阅读说明：本技术 一种制鞋帮底粘合机械手 (Shoemaking sole bonding manipulator ) 是由 卓海峰 于 2019-07-29 设计创作，主要内容包括：本发明公开了一种制鞋帮底粘合机械手,其结构包括鞋帮粘合机械手、丝杠、横架、立柱、活动滑座、旋转底座、操作台、支脚、帮面定位座,本发明具有的效果：鞋帮粘合机械手设有的鞋底抓取机构和喷胶传动机构相互联动,鞋底抓取机构通过控制伺服电动杆的伸缩长度,来使呈轴对称结构设置的两根从动夹合杆进行夹合动作或分离动作,喷胶传动机构利用伺服电动杆运作中产生的向前直线动能,在鞋底被夹合在呈轴对称结构设置的两根从动夹合杆之间时,朝鞋底粘合面迅速通过热融排胶弯管喷胶,从而使机械手具备同步对鞋底进行抓取和喷胶工作,从而提高鞋帮和鞋底之间粘合效率。(The invention discloses a mechanical hand for bonding shoe uppers and soles, which structurally comprises a mechanical hand for bonding shoe uppers, a screw rod, a cross frame, a stand column, a movable sliding seat, a rotating base, an operating platform, supporting legs and a shoe upper surface positioning seat, and has the following effects: the sole that upper of a shoe gluing manipulator was equipped with snatchs the mechanism and spouts gluey drive mechanism and link each other, the sole snatchs the flexible length of mechanism through control servo electric pole, make two driven clamping poles that are the setting of axial symmetry structure carry out the clamping action or the separation action, spout the straight line kinetic energy forward that produces in the drive mechanism utilizes servo electric pole function, when the sole was clamped between two driven clamping poles that are the setting of axial symmetry structure, spout glue through hot melt binder removal return bend rapidly towards the sole adhesive surface, thereby make the manipulator possess and snatch and spout gluey work to the sole in step, thereby improve bonding efficiency between upper of a shoe and the sole.)

1. The utility model provides a system upper of a shoe end bonding manipulator, its structure includes upper of a shoe bonding manipulator (1), lead screw (2), crossbearer (3), stand (4), activity slide (5), rotating base (6), operation panel (7), stabilizer blade (8), group face positioning seat (9), its characterized in that:

Operation panel (7) bottom be equipped with stabilizer blade (8), operation panel (7) top be equipped with rotating base (6), rotating base (6) top be equipped with stand (4), stand (4) front end be equipped with movable slide (5), stand (4) one side be equipped with crossbearer (3), crossbearer (3) front end be equipped with lead screw (2), lead screw (2) on be equipped with upper of a shoe bonding manipulator (1), upper of a shoe bonding manipulator (1) below be equipped with group's face positioning seat (9).

2. A shoemaking sole bonding robot as claimed in claim 1, wherein: upper of a shoe bonding manipulator (1) snatch mechanism (14), spout gluey drive mechanism (15) by glue case (11), one-way overflow mouth (12), lead screw ball nut (13), sole and constitute, lead screw ball nut (13) top be equipped with gluey water case (11), lead screw ball nut (13) bottom be equipped with the sole and snatch mechanism (14), the sole snatch mechanism (14) inside and be equipped with and spout gluey drive mechanism (15).

3. A shoemaking sole bonding robot as claimed in claim 2, wherein: the sole snatch mechanism (14) and lead glue elbow pipe (14e) by the heat and melt and constitute by rubber tube (14a), main support (14b), servo electric pole (14c), driven clamping pole (14d), heat and melt and arrange glue elbow pipe (14e), lead gluey pressure chamber (14f), main support (14b) both sides be equipped with driven clamping pole (14d), be equipped with servo electric pole (14c) between driven clamping pole (14d) and main support (14b) of institute, main support (14b) front end be equipped with heat and melt rubber tube (14a), heat melt rubber tube (14a) bottom be equipped with and lead gluey pressure chamber (14f), rubber tube (14f) bottom be equipped with heat and melt and arrange glue elbow pipe (14 e).

4. A shoemaking sole bonding robot as claimed in claim 3, wherein: lead gluey pressure chamber (14f) constitute by main cavity (14f1), lead gluey straight tube (14f2), air cock (14f3), piston (14f4), piston cylinder (14f5), binder removal fill (14f6), main cavity (14f1) inside be equipped with lead gluey straight tube (14f2), lead gluey straight tube (14f2) below be equipped with binder removal fill (14f6), main cavity (14f1) both sides be equipped with piston cylinder (14f5), piston cylinder (14f5) inside be equipped with piston (14f4), lead gluey straight tube (14f2) both sides be equipped with air cock (14f 3).

Technical Field

the invention relates to the field of manipulators, in particular to a manipulator for bonding shoe uppers and soles.

Background

In the process of shoemaking, the bonding of group face and sole is a very important process, the bonding mode of group face and sole generally adopts the manual work to bond, it is lower to carry out the bonded yield to group face and sole through the manual work, repeated bonding action makes operating worker fatigue easily, lead to the yield to reduce, glue often can be stained with on the hand in bonding process, be difficult to wash, and glue smell can influence operating worker's health, consequently need develop one kind and possess the shoemaking group face bonding manipulator who snatchs and spout the gluey integral type, it is lower to solve through the manual work to carry out the bonded yield to group face and sole with this, repeated bonding action makes operating worker fatigue easily, lead to the yield to reduce, glue often can be stained with on the hand in bonding process, be difficult to wash, and glue smell can directly influence the problem of operating worker health.

Summary of the invention

Aiming at the defects of the prior art, the invention is realized by the following technical scheme: the utility model provides a system upper of a shoe end bonding manipulator, its structure includes upper of a shoe bonding manipulator, lead screw, crossbearer, stand, movable slide, rotating base, operation panel, stabilizer blade, group face positioning seat, operation panel bottom be equipped with the stabilizer blade, operation panel top be equipped with rotating base, the central point at rotating base top put and be equipped with the stand, the stand front end be equipped with movable slide, movable slide and stand adopt sliding fit, stand one side be equipped with the crossbearer, crossbearer and movable slide connect, the crossbearer front end be equipped with the lead screw, the lead screw on be equipped with upper of a shoe bonding manipulator, upper of a shoe bonding manipulator and lead screw swing joint, upper of a shoe bonding manipulator below be equipped with group face positioning seat, group face positioning seat install on the operation panel.

As the further optimization of this technical scheme, upper of a shoe bonding manipulator snatch the mechanism, spout gluey drive mechanism by gluey water tank, one-way overflow mouth, lead screw ball nut, sole and constitute, lead screw ball nut and lead screw cooperate, lead screw ball nut top be equipped with gluey water tank, the glue tank fix at lead screw ball nut top, lead screw ball nut bottom be equipped with the sole and snatch the mechanism, the sole snatch the mechanism inside be equipped with two and spout gluey drive mechanism and be the axisymmetric structure, the sole snatch the mechanism inside and be equipped with and spout gluey drive mechanism and cooperate.

as a further optimization of this technical scheme, the sole snatch the mechanism and lead rubber tube, main support, servo electric pole, driven clamping pole, hot melt binder removal return bend, lead and glue pressure chamber by hot melt and constitute, the main support both sides be equipped with from the clamping pole and be the axisymmetric structure, be equipped with servo electric pole between driven clamping pole and the main support of institute, servo electric pole gomphosis install on the main support and the head end is connected with driven clamping pole, the central point of main support front end put and be equipped with hot melt binder removal pipe, hot melt binder removal pipe fix on the main support and the upper end is connected with one-way overflow mouth, hot melt binder removal pipe bottom be equipped with and lead the rubber pressure chamber, the central point of binder removal pressure chamber bottom put and be equipped with hot melt binder removal return bend, hot melt binder removal pipe and hot melt binder removal return bend pass through and lead rubber pressure chamber and connect.

as the further optimization of this technical scheme, lead gluey pressure chamber by the main cavity body, lead gluey straight tube, air cock, piston cylinder, the rubber discharging fill and constitute, the internal inside central point of main cavity put and be equipped with and lead gluey straight tube, lead gluey straight tube and heat and melt rubber tube connection, lead gluey straight tube below be equipped with rubber discharging fill, rubber discharging fill and heat melt rubber discharging elbow connection, main cavity body both sides be equipped with the piston cylinder and be the axial symmetry structure, the inside piston that is equipped with of piston cylinder, piston and piston cylinder adopt sliding fit, rubber guiding straight tube both sides be equipped with the air cock and be the axial symmetry structure, air cock and piston cylinder connect.

As a further optimization of the technical scheme, the glue spraying transmission mechanism consists of a driven rod, a transmission tilting rod, a steel wire rope, a positioning sliding sleeve, a spring and a sliding rod, the positioning sliding sleeve is installed on the driven clamping rod, the top of the positioning sliding sleeve is provided with the transmission tilting rod, the transmission tilting rod is obliquely arranged at the top of the positioning sliding sleeve and is movably connected with the positioning sliding sleeve at the center, the head end of the transmission tilting rod is provided with the driven rod, the driven rod is movably connected with the transmission tilting rod, the transmission tilting rod is connected with the servo electric rod through the driven rod, the front end of the positioning sliding sleeve is provided with the sliding rod, the sliding rod and the positioning sliding sleeve are in sliding fit, the sliding rod is provided with the spring, the front end and the rear end of the spring are respectively fixed on the sliding rod and the positioning sliding sleeve, the sliding rod penetrates through a piston cylinder and is connected with the piston, and, the sliding rod is connected with the transmission warping rod through a steel wire rope.

As a further optimization of the technical scheme, the air tap is arranged to be higher than the rubber guide straight pipe rubber discharge port, so that when negative pressure is generated inside the main cavity, glue is sucked into the piston cylinder from the air tap, and the situation that piston movement of the piston cylinder and the piston cannot be carried out in a reciprocating mode is avoided.

As a further optimization of the technical scheme, the bottom end of the hot-melt glue-discharging bent pipe is of an upward curved structure, so that the formed upward curved structure can be aligned to the sole bonding surface after clamping.

Advantageous effects

The mechanical arm for bonding the shoe upper bottom has the advantages of reasonable design, strong functionality and the following beneficial effects:

The sole grabbing mechanism and the glue spraying transmission mechanism arranged on the upper gluing manipulator are mutually linked, the sole grabbing mechanism enables two driven clamping rods arranged in an axisymmetric structure to carry out clamping action or separation action by controlling the telescopic length of the servo electric rod, the glue spraying transmission mechanism utilizes forward linear kinetic energy generated in the operation of the servo electric rod, when the sole is clamped between two driven clamping rods which are arranged in an axial symmetry structure, glue is rapidly sprayed towards the bonding surface of the sole through a hot melt glue discharging bent pipe, thereby the manipulator can synchronously grab and spray the sole, thereby solving the problems that the yield rate of manually bonding the upper and the sole is low, the repeated bonding action easily causes the fatigue of operators, the yield rate is reduced, the glue is often stuck on hands in the bonding process and is difficult to clean, and the smell of the glue directly influences the body health of operators;

the invention relates to a main linkage structure consisting of a driven rod, a transmission warping rod, a steel wire rope and a sliding rod, wherein the head end of the driven rod is connected with the head end of a servo electric rod, the tail end of the driven rod is connected with the transmission warping rod, the transmission warping rod is obliquely arranged at the top of a positioning sliding sleeve, the center of the transmission warping rod is movably connected with the positioning sliding sleeve, when the head end of the servo electric rod is compressed inwards, driven clamping rods arranged at two sides of a main bracket are gradually and inwards close to each other, forward thrust formed by the driven rod is enabled to enable one end of the transmission warping rod to bear forward thrust, the other end of the transmission warping rod is warped upwards, the sliding rod is pulled by the steel wire rope to slide backwards along the positioning sliding sleeve in the warping process, at the moment, a spring is stressed and compressed, a glue guide pressure chamber generates negative pressure inside under the acting force generated by mutual linkage between the structures, the glue in a glue box, thereby achieving the purpose of spraying glue to the sole bonding surface under the simple linkage effect among the structures;

The glue guide straight pipe, the air tap, the piston cylinder and the glue discharging hopper form a main glue guide structure, because a piston in the piston cylinder is connected with a slide rod, the piston is pulled to slide backwards along the interior of the piston cylinder by utilizing the acting force of the slide rod sliding backwards along a positioning sliding sleeve, air in the main cavity is evacuated by the air tap arranged in the main cavity, so that the pressure in the main cavity is lower than the normal pressure, glue in a glue tank is discharged into the glue discharging hopper through a hot melt glue guide pipe and the glue guide straight pipe under the action of negative pressure formed in the main cavity, the glue is quickly sprayed on the bonding surface of a sole by utilizing the fall formed between the hot melt glue discharging elbow and the glue discharged into the glue discharging hopper and the pressure of the air, because the height of the air tap is larger than the setting height of a glue discharging opening of the glue guide straight pipe, when the negative pressure is generated in the main cavity, the glue is sucked into the, the situation that the piston cylinder and the piston of the piston can not move back and forth is caused.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic structural diagram of a shoe sole bonding robot according to the present invention;

FIG. 2 is a schematic front view of the upper bonding robot of the present invention;

FIG. 3 is a schematic front sectional view of the sole gripping mechanism of the present invention;

FIG. 4 is a schematic side view of the hot-melt glue-guiding tube, the hot-melt glue-discharging elbow and the glue-guiding pressure chamber according to the present invention;

FIG. 5 is a schematic cross-sectional view of a glue-guiding pressure chamber according to the present invention;

fig. 6 is a schematic front view of the glue-spraying transmission mechanism of the present invention.

in the figure: an upper bonding manipulator-1, a glue tank-11, a one-way overflow nozzle-12, a lead screw ball nut-13, a sole grabbing mechanism-14, a hot melt glue guide tube-14 a, a main bracket-14 b, a servo electric rod-14 c, a driven clamping rod-14 d, a hot melt glue discharging bent tube-14 e, a glue guide pressure chamber-14 f, a main cavity-14 f1, a glue guide straight tube-14 f2, an air nozzle-14 f3, a piston-14 f4, a piston cylinder-14 f5, a glue discharging hopper-14 f6, a glue spraying transmission mechanism-15, a driven rod-15 a, a transmission warped rod-15 b, a steel wire rope-15 c, a positioning sliding sleeve-15 d, a spring-15 e, a sliding rod-15 f, a lead screw-2, a horizontal frame-3, a stand column-4, a rubber guide pressure chamber-14 f, a main cavity-, A movable slide seat-5, a rotating base-6, an operating platform-7, a support leg-8 and a side positioning seat-9.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the following description and the accompanying drawings further illustrate the preferred embodiments of the invention.