Intelligent toe cap lining bonding device

Abstract

The utility model provides a kind of intelligent toe pad bonding device (100), for attaching toe pad on vamp, comprising: fixed rack (11);Conveying line (18);Material taking robot unit (12) is set on fixed rack (11), for picking up toe pad and vamp and placing toe pad and vamp on conveying line (18);Visual identification unit (13) is set downstream of material taking robot unit (12), for identifying the position and attitude of toe pad and vamp;Placing robot unit (14) is set downstream of visual identification unit (13), for placing toe pad on vamp with desired position and angle;And bonding machine (16) is set downstream of placing robot unit (14), for attaching toe pad on vamp.The intelligent toe pad bonding device of the utility model can reduce cost, improve efficiency and improve quality.

Description

Technical Field

[0001] This utility model relates to the field of intelligent manufacturing or shoemaking technology, and in particular to an intelligent shoe toe lining bonding device. Background Technology

[0002] In the footwear industry, toe cap bonding is a crucial step in the manufacturing process. As a supporting component inside the toe box, the toe cap enhances the shoe's three-dimensional appearance and durability. The quality of its bonding directly impacts the final product and lifespan of the shoe. In mass production, bonding strength, positional accuracy, and processing efficiency are key performance indicators for the equipment used.

[0003] Currently, shoe toe lining bonding is still primarily done manually, supplemented by semi-automatic equipment. Manual bonding typically involves workers placing the shoe upper and toe lining together, marking the bonding positions, and finally pressing them together. Semi-automatic equipment typically involves a worker manually aligning the toe lining to the shoe upper, using simple positioning fixtures for pre-fixation, and then placing it into the bonding machine for hot pressing or adhesive application. Manual bonding is extremely labor-intensive, inefficient, and highly susceptible to human error, leading to significant fluctuations in production quality. It is commonly found in small and medium-sized shoe manufacturers. Semi-automatic equipment reduces labor usage to some extent, but its production costs are higher. It is widely used in large-scale shoe factories, especially suitable for multi-variety, high-volume production scenarios. For example, rotary semi-automatic bonding equipment still relies on manual alignment precision, resulting in high labor intensity, poor consistency in bonding positions, and difficulty meeting the quality requirements of high-end shoes. It also suffers from low production efficiency, high equipment costs, and low automation.

[0004] In summary, the gluing process for shoe toe linings generally relies on manual labor. This not only consumes a significant amount of labor costs, but also places increasing financial pressure on businesses in this area as labor costs rise in the market. Furthermore, manual operation is relatively inefficient, failing to meet the high-efficiency demands of large-scale production and often becoming a bottleneck restricting overall production progress. More importantly, the quality of the process is highly dependent on manual labor. Regarding alignment accuracy, differences in operator experience lead to inconsistent gluing positions; even slight oversights can result in misalignment, directly affecting the neatness of the shoe toe and the smoothness of subsequent processing. This makes it difficult to guarantee product quality stability, increases the probability of rework during quality inspection, and further impacts production efficiency. Utility Model Content

[0005] The purpose of this invention is to at least partially overcome the shortcomings of the prior art and provide an intelligent shoe toe lining bonding device.

[0006] The purpose of this invention is also to provide an intelligent shoe toe lining bonding device that can reduce costs and improve efficiency.

[0007] The purpose of this invention is also to provide an intelligent shoe toe lining bonding device, which results in more stable production quality.

[0008] To achieve the above-mentioned objectives or one of them, the technical solution of this utility model is as follows: A smart toe cap bonding device for attaching a toe cap to a shoe upper, the smart toe cap bonding device comprising: Fixed frame; Conveyor line; The material picking robot unit, mounted on a fixed frame, is used to pick up the toe caps and uppers and place them on the conveyor line; A visual recognition unit, located downstream of the material handling robot unit, is used to identify the position and posture of the toe cap and upper. A placement robot unit, positioned downstream of the vision recognition unit, is used to place the toe cap at the desired location and angle on the shoe upper; and An adhesive bonding machine, located downstream of the placement robot unit, is used to attach the toe cap to the shoe upper.

[0009] According to a preferred embodiment of the present invention, the intelligent shoe toe lining bonding device further includes a material bin, which is disposed on a fixed frame and located next to the material picking robot unit; The hopper includes a section for storing toe linings and a section for storing uppers.

[0010] According to a preferred embodiment of the present invention, the intelligent toe lining bonding device further includes an electrical control unit, which is mounted on a fixed frame and is used to control the operation of the intelligent toe lining bonding device.

[0011] According to a preferred embodiment of the present invention, the material handling robot unit includes two sets of material handling units, each set of material handling units including a material handling robotic arm connecting plate, two material handling active arms and two material handling driven arms; One end of the material handling active arm is hinged to the material handling robot arm connecting plate, and the other end is pivotally connected to the material handling driven arm; the end of the material handling driven arm away from the material handling active arm is connected to a suction cup.

[0012] According to a preferred embodiment of the present invention, one set of material picking units is connected to a rubber suction cup for gripping the toe lining; the other set of material picking units is connected to a needle-type suction cup for gripping the upper.

[0013] According to a preferred embodiment of the present invention, the placement robot unit includes a placement robotic arm connecting plate and three placement arm groups, each placement arm group being connected to the placement robotic arm connecting plate and including a placement active arm and a placement driven arm.

[0014] According to a preferred embodiment of the present invention, the placement robot unit further includes a placement suction head assembly disposed on the lower side for gripping the shoe toe liner.

[0015] According to a preferred embodiment of the present invention, the placement robot unit includes a first hinge portion and a second hinge portion, the placement active arm is pivotally connected to the placement driven arm through the first hinge portion, and the placement driven arm is pivotally connected to the placement suction head assembly through the second hinge portion.

[0016] According to a preferred embodiment of the present invention, the placement robot unit further includes a rotary motor, which is connected to the placement suction head assembly for controlling the torsion of the placement suction head assembly.

[0017] According to a preferred embodiment of the present invention, a rotary motor is provided on the suction cup of the material handling unit to control the rotation of the suction cup.

[0018] According to a preferred embodiment of the present invention, the intelligent toe lining bonding device further includes a computer display screen, a keyboard, and a mouse.

[0019] This invention combines a parallel robotic arm with visual recognition, working in conjunction with an adhesive module to achieve intelligent bonding of the toe cap and upper. The visual recognition system accurately identifies uppers and toe caps of different shoe sizes, styles, and materials, offering excellent compatibility. Simply place the uppers and toe caps randomly in the two side hoppers, and the system automatically identifies their position, angle, and type, sending the information to the parallel robotic arm in real time. The linked robotic arm precisely performs gripping and positioning actions, while the visual recognition system simultaneously activates the adhesive module. The entire process is highly efficient, processing over 1500 pairs of shoes per hour, five times faster than semi-automatic adhesive bonding equipment. Bonding consistency is excellent, with positional accuracy controlled within ±0.5 mm, a 60% improvement over existing equipment. Furthermore, mold changes are unnecessary, reducing setup time to within 3 minutes, significantly enhancing the flexibility of the production line.

[0020] This intelligent toe lining bonding device automates the entire bonding process between the toe lining and the upper through the coordinated operation of its components, effectively overcoming the shortcomings of existing technologies. It not only significantly improves production efficiency and greatly increases hourly throughput, but also enhances the accuracy and consistency of bonding in mass production, maintaining high precision control. Simultaneously, it simplifies operating procedures, reduces labor costs and intensity, and provides reliable assurance for the production of various high-end shoe styles, thus comprehensively improving the level of toe lining bonding technology in the footwear industry. Attached Figure Description

[0021] Figure 1 This is a perspective view of an intelligent shoe toe liner bonding device according to an embodiment of the present invention; Figure 2 The intelligent toe cap bonding device according to an embodiment of the present invention is shown from another angle; Figure 3 A rear view of the intelligent toe cap bonding device according to an embodiment of the present invention; Figure 4 A side view of the intelligent toe cap bonding device according to an embodiment of the present invention; Figure 5 The intelligent toe liner bonding device according to an embodiment of the present invention is shown from one angle; Figure 6 for Figure 5 A partial enlarged view of the intelligent toe cap bonding device in the shoe; Figure 7 The intelligent toe liner bonding device according to an embodiment of the present invention is shown from one angle; Figure 8 for Figure 7 A partial enlarged view of the intelligent toe cap bonding device in the shoe; Figure 9 The intelligent toe liner bonding device according to an embodiment of the present invention is shown from one angle; Figure 10 for Figure 9 A magnified view of a portion of the intelligent toe cap bonding device. Detailed Implementation

[0022] Exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements. Furthermore, in the following detailed description, numerous specific details are set forth for ease of explanation to provide a thorough understanding of the embodiments disclosed herein. However, it will be apparent that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and apparatuses are illustrated to simplify the drawings.

[0023] See Figure 1-5 The intelligent toe cap bonding device 100 is used to attach toe caps to the shoe upper, and includes a fixed frame, a material picking robot unit, a vision recognition unit, a placement robot unit, a material bin, a bonding machine, an electrical control unit, and a conveyor line.

[0024] The fixed frame 11 can be a rectangular frame, used to support most of the components of the intelligent toe cap bonding device 100. The fixed frame 11 is placed on the platform surface and fixed. The material picking robot unit 12 is set on the fixed frame 11, above the conveyor line 18 and upstream of the vision recognition unit 13. It is used to pick up the toe cap and shoe upper and place them on the conveyor line 18. The material picking robot unit 12 is configured to obtain the shoe upper and toe cap from the hopper 15 and place them on the conveyor line 18. The operating head of the material picking robot unit 12 is configured to reciprocate between the feeding position of the hopper 15 and the conveyor line 18. The vision recognition unit 13 is set downstream of the material picking robot unit 12 and is used to identify the position and posture of the toe cap and shoe upper. It is configured to acquire images of the toe cap and shoe upper and determine the position of the shoe upper. The visual recognition unit 13 is positioned above the conveyor line 18 and has a gap between it and the conveyor line 18. This allows the toe cap and shoe upper placed on the conveyor line 18 to pass through the gap and have their images captured. The visual recognition unit 13 includes a square dark box containing a light source and a camera. The camera captures images of the toe cap and shoe upper passing below the visual recognition unit 13. The captured images are sent to a computer for processing and recognition. A placement robot unit 14 is positioned above the conveyor line 18 and downstream of the visual recognition unit 13. The placement robot unit 14 is used to place the toe cap on the shoe upper at a desired position and angle. It is configured to place the toe cap on the shoe upper according to specifications. The operating head of the placement robot unit 14 is configured to reciprocate between the shoe upper and the toe cap on the conveyor line 18.

[0025] The conveyor line 18 is used to convey the toe liner and the upper. The conveyor line 18 passes through the fixed frame 11 and can be supported by the fixed frame 11 or by an independent support component. The hopper 15 is used to place the toe liner and the upper. The hopper 15 is located next to the conveyor line 18 and next to the material handling robot unit 12. The hopper 15 includes a part for storing the toe liner and a part for storing the upper.

[0026] Furthermore, the intelligent toe cap bonding device 100 also includes a bonding machine 16, which is located downstream of the conveyor line 18 and downstream of the placement robot unit 14. The bonding machine 16 is used to attach the toe cap to the shoe upper. The bonding machine 16 is used to fix the toe cap to the shoe upper, and the heat curing operation is completed within the bonding machine 16 before collection. An electrical control unit 17 is mounted on the fixed frame 11 and is used to control the operation of the intelligent toe cap bonding device 100.

[0027] It should be noted that the visual recognition unit 13, the material picking robot unit 12, and the placement robot unit 14 work synchronously. After the material picking robot unit 12 picks up the material, the visual recognition unit 13 obtains the information of the upper and the toe liner. The placement robot unit 14 places the toe liner on top of the upper or the upper on top of the toe liner according to specifications. When the intelligent toe liner bonding device 100 is working, there is no need to deliberately adjust the position of the upper and the toe liner. When the upper and the toe liner pass under the visual recognition unit 13, the visual recognition unit 13 captures the image of the upper and the toe liner and performs data processing. The program determines the type, shape, and size of the upper and the toe liner, and also determines the angle of the upper and the toe liner, because the upper and the toe liner are scattered on the conveyor line 18 so that the toe liner can be placed at the correct angle later. This process includes: the visual recognition unit 13 is configured to compare the captured images of the shoe upper and toe lining with images of the shoe upper and toe lining in the database, distinguish the types of the shoe upper and toe lining, and then calculate the position of the toe lining to be attached to the shoe upper according to a predetermined program.

[0028] The material-picking robot unit 12 of this utility model is described below with reference to the accompanying drawings. The material-picking robot unit 12 includes two sets of material-picking units. Each set of material-picking units includes a material-picking robotic arm connecting plate 30, two active material-picking arms 31, and two driven material-picking arms 32. One end of the active material-picking arm 31 is hinged to the material-picking robotic arm connecting plate 30, and the other end is pivotally connected to the driven material-picking arm 32. A suction cup is connected to the end of the driven material-picking arm 32 furthest from the active material-picking arm 31. One set of material-picking units is connected to a rubber suction cup 33 for gripping the toe cap; the other set of material-picking units is connected to a needle-type suction cup 34 for gripping the upper. A rotary motor 25 is provided on the suction cup of each material-picking unit to control the rotation of the suction cup.

[0029] Specifically, a material-picking robotic arm connecting plate 30 is provided on the fixed frame 11 for installing and fixing the material-picking robot unit 12, and also for protecting the material-picking robot unit 12. The material-picking robot unit 12 is installed on the material-picking robotic arm connecting plate 30, which is equipped with a material-picking active arm 31 and a material-picking driven arm 32, so that the suction cup moves with the end of the robotic arm to pick up the material. According to the material properties, there are two types of end suction cups: one is a rubber suction cup 33 for gripping the toe cap, and the other is a needle-type suction cup 34 for gripping the shoe upper. The rubber suction cup 33 and the needle-type suction cup 34 of this utility model realize the picking up of the toe cap and shoe upper through a vacuum unit. Specifically, the opening and closing of the suction cup is controlled by a solenoid valve.

[0030] The placement robot unit 14 of this utility model is described below with reference to the accompanying drawings. The placement robot unit 14 includes a placement robotic arm connecting plate 20 and three placement arm assemblies. Each placement arm assembly is connected to the placement robotic arm connecting plate 20 and includes a placement active arm 21 and a placement driven arm 22. The placement robot unit 14 also includes a placement suction head assembly 26 disposed on its lower side for gripping shoe toe linings. The placement robot unit 14 includes a first hinge portion 23 and a second hinge portion 24. The placement active arm 21 is pivotally connected to the placement driven arm 22 via the first hinge portion 23, and the placement driven arm 22 is pivotally connected to the placement suction head assembly 26 via the second hinge portion 24. The placement robot unit 14 also includes a rotary motor 25, which is drive-connected to the placement suction head assembly 26 and used to control the torsion of the placement suction head assembly 26.

[0031] A robotic arm mounting plate 20 is provided on the fixed frame 11 for mounting and fixing the robotic unit 14, and also for protecting the robotic unit 14. The robotic arm mounting plate 20 is fixed by a cover 19 on the fixed frame 11. The robotic unit 14 is mounted on the robotic arm mounting plate 20. The robotic arm includes a placement active arm 21 and a placement driven arm 22. One end of the placement active arm 21 is connected to a motor, allowing the placement active arm 21 to rotate around an axis under the drive of the motor. One end of the placement driven arm 22 is hinged to one end of the placement active arm 21, and the other end is hinged to the placement suction head assembly 26 via a mounting plate. A rotary motor 25 is provided at the end of the robotic arm to control the rotation of the suction cup.

[0032] According to a preferred embodiment of the present invention, the intelligent toe lining bonding device 100 further includes a computer display screen 27, a keyboard 28, and a mouse 29.

[0033] In practical use, the intelligent shoe toe liner bonding device of this utility model first uses the material picking robot unit 12 to place the shoe upper and shoe toe liner sequentially on the conveyor line 18. When the shoe upper and shoe toe liner pass under the vision recognition unit 13, the vision recognition unit 13 performs visual recognition on the state of the shoe upper and shoe toe liner, which facilitates the placement robot unit to grasp and place the shoe toe liner. Through the set predetermined program, the shoe toe liner is placed on the shoe upper in sequence. The next step is to use the bonding machine 16 to bond the shoe upper and shoe toe liner.

[0034] The visual recognition unit 13 is a crucial component of this automated upper and toe cap bonding device. It comprises a camera module, a vision processor, a vision software library, and a controller. The camera module, consisting of a camera sensor and a lens, is used to acquire images of the upper and toe cap. The camera sensor captures optical images and converts them into digital signals, while the lens adjusts the focal length and field of view. The camera module is connected to the controller via a cable. The vision processor, a computer system for processing the images acquired by the camera, includes an image processing unit, cache, and other processor resources. It performs image recognition and analysis tasks, including object detection, image classification, and feature extraction. The vision processor is connected to the controller via a high-speed interface. The vision software library, a set of software tools, is used to write and run applications for the vision processor. These libraries include image processing algorithms, machine learning models, and other vision tools, and are integrated into the vision processor's development environment.

[0035] This invention utilizes a combination of parallel robots and visual recognition to achieve fully automated bonding of shoe uppers and toe linings. The visual recognition system can identify shoe uppers and toe linings of different colors and types, exhibiting extremely high compatibility. Simply place the shoe uppers and toe linings randomly on the hopper, and the material handling robot unit will accurately place the materials on the conveyor line. The visual recognition system automatically identifies the position, angle, and type of the shoe uppers and toe linings and sends the identification information to the placement robot unit, precisely executing the toe lining placement. This results in extremely high efficiency and excellent consistency. It can process over 1500 pairs of shoe parts per hour, five times faster than traditional manual bonding methods. Bonding consistency is excellent, with positional accuracy controlled within ±0.5 mm, a 60% improvement over existing equipment. Furthermore, no mold replacement is required during model changes, reducing debugging time to within 3 minutes, significantly enhancing the flexibility of the production line.

[0036] This utility model relates to an intelligent shoe toe liner bonding device, specifically designed for bonding shoe toe liners to the shoe upper. The details are as follows: From an overall structural perspective, the device consists of a fixed frame, a conveyor line, a hopper, a material handling robot unit, a vision recognition unit, a placement robot unit, a central control system, and an adhesive bonding mechanism. All parts work together to form a complete automated adhesive bonding system.

[0037] The fixed frame provides stable support for the entire device. The conveyor line, located in the middle of the frame, is used for automatically transporting shoe uppers and toe linings. It features a flexible conveyor line design to accommodate shoe parts of different sizes. A vision recognition unit is installed above the conveyor line inlet. Using a high-definition camera and image algorithms, it captures real-time 3D data of the shoe uppers and toe linings, accurately identifying their contours, dimensions, and positioning features. This data is then synchronously transmitted to the central control system, enabling intelligent recognition without manual pre-positioning.

[0038] The hoppers are installed on both sides upstream of the conveyor line, with one shoe upper hopper and one shoe toe lining hopper on each side. One side is used for material handling by the robotic unit, while the other side serves as a waiting hopper for manual replenishment, ensuring real-time material supply and reducing the time cost of handling.

[0039] The visual recognition unit, installed above the conveyor line, is the core component of the device for intelligent recognition. It can acquire real-time image information of the shoe uppers and toe linings on the conveyor line, and process and analyze the images using built-in algorithms to accurately determine the position, shape, size, and type of the shoe uppers and toe linings. Simultaneously, the visual recognition unit compares the acquired images of the shoe uppers and toe linings with images in a pre-stored shoe model library to further confirm the types of the shoe uppers and toe linings, and then precisely calculates the optimal bonding position for both according to a preset program. Furthermore, the visual recognition unit also has the function of linkage with the multi-functional bonding module (bonding machine). Once the shoe upper and toe lining are recognized entering the working area, a signal is immediately sent to the multi-functional bonding module, causing it to prepare for the corresponding bonding work in advance, achieving synchronous linkage between shoe upper and toe lining recognition and bonding operations.

[0040] The material handling robot unit is installed above the conveyor line and upstream of the vision recognition unit. It is the core component responsible for picking up shoe uppers and toe linings from the hopper onto the conveyor line. This unit consists of an end effector and two drive units. The end effector is equipped with an end suction cup assembly, which can adaptively grasp the toe lining according to its size, thus ensuring gripping stability. Each drive unit includes a servo motor, a drive arm, and a linkage arm. The servo motor is fixed to the mounting base of the robotic arm and can drive the drive arm to rotate precisely around its axis. The linkage arm is hinged to both the drive arm and the end effector. Through the coordinated operation of these three components, the end effector can move flexibly and adjust its angle in three-dimensional space.

[0041] The placement robot unit, mounted above the conveyor line and downstream of the vision recognition unit, is a key component for grasping and positioning the toe cap onto the shoe upper. It consists of an end effector and three drive units. The end effector includes a vacuum suction cup assembly that adaptively grips the toe cap according to its size, ensuring stable holding. Each drive unit comprises a servo motor, a drive arm, and two linkage arms. The servo motor is fixed to the robot arm mount and drives the drive arm to rotate precisely around its axis. The linkage arms are hinged to the drive arm and the end effector, respectively. Through the coordinated movement of these three components, the end effector can flexibly move and adjust its angle in three-dimensional space.

[0042] The bonding machine is located downstream of the conveyor line. After the shoe upper is positioned by the parallel robot unit, the conveyor line transports the assembled shoe parts to the multi-functional bonding machine. This bonding machine integrates a hot-pressing system, which uses heating and pressurization to firmly fix the toe liner to the shoe upper, ensuring the bonding strength and stability between the two, and completing the final key step in the entire toe liner bonding process.

[0043] The central control system (electric control unit) is the control hub of the entire device. It is electrically connected to the conveyor line, vision recognition unit, parallel robot unit, bonding machine, and mold adaptive mechanism. On the one hand, the central control unit provides a stable power supply to each component to ensure the normal operation of the equipment; on the other hand, it coordinates and controls the operation of each component through a preset program. Based on the shoe shape data transmitted by the vision recognition unit, it adjusts the robot arm's motion parameters, the bonding machine's working mode, and the mold's adaptation size in real time. This achieves precise and synchronized operation of each stage, including recognition, gripping, positioning, and bonding, ensuring the orderly and efficient bonding process of the entire shoe toe lining and meeting the needs of flexible production.

[0044] This invention relates to an intelligent shoe toe lining bonding device, comprising a fixed frame, a material handling robot unit, a vision recognition unit, a placement robot unit, a material hopper, a bonding machine, an electrical control unit, and a conveyor line. Through the coordinated operation of these components, the device achieves fully automated operation of the shoe toe lining and shoe upper from conveying, recognition, gripping and positioning to bonding and fixing, significantly improving the efficiency, accuracy, and adaptability of shoe toe lining bonding. Whether facing conversions between different shoe sizes and styles, or handling diverse materials such as leather and fabrics, it can easily cope through mold adjustment and bonding mode switching, greatly shortening changeover and debugging time, meeting the needs of flexible production, and providing a reliable guarantee for the mass production of high-end footwear.

[0045] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. List of reference numerals in the attached diagram: 100 Intelligent Toe Liner Bonding Device 11 Fixed frame 12 Material Handling Robot Units 13 Visual Recognition Units 14. Placement of robot units 15. Storage bins 16. Adhesive machine 17. Electrical Control Unit 18 Conveyor Line 19. Capping 20 Placement of robotic arm connection plate 21 Place the active arm 22 Placement of the driven boom 23 First hinge section 24 Second hinge section 25 Rotary motors 26 Place the suction head assembly 27 Computer monitor 28-keyboard 29. Mouse 30 Material handling robotic arm connecting plate 31 Material handling boom 32. Material handling driven boom 33 Rubber suction cups 34. Needle suction cup.

Claims

1. A smart toe cap bonding device (100) for attaching a toe cap to the upper of a shoe, characterized in that, The intelligent toe cap bonding device (100) includes: Fixed frame (11); Conveyor line (18); The material picking robot unit (12) is set on the fixed frame (11) for picking up the toe liner and the upper and placing the toe liner and the upper on the conveyor line (18); A visual recognition unit (13) is located downstream of the material handling robot unit (12) and is used to identify the position and posture of the toe cap and upper. A placement robot unit (14), positioned downstream of the vision recognition unit (13), is used to place the toe cap at a desired position and angle on the shoe surface; and An adhesive bonding machine (16), located downstream of the placement robot unit (14), is used to attach the toe cap to the shoe upper.

2. The intelligent toe lining bonding device (100) according to claim 1, characterized in that: The intelligent shoe toe lining bonding device (100) also includes a hopper (15), which is set on a fixed frame (11) and located next to the material picking robot unit (12); The hopper (15) includes a section for storing toe linings and a section for storing uppers.

3. The intelligent toe cap bonding device (100) according to claim 2, characterized in that: The intelligent toe lining bonding device (100) also includes an electronic control unit (17), which is mounted on a fixed frame (11) and is used to control the operation of the intelligent toe lining bonding device (100).

4. The intelligent toe cap bonding device (100) according to claim 2, characterized in that: The placement robot unit (14) includes a placement robot arm connecting plate (20) and three placement arm groups, each placement arm group being connected to the placement robot arm connecting plate (20) and including a placement active arm (21) and a placement driven arm (22).

5. The intelligent toe lining bonding device (100) according to claim 4, characterized in that: The placement robot unit (14) also includes a placement suction head assembly (26) located on the lower side for gripping the toe cap.

6. The intelligent toe lining bonding device (100) according to claim 5, characterized in that: The placement robot unit (14) includes a first hinge (23) and a second hinge (24). The placement active arm (21) is pivotally connected to the placement driven arm (22) through the first hinge (23), and the placement driven arm (22) is pivotally connected to the placement suction head assembly (26) through the second hinge (24).

7. The intelligent toe lining bonding device (100) according to claim 6, characterized in that: The placement robot unit (14) also includes a rotary motor (25), which is connected to the placement suction head assembly (26) for controlling the rotation of the placement suction head assembly (26).

Images