Robots for shoe shaping and shoe processing system
By using a combination of rotary drive components, vision systems, and robotic arms in the shoe processing system, the problem of insufficient accuracy in identifying shoe last models and orientations by robots has been solved, enabling high-precision shaping and efficient production of shoes.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HANGZHOU YINGSHEN INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2025-06-10
- Publication Date
- 2026-06-26
AI Technical Summary
Existing robots have poor accuracy in recognizing shoe last size and orientation, resulting in poor precision in shoe shaping.
The robot employs a rotary drive assembly, a vision system, and two robotic arms. The vision system consists of three cameras arranged in different positions to form a stereo vision system. The robotic arms are positioned on both sides of the mounting base. The robot acquires high-precision image information through the cameras, the controller identifies the shoe last model and orientation, and the robotic arms perform precise gripping and adjustment.
It improved the precision and efficiency of shoe shaping and processing, reduced manual labor load, and enabled large-scale production.
Smart Images
Figure CN224403008U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of shoe processing technology, and in particular to a robot and shoe processing system for shoe shaping. Background Technology
[0002] A shoe last is a tool used in footwear production to shape the shoe. Its shape typically mimics the human foot. By applying pressure to the shoe last, the upper and sole are ergonomically shaped to ensure comfort and functionality. In current technology, shoe lasts are typically placed into a shoe pressing machine by hand or by robot, with the machine assisting in the pressing process. However, existing robots have poor accuracy in recognizing shoe last size and orientation, resulting in poor precision in shoe shaping. Utility Model Content
[0003] The purpose of this invention is to provide a robot and shoe processing system for shoe shaping, in order to solve the technical problem that the existing robots have poor accuracy in recognizing shoe last model and orientation, resulting in poor accuracy in shoe shaping.
[0004] To address the aforementioned problems, this utility model provides a robot for shoe shaping, comprising a rotary drive assembly, a vision system, and two robotic arms. The rotary drive assembly is connected to a mounting base, and the rotation axis of the rotary drive assembly is aligned with the vertical direction. The two robotic arms are positioned on opposite sides of the mounting base. The vision system includes three cameras, one of which is located on the mounting base, and the other two cameras are correspondingly located at the end regions of the two robotic arms.
[0005] Optionally, the mounting base includes a first mounting area, the edge of the first mounting area includes a first edge, a second edge, a third edge and a fourth edge along its circumferential direction, wherein the first edge and the third edge are arranged opposite to each other and are both surrounded by an upwardly extending mounting vertical plate, a reinforcing vertical plate is connected between the two mounting vertical plates, and the first mounting area, the reinforcing vertical plate and the two mounting vertical plates form a first accommodating space whose side port coincides with the second edge;
[0006] One of the cameras is located in the first accommodating space, and the two robotic arms are respectively positioned on the side of the two mounting plates facing away from each other.
[0007] Optionally, the first mounting area, the reinforcing vertical plate, and the two mounting vertical plates form a second accommodating space whose side port coincides with the fourth edge, and a reinforcing rib connects the area of the first mounting area corresponding to the second accommodating space with the reinforcing vertical plate.
[0008] Optionally, the robot further includes a vertical drive assembly, and the rotary drive assembly is tractively connected to the vertical drive assembly.
[0009] Optionally, the robot further includes a lateral drive assembly, and the vertical drive assembly is tractively connected to the lateral drive assembly.
[0010] Optionally, the robot further includes a vertical drive assembly, a loading seat on one side of the vertical drive assembly, the loading seat including a connecting area and a loading area in a direction away from the vertical drive assembly, and the rotary drive assembly disposed on top of the loading area; the mounting seat further includes a second mounting area connected to the fourth edge, the second mounting area being disposed on top of the rotary drive assembly, and the radial distance between the rotation axis of the rotary drive assembly and the first mounting area is greater than the radial distance between the rotation axis of the rotary drive assembly and the edge of the loading area.
[0011] Optionally, the robotic arm includes a robotic arm and a gripping part connected to the end of the robotic arm, with the head end of the robotic arm connected to the mounting base.
[0012] Optionally, the robotic arm includes four arm bodies arranged in sequence, and any two adjacent arm bodies are rotatably connected by a first rotating part, and the rotation axis of the first rotating part is perpendicular to the extension direction of the arm body;
[0013] The four arms are sequentially named a first arm, a second arm, a third arm, and a fourth arm. The end of the first arm facing away from the second arm is rotatably connected to the mounting base via a second rotating part, and the rotation axis of the second rotating part is consistent with the extension direction of the first arm. Both the second arm and the third arm include two arm segments, and the two arm segments of the same arm are rotatably connected via a third rotating part, and the rotation axis of the third rotating part is consistent with the extension direction of the corresponding arm. The clamping part is connected to the end of the fourth arm facing away from the third arm.
[0014] Optionally, the first arm is a horizontal arm, and the lengths of the first arm and the fourth arm are both less than the lengths of the second arm and the third arm.
[0015] This utility model also provides a shoe processing system, including the aforementioned robot, shoe press, controller, and shoe rack for placing shoe lasts. The robot is arranged between the shoe press and the shoe rack, and the robot's manipulator, vision system, and rotary drive assembly are all connected to the controller.
[0016] The robot provided by this utility model is applied to a shoe processing system. On the one hand, two robotic arms are arranged on opposite sides of the mounting base, similar to the arrangement of two human arms. The two robotic arms, arranged opposite each other, grip the shoe last, resulting in higher gripping stability and greater stability in adjusting its orientation. On the other hand, three cameras of the vision system are arranged in different positions to form a stereo vision system, thereby reducing the limitation on the robotic arm's stroke and the limitation on the orientation of the surrounding devices due to camera obstruction, and enabling effective and accurate acquisition of image information of the working area. At the same time, two cameras arranged at the end of the robotic arm are close to its gripping part. When gripping and placing the shoe last, the two cameras can acquire the orientation image information of the shoe last, shoe rack, and processing station at close range and with high accuracy, thereby further improving the accuracy of the image information acquired by the vision system. Correspondingly, this effectively improves the controller's recognition of the required shoe last model and its orientation, as well as the orientation accuracy of the robotic arm in gripping the shoe last, adjusting its orientation, and placing it in the shoe pressing machine processing station, thereby improving the accuracy of shoe shaping processing. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of this utility model, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0018] Figure 1 A first schematic diagram of a robot for shoe shaping provided in an embodiment of the present invention;
[0019] Figure 2 A second schematic diagram of a robot for shoe shaping provided in an embodiment of the present invention;
[0020] Figure 3 A third schematic diagram of a robot for shaping shoes provided in an embodiment of this utility model;
[0021] Figure 4 A fourth schematic diagram of a robot for shaping shoes provided in an embodiment of this utility model;
[0022] Figure 5 A schematic diagram of the robotic arm in a robot for shoe shaping provided in an embodiment of this utility model.
[0023] Explanation of reference numerals in the attached figures:
[0024] 100 - Mounting base; 110 - First mounting area; 111 - First edge; 112 - Second edge; 113 - Third edge; 114 - Fourth edge; 120 - Second mounting area; 130 - Mounting vertical plate; 140 - Reinforcing vertical plate; 150 - First accommodating space; 160 - Second accommodating space; 170 - Reinforcing rib; 210 - Robotic arm; 211 - First arm body; 212 - Second arm body; 213 - Third arm body; 214 - Fourth arm body; 215a - First rotating part a; 215b - First rotating part b; 215c - First rotating part c; 216 - Second rotating part; 217a - Third rotating part a; 217b - Third rotating part b; 300 - Vision system; 310 - Camera; 400 - Rotation drive assembly; 500 - Vertical drive assembly; 600 - Lateral drive assembly; 700 - Loading seat; 710 - Connection area; 720 - Loading area. Detailed Implementation
[0025] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0026] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0028] This embodiment provides a robot for shoe shaping, such as... Figures 1-4As shown, the system includes a rotary drive assembly 400, a vision system 300, and two robotic arms. The rotary drive assembly 400 is connected to the mounting base 100, and the rotation axis of the rotary drive assembly 400 is aligned with the vertical direction. The two robotic arms are located on opposite sides of the mounting base 100. The vision system 300 includes three cameras 310, one of which is located on the mounting base 100, and the other two cameras 310 are located at the end regions of the two robotic arms.
[0029] This embodiment also provides a shoe processing system, including the above-mentioned robot, shoe press, controller and shoe rack for placing shoe lasts. The robot is arranged between the shoe press and the shoe rack, and the robot's manipulator and vision system 300 are both connected to the controller.
[0030] The robot provided in this embodiment is applied to a shoe processing system. In this robot, the three cameras 310 of the vision system 300 are arranged at different positions to form a stereo vision system 300. This system can acquire image information from multiple angles of the working areas, such as the shoe rack and the processing station of the shoe pressing machine, thereby improving the accuracy of the image information acquired by the vision system 300. Furthermore, the probability of all three cameras 310 being simultaneously obstructed by the mounting base 100 and the robotic arm is relatively small. When one camera 310 is obstructed, the other two cameras 310 can still assist in acquiring the required complete image information, thus effectively acquiring image information and reducing limitations on the robotic arm's travel and the arrangement of surrounding devices. Simultaneously, the two cameras 310 located at the end of the robotic arm are close to its gripping part. When gripping and placing shoe lasts, the two cameras 310 can acquire the directional image information of the shoe last, shoe rack, and processing station at close range and with high precision, further improving the accuracy of the image information acquired by the vision system 300.
[0031] In use, multiple shoe lasts of different sizes are placed on the shoe rack. Three cameras 310 transmit the acquired image information to the controller. The controller, based on the set processing program, uses existing methods such as neural network algorithms to accurately identify the position of the shoe rack and the required shoe last size and its orientation from the image information. It then controls the rotary drive assembly 400 to drive the mounting base 100 to rotate the two robotic arms toward the shoe rack, aligning them with the desired shoe last size for gripping. The controller then controls the robotic arms to stably grip the desired shoe last size. Next, the controller controls the rotary drive assembly 400 to drive the mounting base 100 to move the two robotic arms toward the processing station of the shoe pressing machine. The controller then controls the robotic arms to adjust the orientation of the shoe last and place it in the preset position at the processing station. Subsequently, the controller controls the shoe pressing machine to perform the pressing operation. After the shoe is pressed, the controller controls the robotic arms to grip and remove the shoe last, and with the rotational assistance of the rotary drive assembly 400, places the shoe last back in its original position, thus completing the use of the shoe last and the pressing and shaping process of the shoe.
[0032] When this robot is applied to a shoe manufacturing system, on the one hand, two robotic arms are arranged on opposite sides of the mounting base 100, similar to the arrangement of two human arms. These two opposing robotic arms grip the shoe last, resulting in higher gripping stability and greater stability in adjusting its orientation. On the other hand, the three cameras 310 of the vision system 300 are arranged in different positions to form a stereo vision system 300. This reduces the limitations on the robotic arm's travel and the orientation of surrounding devices caused by camera obstruction, and enables effective and accurate acquisition of the working area. The image information is obtained by the vision system 300. At the same time, two cameras 310 arranged at the end of the robotic arm are close to its gripping part. When the shoe last is gripped and placed, the two cameras 310 can obtain the orientation image information of the shoe last, shoe rack and processing station at close range and with high accuracy. This further improves the accuracy of the image information obtained by the vision system 300, and correspondingly improves the controller's recognition of the required shoe last model and its orientation, as well as the orientation accuracy of the robotic arm in gripping the shoe last, adjusting its orientation and placing it in the shoe pressing machine processing station, thereby improving the accuracy of shoe shaping processing.
[0033] Furthermore, this embodiment uses a robot to complete the picking and placing of shoe lasts, which is more accurate and efficient. In addition to improving the processing accuracy of shoes, it can also improve the processing efficiency of shoes, reduce the manual labor load, reduce labor costs, and realize large-scale production.
[0034] It should be noted that the preset processing program in the controller as needed, and the controller's control of the operation of each electronic component according to the preset processing program, are both existing technologies and not improvements of this application.
[0035] Specifically, the rotary drive assembly 400 can be a gimbal turntable.
[0036] In this embodiment, as Figures 1-4 As shown, the mounting base 100 includes a first mounting area 110. The edges of the first mounting area 110 include a first edge 111, a second edge 112, a third edge 113, and a fourth edge 114 along its circumferential direction. The first edge 111 and the third edge 113 are arranged opposite to each other and are each surrounded by an upwardly extending mounting vertical plate 130. A reinforcing vertical plate 140 connects the two mounting vertical plates 130. The first mounting area 110, the reinforcing vertical plate 140, and the two mounting vertical plates 130 form a first accommodating space 150 whose side port coincides with the second edge 112. One of the cameras 310 is located in the first accommodating space 150, and two robotic arms are respectively arranged on the side of the two mounting vertical plates 130 away from each other.
[0037] In the robot, the side port of the first accommodating space 150 faces the robot's front. The three cameras 310 of the vision system 300 are all arranged facing forward, minimizing the chance of being obstructed by the mounting base 100 and the robotic arms, thus effectively acquiring image information from the front area. The two mounting vertical plates 130 are connected by a reinforcing vertical plate 140 to improve the stability of the mounting vertical plates 130. The two robotic arms are arranged on the two sides of the two mounting vertical plates 130 away from each other, similar to the arrangement of two human arms, which improves assembly convenience and stability. At the same time, the camera 310 arranged in the first accommodating space 150 can be isolated and protected to effectively reduce the probability of the camera 310 being hit, thereby ensuring the effective use of the camera 310 and the vision system 300.
[0038] In this embodiment, the first mounting area 110, the reinforcing vertical plate 140, and the two mounting vertical plates 130 form a second accommodating space 160 whose side port coincides with the fourth edge 114. A reinforcing rib 170 connects the area of the first mounting area 110 corresponding to the second accommodating space 160 and the reinforcing vertical plate 140. On one hand, the reinforcing rib 170 connects to the middle area of the two mounting vertical plates 130, resulting in higher connection stability among the three, thereby improving the robustness of the mounting vertical plate 130, ensuring the stability of the mounted robotic arm, and protecting the camera 310 located in the first accommodating space 150. On the other hand, the reinforcing rib 170 is provided on the side of the reinforcing vertical plate 140 away from the first accommodating space 150 to improve the positional stability and robustness of the reinforcing vertical plate 140, thereby further improving the robustness of the mounting vertical plate 130 and ensuring the stability of the mounting base 100 when mounting the camera 310 and the robotic arm 210.
[0039] In this embodiment, as Figures 1-4 As shown, the robot also includes a vertical drive assembly 500, and a rotary drive assembly 400 is connected to the vertical drive assembly 500. In use, the vertical drive assembly 500 can drive the rotary drive assembly 400 to perform lifting and lowering movements, thereby adjusting the height of the mounting base 100 and its mounted robotic arm and camera 310. Based on the robotic arm's certain range of height movement, the robot's applicable range in the height direction is further increased, enabling the robotic arm to pick up and put down shoe lasts on different layers of the shoe rack, thereby further improving the robot's functionality and applicability.
[0040] In this embodiment, as Figures 1-4As shown, the robot also includes a horizontal drive assembly 600, with a vertical drive assembly 500 connected to the horizontal drive assembly 600. In use, the horizontal drive assembly 600 can drive the vertical drive assembly 500, the rotary drive assembly 400, the mounting base 100, the robotic arm, etc., to move horizontally, thereby increasing the robot's horizontal travel and further improving its applicability. Simultaneously, the horizontal drive assembly 600 is located at the bottom of the vertical drive assembly 500. In use, the horizontal drive assembly 600 can be mounted on a base or foundation to support other components. This allows for coordinated horizontal, vertical, and rotary drive by all components, while reducing the drive load and connection stability of the vertical drive assembly 500 and the rotary drive assembly 400, thus ensuring the robot's operational stability.
[0041] In this embodiment, as Figures 1-4 As shown, a loading seat 700 is provided on one side of the vertical drive assembly 500. The loading seat 700 includes a connecting area 710 and a loading area 720 in a direction away from the vertical drive assembly 500. The rotary drive assembly 400 is located on top of the loading area 720. The mounting seat 100 also includes a second mounting area 120 connected to the fourth edge 114. The second mounting area 120 is located on top of the rotary drive assembly 400, and the radial distance between the rotation axis of the rotary drive assembly 400 and the first mounting area 110 is greater than the radial distance between the rotation axis of the rotary drive assembly 400 and the edge of the loading area 720. The rotary drive assembly 400 can drive the second mounting area 120 and the first mounting area 110 to rotate around their rotation axis. The fourth edge 114 of the first mounting area 110 is close to the rotation axis of the rotary drive assembly 400, and the minimum horizontal radial distance between the fourth edge 114 and the rotation axis is greater than the maximum horizontal radial distance from the rotation axis to the edge of the loading area 720. Therefore, the projection of the annular rotating region of the first mounting area 110 around the rotation axis onto the target horizontal plane is the first contour, and the projection of the loading area 720 onto the target horizontal plane is the second contour. The second contour is located... Within the annular region of the first contour, when the rotary drive assembly 400 drives the first mounting area 110 to rotate to the edge range of the loading area 720 that is different from the connecting area 710, the first mounting area 110 is located outside the loading seat 700. This ensures that the first mounting area 110 and the robot arm do not interfere with the loading seat 700 within a circumferential rotation angle range of 180°. Correspondingly, the first mounting area 110 drives the robot arm to have at least three orthogonal orientations, thereby improving the robot's circumferential applicability and functionality, and further reducing the arrangement orientation of shoe racks and shoe pressing machines.
[0042] Specifically, in this embodiment, as Figures 1-4As shown, the robotic arm includes a robotic arm 210 and a gripping part (not shown) connected to the end of the robotic arm 210. The head end of the robotic arm 210 is connected to the mounting base 100. The robotic arm 210 is a six-degree-of-freedom robotic arm 210, capable of driving the gripping part to perform six-degree-of-freedom motion. The shape of the gripping part is adapted to the shape of the shoe last to improve the stability of the gripping parts of the two robotic arms in gripping the shoe last.
[0043] Specifically, in this embodiment, as Figures 1-5 As shown, the robotic arm 210 includes four arm bodies arranged in sequence. Any two adjacent arm bodies are rotatably connected by a first rotating part, and the rotation axis of the first rotating part is perpendicular to the extension direction of the arm body. The four arm bodies are, in sequence, a first arm body 211, a second arm body 212, a third arm body 213, and a fourth arm body 214. The end of the first arm body 211 facing away from the second arm body 212 is rotatably connected to the mounting base 100 by a second rotating part 216, and the rotation axis of the second rotating part 216 is consistent with the extension direction of the first arm body 211. The second arm body 212 and the third arm body 213 each include two arm segments. The two arm segments of the same arm body are rotatably connected by a third rotating part, and the rotation axis of the third rotating part is consistent with the extension direction of the corresponding arm body. A clamping part is connected to the end of the fourth arm body 214 facing away from the third arm body 213.
[0044] In this design, the first arm 211 is a horizontal arm, and the lengths of both the first arm 211 and the fourth arm 214 are shorter than the lengths of the second arm 212 and the third arm 213. In the robotic hand, the first arm 211 simulates the human shoulder, the second arm 212 simulates the upper arm of the human arm, the third arm 213 simulates the forearm of the human arm, and the fourth arm 214 is used to connect to the gripping part, simulating the human hand. Figure 2 As shown, the first rotating part serves as a joint to drive the relative opening and closing rotation of two adjacent arms. The second rotating part 216 and the third rotating part serve as joints to drive the corresponding arms to rotate, thereby realizing the six-degree-of-freedom motion of the robotic arm 210. This enables the gripping part to flexibly pick up and put down shoe lasts and precisely adjust the position of the shoe lasts. The structure is simple, the power consumption is low, and the cost is low, making it well-suited for the transportation of shoe lasts.
[0045] Specifically, the first rotating part, the second rotating part 216, and the third rotating part can all be made of motors. The motor mounts are precision-manufactured using CNC machining to ensure the stability and high-precision assembly of each joint. Figure 5As shown, along the direction from the first arm body 211 to the fourth arm body 214, the six rotating parts are the second rotating part 216, the first rotating part a215a, the third rotating part a217a, the first rotating part b215b, the third rotating part b217b, and the first rotating part c215c. Among them, the first rotating part a215a and the second rotating part 216 are the main load-bearing joints and can use high-torque servo motors to provide stronger support and driving capabilities, suitable for the overall rotation and large-range movement of the arm. The third rotating part a217a and the first rotating part b215b are used to undertake intermediate transmission tasks and can use medium-sized motors to balance performance and cost. The third rotating part b217b and the first rotating part c215c are located at the end area of the robotic arm 210 and are responsible for fine positioning and posture adjustment. They can use small, high-efficiency motors to reduce overall weight and power consumption, and improve response speed and control accuracy.
[0046] Specifically, such as Figures 1-4 As shown, a protective shell can be provided around each arm body to ensure the stable operation of each motor, reduce damage from external collisions, and improve the appearance of the robotic arm 210.
[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.
Claims
1. A robot for shoe shaping, characterized in that, The system includes a rotary drive assembly (400), a vision system (300), and two robotic arms. The rotary drive assembly (400) is connected to a mounting base (100), and the rotation axis of the rotary drive assembly (400) is aligned with the vertical direction. The two robotic arms are located on opposite sides of the mounting base (100). The vision system (300) includes three cameras (310), one of which is located on the mounting base (100), and the other two cameras are located at the end regions of the two robotic arms.
2. The robot according to claim 1, characterized in that, The mounting base (100) includes a first mounting area (110), the edges of the first mounting area (110) include a first edge (111), a second edge (112), a third edge (113) and a fourth edge (114) along its circumferential direction, wherein the first edge (111) and the third edge (113) are arranged opposite to each other and are each surrounded by an upwardly extending mounting vertical plate (130), and a reinforcing vertical plate (140) is connected between the two mounting vertical plates (130). The first mounting area (110), the reinforcing vertical plate (140) and the two mounting vertical plates (130) form a first accommodating space (150) whose side port is consistent with the second edge (112). One of the cameras (310) is located in the first accommodating space (150), and the two robotic arms are respectively located on the side of the two mounting plates (130) facing away from each other.
3. The robot according to claim 2, characterized in that, The first mounting area (110), the reinforcing vertical plate (140) and the two mounting vertical plates (130) form a second accommodating space (160) whose side port coincides with the fourth edge (114). The area of the first mounting area (110) corresponding to the second accommodating space (160) is connected to the reinforcing vertical plate (140) by a reinforcing rib (170).
4. The robot according to any one of claims 1-3, characterized in that, The robot also includes a vertical drive assembly (500), and the rotary drive assembly (400) is driveably connected to the vertical drive assembly (500).
5. The robot according to claim 4, characterized in that, The robot also includes a lateral drive assembly (600), and the vertical drive assembly (500) is driveably connected to the lateral drive assembly (600).
6. The robot according to claim 2 or 3, characterized in that, The robot further includes a vertical drive assembly (500), on one side of which is a loading seat (700). The loading seat (700) includes a connecting area (710) and a loading area (720) in a direction away from the vertical drive assembly (500). The rotary drive assembly (400) is located on top of the loading area (720). The mounting base (100) further includes a second mounting area (120) connected to the fourth edge (114). The second mounting area (120) is located on top of the rotary drive assembly (400), and the radial distance between the rotation axis of the rotary drive assembly (400) and the first mounting area (110) is greater than the radial distance between the rotation axis of the rotary drive assembly (400) and the edge of the loading area (720).
7. The robot according to any one of claims 1-3, characterized in that, The robotic arm includes a robotic arm (210) and a gripping part connected to the end of the robotic arm (210), the head end of the robotic arm (210) being connected to the mounting base (100).
8. The robot according to claim 7, characterized in that, The robotic arm (210) includes four arm bodies arranged in sequence. Any two adjacent arm bodies are rotatably connected by a first rotating part, and the rotation axis of the first rotating part is perpendicular to the extension direction of the arm body. The four arms are, in sequence, a first arm (211), a second arm (212), a third arm (213), and a fourth arm (214). The end of the first arm (211) facing away from the second arm (212) is rotatably connected to the mounting base (100) via a second rotating part (216), and the rotation axis of the second rotating part (216) is consistent with the extension direction of the first arm (211). The second arm (212) and the third arm (213) each include two arm segments, and the two arm segments of the same arm are rotatably connected via a third rotating part, and the rotation axis of the third rotating part is consistent with the extension direction of the corresponding arm. The clamping part is connected to the end of the fourth arm (214) facing away from the third arm (213).
9. The robot according to claim 8, characterized in that, The first arm (211) is a horizontal arm, and the lengths of the first arm (211) and the fourth arm (214) are both less than the lengths of the second arm (212) and the third arm (213).
10. A shoe processing system, characterized in that, The invention includes the robot, shoe press, controller, and shoe rack for placing shoe lasts as described in any one of claims 1-9, wherein the robot is arranged between the shoe press and the shoe rack, and the robot's manipulator, vision system (300), and rotary drive assembly (400) are all connected to the controller.