A shoe lasting device

Abstract

The application relates to the technical field of shoemaking equipment, in particular to a shoe upper nailing device which comprises a base, a profiling support module, a self-adaptive clamping assembly, a nailing execution mechanism and a linkage driving unit. The profiling support module is composed of an array of support columns which can be independently lifted and can be attached to the bottom curved surface of the shoe upper; the self-adaptive clamping assembly is driven by a servo motor to synchronously move the clamping arm radially, so that flexible clamping of the side wall of the shoe upper is realized; the nailing execution mechanism and the linkage driving unit work cooperatively, and the nailing parameters are adjusted in real time according to the feedback of the sensor. The application can automatically adapt to different shoe types, improve positioning accuracy and work efficiency, and solve the problems of instability, nailing separation and poor adaptability in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of shoemaking equipment technology, and in particular to a shoe upper nailing device. Background Technology

[0002] With the continuous improvement of automation in the footwear industry, shoe upper nailing, as a key process in footwear production, directly affects the quality and production cost of finished shoes in terms of efficiency and precision. Currently, shoe upper nailing relies heavily on manual operation or semi-automatic equipment, which suffers from problems such as inaccurate positioning, poor adaptability, and cumbersome operation. Especially when dealing with different shoe sizes and styles, it is difficult to achieve rapid adaptation and stable fixation, affecting nailing quality and production efficiency.

[0003] A search revealed an automatic nail feeding and nailing machine with publication number CN218921883U, published on April 28, 2023. This device includes a worktable, a vibrating feeder, a direct vibrator, a nail feeding structure, a nail pushing structure, and a nailing structure, enabling automatic nail feeding and nailing of parts of the shoe upper. However, this equipment focuses solely on automating the nail feeding and nailing actions, lacking an adaptive fixing mechanism for different shoe models. This fails to effectively address nailing deviations caused by positional shifts or loosening of the shoe upper during nailing. Furthermore, its structure does not consider the fit and support of the three-dimensional curved surface of the shoe upper, making it difficult to guarantee the accuracy and consistency of the nailing position.

[0004] A search revealed a shoe upper nailing device with publication number CN219894861U, published on October 27, 2023. This device includes an operating box and a fixing mechanism, comprising an adjustment component, an electric push rod, and a foot model. It can position and fix shoe uppers of different sizes through spring support and a foot-contouring structure. While this design improves shoe upper fixing, its nailing function is not integrated into the device; it only provides positioning support before nailing. Actual nailing still requires external tools or manual labor, failing to achieve integrated "fixing-nailing" operation and limiting the overall automation level and production efficiency.

[0005] The aforementioned problems indicate that existing technologies either lack effective adaptive fixation for shoe uppers or fail to organically integrate the nailing action with the fixing mechanism, resulting in low nailing accuracy, poor applicability, and insufficient automation. Therefore, this invention provides a shoe upper nailing device that integrates adaptive fixing and automatic nailing functions to overcome the defects of existing technologies, such as unstable positioning, nail separation, and weak adaptability, thereby improving the intelligence and efficiency of the nailing process in shoe manufacturing. Utility Model Content

[0006] The purpose of this invention is to provide a shoe upper nailing device to solve the problems mentioned in the background art, such as positioning deviation and loosening caused by the lack of an adaptive fixing structure during the nailing process, as well as low work efficiency, poor adaptability, and inability to accurately support the three-dimensional curved surface of the shoe upper due to the separation of the nailing mechanism and the fixing mechanism.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a shoe upper nailing device, comprising a base, a contour support module, an adaptive clamping assembly, a nailing execution mechanism, and a linkage drive unit; the upper surface of the base is provided with an installation groove, the contour support module is embedded in the installation groove, the contour support module is composed of an array of multiple independently liftable support columns, the bottom of each support column is connected to the base via a vertical slide rail, and the top of the support column is provided with a flexible silicone pad; the adaptive clamping assembly includes an annular guide rail, several clamping arms, and a radial adjustment mechanism, the annular guide rail is horizontally fixed above the base, each clamping arm is equidistantly distributed along the circumference of the annular guide rail, the bottom end of the clamping arm is slidably engaged with the annular guide rail via a slider, and the top end of the clamping arm is provided with an arc-shaped pressure head, the inner side of which is covered with a polyurethane buffer layer; the radial adjustment mechanism includes a rotating disk disposed at the center of the annular guide rail, and multiple... The system comprises a series of connecting rods, one end of which is hinged to the edge of the rotating disk, and the other end hinged to the middle of the corresponding clamping arm. The rotating disk is driven to rotate by a servo motor, which in turn drives each clamping arm to move radially along the annular guide rail synchronously via the connecting rods. The nailing actuator includes a vertical support, a lifting slide, a pneumatic nail gun, and a nail feeding channel. The vertical support is fixed to one side of the base, the lifting slide is mounted on the vertical support via a ball screw pair, the pneumatic nail gun is fixed to the front end of the lifting slide, and one end of the nail feeding channel is connected to a vibrating feeder, while the other end extends to the nail inlet of the pneumatic nail gun. The linkage drive unit includes a controller, a displacement sensor, and a pressure feedback module. The displacement sensor is installed at the bottom of each support column to detect the compression stroke of the support column. The pressure feedback module is integrated inside the arc-shaped pressure head to monitor the clamping force in real time. The controller is electrically connected to the servo motor, the drive motor of the lifting slide, and the solenoid valve of the pneumatic nail gun.

[0008] Preferably, the support column array is arranged in concentric circles, with the height of the inner ring support columns adjustable from 0 to 15 mm and the height of the outer ring support columns adjustable from 0 to 25 mm. Each support column is provided with a return spring at its bottom, with one end of the return spring abutting against the bottom plate of the support column and the other end abutting against the bottom surface of the base cavity. When no external force is applied, the support column is lifted to its initial height by the return spring.

[0009] Preferably, the clamping arms are arranged in four groups at 90-degree intervals along the annular guide rail. Each group of clamping arms has a locking bolt on its slider. The locking bolt passes through the side wall of the slider and presses against the outer edge of the annular guide rail to fix the position of the clamping arm after adjustment. The radius of curvature of the arc-shaped pressure head is continuously adjustable between 30 mm and 60 mm. The curvature is changed by driving the curved surface adjustment plate through a micro stepper motor inside the pressure head.

[0010] Preferably, the lower surface of the rotating disk is provided with an annular gear ring, a drive gear is mounted on the output shaft of the servo motor, the drive gear meshes with the annular gear ring for transmission, the servo motor is fixed on a motor mounting base inside the base, and the motor mounting base is connected to the base through a shock-absorbing rubber pad.

[0011] Preferably, the vertical travel of the lifting slide is 0 to 120 mm, the ball screw pair is driven by a stepper motor, the stepper motor is connected to the ball screw through a coupling, and the lifting slide is provided with a guide shaft, the two ends of which are fixed between the upper and lower crossbeams of the vertical support to ensure the stability of the vertical movement of the lifting slide.

[0012] Preferably, the nail feeding channel is a flexible metal corrugated pipe with a Teflon coating on its inner wall. A photoelectric sensor is provided at one end of the nail feeding channel near the pneumatic nail gun to detect whether the nail is in place. The signal output terminal of the photoelectric sensor is connected to the controller.

[0013] Preferably, the controller is a PLC programmable controller, with a built-in storage unit to store the support column height parameters, clamping arm radial position parameters, and nailing height parameters corresponding to different shoe types. The controller receives analog signals from the displacement sensor and pressure feedback module, and compares them with preset thresholds after analog-to-digital conversion. When the support column compression exceeds the set value or the clamping pressure is lower than the safety lower limit, the controller pauses the nailing action and issues an alarm signal.

[0014] Preferably, the base has four adjustable feet at the bottom. Each adjustable foot includes a threaded sleeve and an adjusting screw. The adjusting screw is screwed into the threaded sleeve, and the lower end of the adjusting screw is connected to an anti-slip rubber pad for adjusting the overall level of the device.

[0015] Preferably, the contour support module is provided with an annular baffle on its periphery. The annular baffle is fixed to the upper surface of the base and has a height of 10 mm to prevent the shoe upper from slipping outward during clamping. The inner side of the annular baffle is provided with a magnetic strip to attract iron-containing shoe lasts and assist in positioning.

[0016] Preferably, the pneumatic nail gun has a laser locator at the front end of the nozzle. The cross-shaped light spot emitted by the laser locator is projected onto the nailing area of ​​the shoe upper. The operator can confirm the nailing point by observing the position of the light spot. The laser locator is controlled by a controller to start and stop, and is only turned on 0.5 seconds before nailing to avoid long-term illumination affecting visual judgment.

[0017] The beneficial effects of this invention are as follows: Through the above structure, this invention integrates the contour support module, the adaptive clamping component, and the nailing actuator onto the same base, and achieves parameter linkage and status feedback through a linkage drive unit. The support column array automatically settles to form a conforming support surface according to the contour of the shoe upper bottom. The clamping arm synchronously retracts radially under the drive of a servo motor, allowing the arc-shaped pressure head to adaptively wrap around the side wall of the shoe upper. The nailing actuator completes the nailing action at a precise height. The entire process requires no manual intervention, is suitable for shoe uppers of various sizes and styles, and solves the problems of unstable fixation, nail separation, and poor adaptability in existing technologies. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of the overall structure of a shoe upper nailing device according to the present invention.

[0019] Figure 2 This is a three-dimensional structural diagram of the present invention viewed from below.

[0020] Figure 3 This is a side view sectional structural diagram of the present invention.

[0021] The attached diagram is labeled as follows: 1. Base; 2. Contouring support module; 3. Adaptive clamping assembly; 4. Nail-driving actuator; 5. Linkage drive unit; 6. Mounting groove; 7. Support column; 8. Vertical slide rail; 9. Flexible silicone pad; 10. Return spring; 11. Circular guide rail; 12. Clamping arm; 13. Arc-shaped pressure head; 14. Polyurethane buffer layer; 15. Rotary disk; 16. Connecting rod; 17. Servo motor; 18. Vertical bracket; 19. Lifting slide; 20. Pneumatic nail gun; 21. Nail feeding channel; 22. Laser positioner; 23. Displacement sensor; 24. Pressure feedback module; 25. Controller. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0023] Specific implementation examples are given below.

[0024] like Figure 1-3The specific implementation of the shoe upper nailing device of this utility model is as follows: The device includes a base 1, a contour support module 2, an adaptive clamping component 3, a nailing execution mechanism 4, and a linkage drive unit 5. The base 1 is a support platform of the overall structure, and its upper surface has a central mounting groove 6 for embedding the contour support module 2. The contour support module 2 is composed of an array structure of multiple support columns 7, and the support columns 7 are distributed in concentric circles. The height of the inner ring support columns is adjustable from 0 to 15 mm, and the height of the outer ring support columns is adjustable from 0 to 25 mm. The bottom of each support column 7 is connected to the vertical slide rail 8. The base 1 is connected, and the vertical slide rail 8 is fixed in the mounting cavity inside the base 1. The support column 7 slides up and down along the vertical slide rail 8. A flexible silicone pad 9 is fixed on the top of the support column 7 for contacting the curved surface of the bottom of the shoe upper. The bottom end of the support column 7 is provided with a base plate, and one end of the return spring 10 is abutted against the bottom of the base plate. The other end of the return spring 10 is fixed to the bottom surface of the inner cavity of the base 1. When there is no external force, the return spring 10 will lift the support column 7 to the initial height position. The displacement sensor 23 is installed at the bottom base plate of each support column 7 to detect the compression stroke of the support column 7 after being compressed and output the analog signal to the controller 25. The adaptive clamping assembly 3 is disposed above the base 1 and includes an annular guide rail 11, four sets of clamping arms 12, an arc-shaped pressure head 13, a rotating disk 15, a connecting rod 16, and a servo motor 17. The annular guide rail 11 is horizontally fixed to the upper surface of the base 1 and is located around the contour support module 2, with its axis coinciding with the central axis of the contour support module 2. The four sets of clamping arms 12 are equidistantly distributed along the circumference of the annular guide rail 11, with an included angle of 90 degrees between adjacent clamping arms 12. Each set of clamping arms 12 has a slider at its bottom end, and the slider is sleeved on the annular guide rail 11. The slider slides and engages with the annular guide rail 11. A locking bolt is located on the side wall of the slider, passing through it and pressing against the outer edge of the annular guide rail 11. This bolt is used for mechanical locking after adjusting the radial position of the clamping arm 12. An arc-shaped pressure head 13 is fixed to the top of the clamping arm 12. The inner side of the arc-shaped pressure head 13 is covered with a 3mm thick polyurethane cushioning layer 14, which contacts the side wall of the shoe upper. A micro stepper motor is installed inside the arc-shaped pressure head 13. This micro stepper motor drives a curved adjustment plate to rotate around the axis of the pressure head, thereby changing the position of the arc-shaped pressure head 13. The radius of curvature is continuously adjustable between 30 mm and 60 mm; the rotating disk 15 is located directly below the center of the annular guide rail 11, and its lower surface is provided with an annular gear ring; the servo motor 17 is fixed on the motor mounting base inside the base 1, and the motor mounting base is connected to the base 1 through a shock-absorbing rubber pad; a drive gear is installed on the output shaft of the servo motor 17, and the drive gear meshes with the annular gear ring on the lower surface of the rotating disk 15; four sets of connecting rods 16 are hinged to the outer edge of the rotating disk 15, and one end of each set of connecting rods 16 is connected to the rotating disk 15 through a pin. The edge of the disc 15 is connected, and the other end is connected to the middle of the corresponding clamping arm 12 through a pin. When the servo motor 17 rotates, it drives the rotating disc 15 to rotate, and pushes or pulls the clamping arm 12 to move radially synchronously along the annular guide rail 11 through the connecting rod 16, so as to realize the synchronous opening and closing action of the clamping arm 12. The pressure feedback module 24 is integrated inside the arc-shaped pressure head 13. Specifically, it is an embedded strain gauge pressure sensor, and its signal line is led out to the controller 25 for real-time monitoring of the pressure value applied by the arc-shaped pressure head 13 to the shoe upper during the clamping process. The nailing actuator 4 is fixed to one side of the base 1 and includes a vertical support 18, a lifting slide 19, a pneumatic nail gun 20, a nail feeding channel 21, and a laser positioner 22. The vertical support 18 is a rectangular frame structure, and its bottom is fixed to the upper surface of the base 1 by bolts. The lifting slide 19 is installed on the front side of the vertical support 18 via a ball screw pair. The ball screw pair includes a ball screw and a nut seat that mates with it. The nut seat is fixedly connected to the back of the lifting slide 19. The upper and lower ends of the ball screw are fixed between the upper and lower crossbeams of the vertical support 18 via bearing seats. The lower end of the ball screw is connected to a stepper motor via a coupling. The stepper motor is fixed to the inner side of the bottom crossbeam of the vertical support 18. The lifting slide 19 has guide shafts on both sides. The upper and lower ends of the guide shafts are fixed to the upper and lower crossbeams of the vertical support 18, respectively. The lifting slide 19 is sleeved on the guide shafts via linear bearings to ensure the stability of its vertical movement. The vertical stroke of the lifting slide 19 is... The range is 0 to 120 mm; the pneumatic nail gun 20 is fixed to the front end of the lifting slide 19 via an L-shaped mounting plate, with its nozzle pointing downwards towards the center area of ​​the contour support module 2; the nail feeding channel 21 is a flexible metal corrugated tube, one end of which is connected to the nail outlet of an external vibrating feeder, and the other end extends to the nail inlet of the pneumatic nail gun 20. The inner wall of the nail feeding channel 21 is coated with a Teflon coating to reduce frictional resistance; a photoelectric beam sensor is provided at one end of the nail feeding channel 21 near the pneumatic nail gun 20. The photoelectric beam sensor consists of a transmitter and a receiver, which are fixed on both sides of the nail feeding channel 21 to detect whether the nail has reached the predetermined position; the laser positioner 22 is fixed to the front end of the nozzle of the pneumatic nail gun 20, and its emission direction is parallel to the nozzle axis, used to project a cross-shaped light spot onto the surface of the shoe upper before nailing; the solenoid valve, stepper motor, photoelectric beam sensor and laser positioner 22 of the pneumatic nail gun 20 are all connected to the controller 25 via cables; The linkage drive unit 5 includes a controller 25, a displacement sensor 23, and a pressure feedback module 24. The controller 25 is a PLC programmable controller, installed in a control box inside the base 1. The control box has heat dissipation holes and an operation panel. The controller 25 has a built-in storage unit that pre-stores process parameters corresponding to various shoe types, including the target height parameters of each support column 7, the radial target position parameters of the clamping arm 12, the target height parameters of the lifting slide 19, and the nailing frequency parameters. The input terminals of the controller 25 are respectively connected to the analog signal output terminals of the displacement sensor 23 and the analog signal output terminals of the pressure feedback module 24. The controller 25 has an analog-to-digital conversion module inside, which converts the received analog signals into digital signals and compares them with preset thresholds. The output terminals of the controller 25 are respectively connected to the driver of the servo motor 17, the driver of the stepper motor used in the lifting slide 19, the control terminal of the solenoid valve of the pneumatic nail gun 20, the power switch of the laser positioner 22, and the signal processing circuit of the photoelectric beam sensor. The specific operation process of this utility model is as follows: First, the operator selects the corresponding shoe model program on the operation panel of the controller 25 according to the model of the shoe upper to be processed. The controller 25 retrieves the height parameters of the support column 7, the radial position parameters of the clamping arm 12, and the nailing height parameters corresponding to the shoe model from the storage unit. Then, the shoe upper is placed on the contour support module 2, and the bottom of the shoe upper contacts each flexible silicone pad 9. Since the bottom of the shoe upper has a three-dimensional curved surface, the pressure applied to the support column 7 in different areas is different, causing each support column 7 to sink to different degrees along the vertical slide rail 8, and the return spring 10 is compressed. The displacement sensor 23 detects the compression amount of each support column 7 in real time and transmits the data to the controller 25. The controller 25 compares the actual compression amount with the preset height parameters. If the deviation is within the allowable range, it proceeds to the next step. If the compression amount of a support column 7 exceeds the set upper limit (for example, more than 15 mm or 25 mm), the controller 25 pauses the subsequent actions and issues an audible and visual alarm. After the support status is confirmed, the controller 25 starts the servo motor 17. The servo motor 17 drives the rotating disk 15 to rotate through the drive gear. The rotating disk 15 pushes the four clamping arms 12 to move radially inward along the annular guide rail 11 through four sets of connecting rods 16, so that the arc-shaped pressure head 13 gradually approaches the side wall of the shoe upper. When the arc-shaped pressure head 13 contacts the shoe upper, the clamping force continues to be applied. The pressure feedback module 24 monitors the magnitude of the clamping force in real time and transmits the signal to the controller 25. When the clamping force reaches the preset safety value (e.g., 80N), the controller 25 stops the servo motor 17 and completes the clamping action. At this time, if the clamping force is lower than the safety lower limit (e.g., 50N), the controller 25 determines that the clamping has failed, stops nailing, and alarms. After the clamping is completed, the operator can mechanically lock the position of each clamping arm 12 with the locking bolts to prevent loosening during the nailing process. After the nail is clamped and stabilized, the controller 25 starts the vibratory feeder, and the nail is conveyed to the nail inlet of the pneumatic nail gun 20 through the nail feeding channel 21. After the photoelectric beam sensor detects that the nail is in place, it sends a signal to the controller 25. The controller 25 then controls the stepper motor to drive the ball screw pair, so that the lifting slide 19 moves the pneumatic nail gun 20 down to the preset nailing height. During the descent, the controller 25 simultaneously starts the laser positioner 22. The laser positioner 22 turns on 0.5 seconds before nailing and projects a cross-shaped light spot onto the surface of the shoe upper. The operator can confirm whether the nailing point is accurate by observing the position of the light spot. When the lifting slide 19 reaches the target position, the controller 25 controls the solenoid valve of the pneumatic nail gun 20 to be energized, completing one nailing action. After nailing is completed, the lifting slide 19 rises and resets, the laser positioner 22 turns off, and the nail feeding channel 21 continues to convey the next nail. The above process is repeated until all nailing operations are completed. Throughout the operation, the four adjustable feet at the bottom of the base 1 are used to adjust the overall level of the device. Each adjustable foot includes a threaded sleeve and an adjusting screw. The adjusting screw is screwed into the threaded sleeve, and the lower end is connected to an anti-slip rubber pad. The contour support module 2 is surrounded by an annular baffle, which is fixed to the upper surface of the base 1 and is 10 mm high. A magnetic strip is embedded in its inner side to attract iron-containing shoe lasts and assist in the initial positioning of the shoe upper. All electrical components are powered by an external power supply through the power module in the control box. The controller 25 can communicate with the host computer through an RS485 interface to realize remote parameter updates and fault diagnosis. Through the structural connection and coordinated action of the above-mentioned components, this utility model realizes the integrated operation of adaptive support, adaptive clamping and precise nailing of the shoe upper during the nailing process; each support column 7 independently responds to the bottom contour of the shoe upper to form a support surface that fits; the clamping arm 12 is linked with the rotating disk 15 through the connecting rod 16 to achieve synchronous radial movement; the nailing execution mechanism 4 completes the height adjustment, nail delivery and striking action under the unified scheduling of the controller 25; the linkage drive unit 5 forms a closed-loop feedback system through the displacement sensor 23 and the pressure feedback module 24 to ensure the safety and accuracy of the operation; the entire device has a compact structure, and all modules are integrated on the same base 1, avoiding the inefficiency problem caused by the separation of the nailing mechanism and the fixing mechanism in traditional equipment; in order to enable those skilled in the art to fully understand and implement this utility model, the specific implementation principle of this utility model is further supplemented below in conjunction with a specific application scenario; Step 1: Initial Placement and Adaptive Contouring Support of the Shoe Upper. The operator places the women's high-heeled shoe upper (model: LH-2025) to be processed in the central area of ​​the upper surface of base 1, with the bottom of the upper naturally covering the contouring support module 2. Due to the distinct three-dimensional curved surface feature of the upper's bottom (lower in the front and higher in the back), the heel area exerts significant pressure on the outer support column 7, causing the corresponding support column 7 to compress the return spring 10 downwards along the vertical slide rail 8, with a sinking of approximately 22 mm. Meanwhile, the forefoot area only slightly contacts the inner support column 7, with a sinking of approximately 8 mm. The flexible silicone pads 9 at the top of each support column 7 sink accordingly and conform to the contour of the shoe upper's bottom surface, forming a local conformal support surface. Simultaneously... Displacement sensors 23 installed on the base plate of each support column 7 collect their respective compression strokes in real time and transmit analog voltage signals to the controller 25. The controller 25 retrieves the support parameters corresponding to the LH-2025 model (outer ring target compression amount 20±3mm, inner ring target compression amount 10±2mm) pre-stored in the storage unit, compares the actual data after analog-to-digital conversion, and confirms that the compression amount of all support columns 7 is within the allowable tolerance range. Therefore, the support status is determined to be valid and the process proceeds to the next step. If an outer ring support column 7 sinks abnormally to 28mm due to shoe upper deformation, exceeding the upper limit of 25mm, the controller 25 immediately interrupts the process and triggers an audible and visual alarm to prevent subsequent clamping or nailing from causing damage to the workpiece. Step 2: During adaptive synchronous clamping, the controller 25 starts the servo motor 17. The output shaft of the servo motor 17 drives the drive gear to rotate. The drive gear meshes with the annular gear ring on the lower surface of the rotating disk 15, driving the rotating disk 15 to rotate clockwise. The four sets of connecting rods 16 hinged to the outer edge of the rotating disk 15 simultaneously extend outward. The other end of each set of connecting rods 16 pushes the corresponding clamping arm 12 to slide radially inward along the annular guide rail 11. The four sets of clamping arms 12 are distributed at 90-degree equal angles and synchronously retract, and the arc-shaped pressure head 13 at its top gradually approaches the side wall of the shoe upper. When the polyurethane buffer layer 14 inside the arc-shaped pressure head 13 contacts the leather surface of the shoe upper, the clamping force continues to be applied, and the pressure feedback module 24 embedded inside the arc-shaped pressure head 13—that is, The strain gauge pressure sensor outputs a pressure signal in real time. The controller 25 continuously monitors this signal. When the clamping force reaches the preset value of 80N, it immediately cuts off the power to the servo motor 17 and stops the clamping action. At this time, the curvature radius of the four sets of arc-shaped pressure heads 13 has been adjusted to 45 mm by their respective internal micro stepper motors, which perfectly matches the local curvature of the shoe upper sidewall. The operator then tightens the locking bolts on each slider to mechanically lock the clamping arm 12 on the annular guide rail 11, ensuring that it does not shift under subsequent high-frequency nailing impact. If the pressure feedback module 24 reports that the clamping force is only 40N, which is lower than the 50N safety threshold, the controller 25 determines that the clamping has failed, suspends the nailing process, and prompts for re-clamping. Step 3: Precise Positioning and Nail Driving. During execution, controller 25 activates the external vibratory feeder, and the nail is conveyed through the nail feeding channel 21. The nail feeding channel 21 adopts a flexible metal corrugated tube structure, with a Teflon coating on the inner wall to reduce friction and ensure smooth nail movement. When the nail reaches the vicinity of the inlet of the pneumatic nail gun 20, the optical path between the transmitter and receiver of the photoelectric through-beam sensor is blocked, generating a level transition signal and transmitting it to controller 25. Controller 25 then drives the stepper motor to rotate, and the stepper motor drives the ball screw to rotate through the coupling. The nut seat pushes the lifting slide 19 to descend vertically along the guide optical axis. During the descent, controller 25 simultaneously activates the laser positioning... Positioner 22 projects a laser beam from the front end of the nozzle of the pneumatic nail gun 20, forming a clear crosshair spot at the predetermined nailing point on the shoe upper. After the operator visually confirms that the center of the spot coincides with the seam mark on the shoe upper, the system continues to execute. When the lifting slide 19 descends to the preset height (e.g., 65 mm from the top surface of the contour support module 2), the displacement is precisely controlled by the ball screw pair. The controller 25 triggers the solenoid valve of the pneumatic nail gun 20, and compressed air pushes the firing pin to complete one nailing action. After nailing is completed, the lifting slide 19 automatically resets, the laser positioner 22 closes, and the nail feeding channel 21 delivers the next nail. This cycle continues until all 8 nailing points on the shoe upper are completed. Step 4: Rapid Switching Between Multiple Shoe Types and Ensuring System Stability. When the production line switches from LH-2025 women's high heels to MH-3010 men's athletic shoes, the operator only needs to select the new shoe type program on the control panel of controller 25. Controller 25 automatically loads new parameters: the target compression amount of the outer ring support column 7 is adjusted to 18 mm, the radial position of the clamping arm 12 is expanded by 15 mm, the curvature radius of the arc-shaped pressure head 13 is set to 55 mm, and the nailing height is set to 75 mm. The contour support module 2 automatically springs back to its initial height under the action of the return spring 10, and the clamping arm 12 opens synchronously under the reverse drive of the servo motor 17, without the need for manual disassembly or mechanical adjustment. The four adjustable feet at the bottom of the base 1 are adjusted by adjusting the screw to finely adjust the machine level, ensuring that the contour support module 2 and the nailing actuator 4 maintain a vertical reference. The magnetic strip on the inner side of the annular baffle attracts the iron shoe last, assisting in the initial positioning of the shoe upper and preventing placement deviation. The entire switching process takes no more than 30 seconds, significantly improving the equipment's flexibility and adaptability. As can be seen from the above steps, this utility model achieves dynamic fitting support for any three-dimensional curved surface of the shoe upper bottom through the independent settlement and displacement sensor 23 of the support column 7 array; through the four-bar synchronous mechanism composed of the rotating disk 15, the connecting rod 16 and the servo motor 17, it ensures the radial movement consistency of the four clamping arms 12 and avoids unilateral overpressure; through the collaboration of the laser positioner 22 and the photoelectric beam sensor, it realizes the closed-loop control of "nail in place - gun lowering - positioning - striking"; under the unified scheduling of the controller 25, each module completes the integrated operation of perception, judgment and execution, fundamentally solving the problems of positioning deviation, workpiece loosening and low changeover efficiency caused by the rigidity of the fixed structure, the separation of the mechanism and the lack of feedback in traditional nailing devices.

[0025] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A shoe upper nailing device, characterized in that, The system includes a base (1), a contour support module (2), an adaptive clamping assembly (3), a nailing actuator (4), and a linkage drive unit (5). The base (1) has an mounting groove (6) on its upper surface. The contour support module (2) is embedded in the mounting groove (6). The contour support module (2) is composed of an array of multiple independently liftable support columns (7). The bottom of each support column (7) is connected to the base (1) via a vertical slide rail (8). The top of each support column (7) is provided with a flexible silicone pad (9). The adaptive clamping assembly (3) includes a ring guide rail (11). The system includes several clamping arms (12) and a radial adjustment mechanism. The annular guide rail (11) is horizontally fixed above the base (1). Each clamping arm (12) is equidistantly distributed along the circumference of the annular guide rail (11). The bottom end of each clamping arm (12) is slidably engaged with the annular guide rail (11) via a slider. The top end of each clamping arm (12) is provided with an arc-shaped pressure head (13), and the inner side of the arc-shaped pressure head (13) is covered with a polyurethane buffer layer (14). The radial adjustment mechanism includes a rotating disk (15) located at the center of the annular guide rail (11) and multiple sets of connecting rods (16) connected to the outer edge of the rotating disk (15). Each set of connecting rods... One end of the connecting rod (16) is hinged to the edge of the rotating disk (15), and the other end is hinged to the middle of the corresponding clamping arm (12). The rotating disk (15) is driven to rotate by a servo motor (17). The nailing actuator (4) includes a vertical support (18), a lifting slide (19), a pneumatic nail gun (20), and a nail feeding channel (21). The vertical support (18) is fixed to one side of the base (1). The lifting slide (19) is mounted on the vertical support (18) through a ball screw pair. The pneumatic nail gun (20) is fixed to the front end of the lifting slide (19). The nail feeding channel (21) is... One end is connected to the vibratory feeder, and the other end extends to the nail inlet of the pneumatic nail gun (20); the linkage drive unit (5) includes a controller (25), a displacement sensor (23) and a pressure feedback module (24). The displacement sensor (23) is installed at the bottom of each support column (7) to detect the compression stroke of the support column (7). The pressure feedback module (24) is integrated inside the arc-shaped pressure head (13) to monitor the clamping force. The controller (25) is electrically connected to the servo motor (17), the drive motor of the lifting slide (19), and the solenoid valve of the pneumatic nail gun (20).

2. The shoe upper nailing device according to claim 1, characterized in that: The array of support columns (7) is arranged in concentric circles. The height of the inner ring support columns (7) is adjustable from 0 to 15 mm, and the height of the outer ring support columns (7) is adjustable from 0 to 25 mm. Each support column (7) is provided with a reset spring (10) at its bottom. One end of the reset spring (10) abuts against the bottom plate of the support column (7), and the other end abuts against the bottom surface of the inner cavity of the base (1).

3. The shoe upper nailing device according to claim 1, characterized in that: The clamping arms (12) are in four groups, arranged at 90-degree intervals along the annular guide rail (11). Each group of clamping arms (12) has a locking bolt on its slider. The locking bolt passes through the side wall of the slider and presses against the outer edge of the annular guide rail (11). The radius of curvature of the arc-shaped pressure head (13) is continuously adjustable between 30 mm and 60 mm. The curvature is changed by driving the curved surface adjustment plate through the micro stepper motor inside the pressure head.

4. The shoe upper nailing device according to claim 1, characterized in that: The lower surface of the rotating disk (15) is provided with an annular gear ring, and the output shaft of the servo motor (17) is equipped with a drive gear. The drive gear meshes with the annular gear ring for transmission. The servo motor (17) is fixed on the motor mounting seat inside the base (1). The motor mounting seat is connected to the base (1) through a shock-absorbing rubber pad.

5. A shoe upper nailing device according to claim 1, characterized in that: The vertical stroke of the lifting slide (19) is 0 to 120 mm. The ball screw pair is driven by a stepper motor. The stepper motor is connected to the ball screw through a coupling. The lifting slide (19) is provided with a guide shaft. The two ends of the guide shaft are fixed between the upper and lower crossbeams of the vertical support (18).

6. The shoe upper nailing device according to claim 1, characterized in that: The nail feeding channel (21) is a flexible metal corrugated tube with a Teflon coating on its inner wall. A photoelectric sensor is provided at one end of the nail feeding channel (21) near the pneumatic nail gun (20). The signal output end of the photoelectric sensor is connected to the controller (25).

7. A shoe upper nailing device according to claim 1, characterized in that: The controller (25) is a PLC programmable controller. The built-in storage unit stores the height parameters of the support column (7), the radial position parameters of the clamping arm (12), and the nailing height parameters corresponding to different shoe types. The controller (25) receives the analog signals from the displacement sensor (23) and the pressure feedback module (24), and compares them with the preset threshold after analog-to-digital conversion. When the compression of the support column (7) exceeds the set value or the clamping pressure is lower than the safety lower limit, the controller (25) pauses the nailing action and issues an alarm signal.

8. A shoe upper nailing device according to claim 1, characterized in that: The base (1) has four adjustable feet at the bottom. Each adjustable foot includes a threaded sleeve and an adjusting screw. The adjusting screw is screwed into the threaded sleeve, and the lower end of the adjusting screw is connected to an anti-slip rubber pad.

9. A shoe upper nailing device according to claim 1, characterized in that: The contour support module (2) is provided with an annular baffle on its periphery. The annular baffle is fixed to the upper surface of the base (1) and has a height of 10 mm. The inner side of the annular baffle is provided with a magnetic strip.

10. A shoe upper nailing device according to claim 1, characterized in that: The pneumatic nail gun (20) has a laser locator (22) at the front end of the nozzle. The cross-shaped light spot emitted by the laser locator (22) is projected onto the nailing area of ​​the shoe upper. The laser locator (22) is controlled to start and stop by the controller (25).

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