connected to the feeding pulley, and the feeding guide grooves are inclined. The output end of the feeding cylinder retracts inward or extends outward, driving the feeding guide plate of the feeding push plate to move backward or forward. The feeding guide plate drives the feeding pulleys on the two sets of feeding claws to slide along the feeding guide groove, that is, the two sets of feeding claws close or open relative to each other, so as to clamp or release the shoe last.

7. The automatic shoe last removal device according to claim 6, characterized in that, The feeding mechanism further includes a first vision component and a second vision component; the first vision component is located below the feeding clamp on the side away from the feeding claw, and is used for position detection when the shoe last is picked up or put down; the second vision component is located between the feeding station and the feeding mechanism, and is used for detecting the snap-fit ​​position on the shoe last. The first vision component and the second vision component have the same structure; the first vision component includes a first support frame and a first detection unit; the first support frame is vertically disposed below the loading clamp; the end of the first support frame is provided with a horizontally extending first support part; the first detection unit is disposed on the first support part; the first support part is equivalent to the first detection unit having a first lighting unit on the other side.

8. The automatic shoe last removal device according to claim 1, characterized in that, The shoelace untying mechanism includes a shoelace untying robot, a shoelace untying assembly, and a third vision assembly. The shoelace untying robot is located on one side of the shoelace untying station. The shoelace untying assembly includes a shoelace untying mounting base and a shoelace untying cylinder. The shoelace untying mounting base is located on the output end of the shoelace untying robot. The shoelace untying cylinder is located on the shoelace untying mounting base, and its output end has two sets of symmetrically distributed shoelace untying grippers. The third vision assembly includes a second support frame and a second detection unit for detecting the shoelace position. The second support frame is located between the shoelace untying robot and the shoelace untying station. The second detection unit is inclinedly mounted on the second support frame.

9. The automatic shoe last removal device according to claim 1, characterized in that, The shoe removal mechanism includes a translation module, a lifting module, a shoe removal assembly, and a shoe-retrieving robot. The translation module is located on one side of the shoe removal station. The lifting module slides on the translation module. The shoe removal assembly includes a shoe removal fixing plate, a horizontal pushing module, and a pressing component. The shoe removal fixing plate slides on the translation module via a translation guide rail. The horizontal pushing module is located on the shoe removal fixing plate. The pressing component is located on the output end of the horizontal pushing module, and two sets of symmetrically distributed telescopic rods are provided between the shoe removal fixing plate and the pressing component. The shoe-retrieving robot is located on the other side of the shoe removal station. A shoe-retrieving cylinder is provided on the output end of the shoe-retrieving robot. Two sets of symmetrically distributed shoe-retrieving grippers are provided on the output end of the shoe-retrieving cylinder. A shoe-unloading module for unloading shoes is provided on the side of the shoe-retrieving robot away from the shoe removal station. The fitting assembly includes a fitting bracket and a fitting block; the fitting bracket includes a support and two sets of symmetrically distributed support blocks; the support has two sets of symmetrically distributed adjustment blocks, which are inclined; the adjustment blocks have two sets of bolts distributed front and back; the support block is located outside the adjustment block; one end of the support block has a through hole for the bolt to pass through; a locking nut is provided between the support block and the bolt; both ends of the fitting block are fixedly connected to the other end of the support block, and the center of the fitting block has an arc portion for tightly fitting the instep of the shoe.

10. The automatic shoe last removal device according to claim 1, characterized in that, The unloading mechanism includes an unloading frame, an unloading robot, an unloading clamping seat, an unloading cylinder, and two sets of unloading jaws. The unloading frame is located at the end of the unloading station. The unloading robot is located on one side of the unloading station and is situated on the same side as the unloading frame. The unloading clamping seat is located on the output end of the unloading robot. The unloading cylinder is located on one side of the unloading clamping seat. The two sets of unloading jaws are symmetrically distributed on the other side of the unloading clamping seat, and a common unloading guide plate is provided between the two sets of unloading jaws. The unloading guide plate is connected to the unloading cylinder via an unloading push plate, and an unloading guide rail is provided between the unloading push plate and the unloading clamping seat. The material feeding gripper is provided with a material feeding pulley at one end; the material feeding guide plate is provided with two sets of material feeding guide grooves that are slidably connected to the material feeding pulley, and the material feeding guide grooves are inclined. The output end of the feeding cylinder retracts inward or extends outward, driving the feeding guide plate of the feeding push plate to move backward or forward. The feeding guide plate drives the feeding pulleys on the two sets of feeding claws to slide along the feeding guide groove, that is, the two sets of feeding claws close or open relative to each other, so as to clamp or release the shoe last.

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