阅读说明：本技术 一种鞋楦抓取方法 (Shoe tree grabbing method ) 是由 陈光妙 宋柏华 于 2021-01-12 设计创作，主要内容包括：本发明公开了一种鞋楦抓取方法,包括如下步骤：步骤1,将带有二维码的鞋楦安放在鞋楦托架上；步骤2,将机械臂夹具驱动至待抓取鞋楦托架的正前方；步骤3,驱动机械臂夹具使两个叉指件伸入托架槽,并识别鞋楦上的二维码判断是否抓取正确,若正确则进入步骤4,否则发出报警信息；步骤4,驱动机械臂夹具的两个叉指件背向滑动,使得两个叉指件抵接托架槽的两个侧壁后托起鞋楦托架,再将鞋楦托架和鞋楦移动到制定位置。通过对鞋楦托架与机械臂夹具进行结构设计,将贴有二维码的鞋楦放在鞋楦托架上,用机械臂夹具抓取鞋楦托架从而将鞋楦取出,具有抓取效率高、准确率高的优点,同时还具有明显经济效率,有效地提高个性化柔性制鞋产线的生产效率。(The invention discloses a shoe tree grabbing method, which comprises the following steps: step 1, placing a shoe tree with a two-dimensional code on a shoe tree bracket; step 2, driving the mechanical arm clamp to be right in front of the shoe tree bracket to be grabbed; step 3, driving the mechanical arm clamp to enable the two fork fingers to extend into the bracket slot, identifying the two-dimensional code on the shoe tree and judging whether the two-dimensional code is correctly grabbed, if so, entering step 4, and otherwise, sending alarm information; and 4, driving the two interdigital parts of the mechanical arm clamp to slide back to back, so that the two interdigital parts prop against the two side walls of the bracket groove and then lift the shoe tree bracket, and then moving the shoe tree bracket and the shoe tree to a set position. Through carrying out structural design to shoe tree bracket and arm anchor clamps, the shoe tree that will paste the two-dimensional code is put on the shoe tree bracket, thereby snatch the shoe tree bracket with arm anchor clamps and take out the shoe tree, have the advantage of snatching efficient, the rate of accuracy is high, still has obvious economic efficiency simultaneously, improves the production efficiency that individualized flexible shoemaking was produced the line effectively.)

1. A shoe tree grabbing method is characterized by comprising the following steps:

step 1, placing a shoe tree with a two-dimensional code on a shoe tree bracket, wherein the shoe tree bracket is provided with a supporting surface capable of supporting the shoe tree and a bracket groove capable of extending into a mechanical arm clamp;

step 2, driving a mechanical arm clamp to be right in front of the shoe tree bracket to be grabbed, wherein the mechanical arm clamp is provided with two interdigital parts capable of sliding in opposite directions or in back directions and a camera shooting mechanism capable of recognizing the two-dimensional code;

step 3, driving the mechanical arm clamp to enable the two interdigital parts to extend into the bracket slot, identifying the two-dimensional code on the shoe tree based on the camera shooting mechanism, judging whether the two interdigital parts are correctly grabbed or not according to the identification result, if so, entering step 4, and otherwise, sending alarm information;

and 4, driving the two interdigital parts of the mechanical arm fixture to slide back to back, unfolding the mechanical arm fixture, enabling the two interdigital parts to abut against the two side walls of the bracket groove and then supporting the shoe tree bracket, and moving the shoe tree bracket and the shoe tree to a set position to finish the whole process of grabbing the shoe tree.

2. The method for gripping a footwear last according to claim 1, wherein in step 1, the footwear last carrier includes a first base frame and a support mechanism;

the first pedestal comprises two longitudinal trusses which are equal in length and parallel, a space is formed between the two longitudinal trusses, the supporting mechanism is fixedly connected to the top surfaces of the two longitudinal trusses, and the inner side surfaces of the two longitudinal trusses and the bottom surface of the supporting mechanism enclose the bracket slot;

the supporting mechanism comprises a plurality of parallel transverse trusses which are equal in length, each transverse truss is sequentially fixedly connected to the top surfaces of the two longitudinal trusses at intervals, and the top surfaces of the transverse trusses jointly form the supporting surface.

3. The method for last grabbing according to claim 2, wherein the support surface is a rectangular structure; at least one shielding piece is arranged on each of two long edge edges and one short edge of the supporting surface;

the shielding piece comprises a connecting plate and a shielding plate which are fixedly connected and are perpendicular to each other, the connecting plate is fixedly connected with the shielding plate, and the shielding plate is parallel to the corresponding edge of the supporting surface and extends upwards to prevent the supporting surface for the shoe tree from falling.

4. The shoe tree gripping method according to claim 1, 2 or 3, wherein in the step 2, the robot arm clamp comprises a second base frame, a driving mechanism and two interdigital mechanisms symmetrically arranged on the second base frame, and the image pickup mechanism and the driving mechanism are fixedly arranged on the second base frame;

the interdigital mechanism comprises a connecting piece and an interdigital piece which are perpendicular to each other, one end of the connecting piece is connected to the second base frame in a sliding mode, one end of the interdigital piece is fixedly connected to the other end of the connecting piece, the other end of the interdigital piece extends in the direction far away from the second base frame, and the two interdigital pieces are located on the same horizontal plane;

the driving mechanism is in transmission connection with the two connecting pieces to drive the two connecting pieces to slide oppositely or reversely on the second base frame, and therefore the mechanical arm clamp is unfolded or contracted.

5. The method for gripping a footwear last according to claim 4, wherein the connecting member includes a sliding portion and a connecting portion perpendicular to each other, the sliding portion having a block-shaped structure, the connecting portion having a rod-shaped structure;

the sliding portion is connected to the second base frame in a sliding mode, one end of the connecting portion is fixedly connected to the bottom of the sliding portion and located at one end far away from the other interdigital mechanism, and the interdigital piece is fixedly connected to the other end of the connecting portion and perpendicular to the connecting portion.

6. The shoe tree gripping method according to claim 5, wherein a slide rail is provided on a surface of the sliding portion facing away from the interdigital member, a slide groove corresponding to the slide rail is provided on the second base frame, the sliding portion is slidably connected to the second base frame by the fit between the slide rail and the slide groove, and a length direction of the slide rail is perpendicular to a length direction of the interdigital member.

7. The method of claim 4, wherein the interdigital member has a rod-like structure, and the thickness of the rod portion of the interdigital member from the head end to the middle portion is equal, and the thickness of the rod portion of the interdigital member from the middle portion to the tail end is gradually reduced; the width of the part of the rod body from the head end to the middle part of the interdigital part is equal, the width of the part of the rod body from the middle part to the tail end of the interdigital part is gradually reduced, and the tail end of the interdigital part is one end far away from the second base frame.

8. The method for grabbing a shoe tree as claimed in claim 4, wherein the camera mechanism comprises a camera and a plurality of illuminating lamp beads surrounding a lens of the camera, the camera is fixedly connected to the bottom of the second base frame, and the lens of the camera faces a position between the two interdigital parts.

Technical Field

The invention relates to the technical field of shoe and clothing manufacturing, in particular to a shoe tree grabbing method.

Background

The shoe tree can not be used in the design, manufacture and production of the shoes. The shoe tree is the parent of shoes, and it is not only the length of deciding shoes is fat thin and the molding, and still decides whether shoes dress is comfortable to fit the foot to and whether can play the safety protection effect or be favorable to the motion of foot. In traditional shoemaking scale industry, often through the shoes of a certain section, a certain sign indicating number of mass production, can be through artifical single processing when pairing the shoe tree, pair time and efficiency and satisfy the production efficiency demand. However, in a large-scale flexible personalized shoemaking production mode based on the industrial internet, orders are produced in real time, the requirement of the traditional minimum order quantity is broken through the cooperation of a consumption end, a platform end and a production end, single piece stream online production of mixed money, mixed color, mixed code and personalized customization is realized, sizes and styles of two adjacent pairs of shoes are possibly different in a shoemaking production line, and therefore the problem that shoe lasts need to be matched with vamps of the shoes of each pair of shoes is caused. Traditional shoemaking producer often adopts goods shelves classification management shoe tree model, adopts artifical classification, and same batch production water line matches once, and is not high to the demand that adopts the machine to carry out the automation and snatch the shoe tree. In the personalized flexible shoemaking assembly line, in order to match the shoe tree of every pair of shoes, the shoe tree needs to be grabbed and stored according to the production schedule of the assembly line. Therefore, in a large-scale personalized flexible shoe making production line, a machine grabbing mode is needed for taking and placing the shoe trees. Because the shoe tree belongs to irregular shape, because the appearance characteristics of shoe tree, the shoe tree is placed and is needed certain carrier, or the box, or the bracket, and shoe tree bracket among the prior art mainly realizes laying of shoe tree, does not optimize to the automatic shoe tree storehouse of getting and putting, can't realize that intelligent machine gets and puts the shoe tree automatically. Therefore, if the existing finger claw structure clamp assembly is directly adopted for grabbing, the structure of the clamp assembly is complex, so that the positioning precision of the mechanical arm is high in the grabbing process, and the failure rate of grabbing the shoe tree is high.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a shoe tree grabbing method, which is characterized in that a shoe tree bracket and a mechanical arm clamp are structurally designed, a shoe tree pasted with a two-dimensional code is placed on the shoe tree bracket, the mechanical arm clamp grabs the shoe tree bracket so as to take out the shoe tree, and the grabbing and storing efficiency can meet the production efficiency and the use requirement of a large-scale personalized flexible shoe making production line.

In order to achieve the above object, the present invention provides a shoe tree gripping method, comprising the steps of:

step 1, placing a shoe tree with a two-dimensional code on a shoe tree bracket, wherein the shoe tree bracket is provided with a supporting surface capable of supporting the shoe tree and a bracket groove capable of extending into a mechanical arm clamp;

step 2, driving a mechanical arm clamp to be right in front of the shoe tree bracket to be grabbed, wherein the mechanical arm clamp is provided with two interdigital parts capable of sliding in opposite directions or in back directions and a camera shooting mechanism capable of recognizing the two-dimensional code;

step 3, driving the mechanical arm clamp to enable the two interdigital parts to extend into the bracket slot, identifying the two-dimensional code on the shoe tree based on the camera shooting mechanism, judging whether the two interdigital parts are correctly grabbed or not according to the identification result, if so, entering step 4, and otherwise, sending alarm information;

and 4, driving the two interdigital parts of the mechanical arm fixture to slide back to back, unfolding the mechanical arm fixture, enabling the two interdigital parts to abut against the two side walls of the bracket groove and then supporting the shoe tree bracket, and moving the shoe tree bracket and the shoe tree to a set position to finish the whole process of grabbing the shoe tree.

In one embodiment, in step 1, the last carrier includes a first base frame and a support mechanism;

the first pedestal comprises two longitudinal trusses which are equal in length and parallel, a space is formed between the two longitudinal trusses, the supporting mechanism is fixedly connected to the top surfaces of the two longitudinal trusses, and the inner side surfaces of the two longitudinal trusses and the bottom surface of the supporting mechanism enclose the bracket slot;

the supporting mechanism comprises a plurality of parallel transverse trusses which are equal in length, each transverse truss is sequentially fixedly connected to the top surfaces of the two longitudinal trusses at intervals, and the top surfaces of the transverse trusses jointly form the supporting surface.

In one embodiment, the supporting surface is a rectangular structure; at least one shielding piece is arranged on each of two long edge edges and one short edge of the supporting surface;

the shielding piece comprises a connecting plate and a shielding plate which are fixedly connected and are perpendicular to each other, the connecting plate is fixedly connected with the shielding plate, and the shielding plate is parallel to the corresponding edge of the supporting surface and extends upwards to prevent the supporting surface for the shoe tree from falling.

In one embodiment, in step 2, the robot arm clamp includes a second base frame, a driving mechanism and two interdigital mechanisms symmetrically arranged on the second base frame, and the imaging mechanism and the driving mechanism are both fixedly arranged on the second base frame;

the interdigital mechanism comprises a connecting piece and an interdigital piece which are perpendicular to each other, one end of the connecting piece is connected to the second base frame in a sliding mode, one end of the interdigital piece is fixedly connected to the other end of the connecting piece, the other end of the interdigital piece extends in the direction far away from the second base frame, and the two interdigital pieces are located on the same horizontal plane;

the driving mechanism is in transmission connection with the two connecting pieces to drive the two connecting pieces to slide oppositely or reversely on the second base frame, and therefore the mechanical arm clamp is unfolded or contracted.

In one embodiment, the connecting piece comprises a sliding part and a connecting part which are perpendicular to each other, the sliding part is of a block-shaped structure, and the connecting part is of a rod-shaped structure;

the sliding portion is connected to the second base frame in a sliding mode, one end of the connecting portion is fixedly connected to the bottom of the sliding portion and located at one end far away from the other interdigital mechanism, and the interdigital piece is fixedly connected to the other end of the connecting portion and perpendicular to the connecting portion.

In one embodiment, a slide rail is arranged on one surface of the sliding portion, which faces away from the interdigital part, a slide groove corresponding to the slide rail is arranged on the second base frame, the sliding portion is slidably connected to the second base frame through the matching of the slide rail and the slide groove, and the length direction of the slide rail is perpendicular to the length direction of the interdigital part.

In one embodiment, the interdigital part is of a rod-shaped structure, the thickness of the part of the rod body on the interdigital part from the head end to the middle part is equal, and the thickness of the part of the rod body on the interdigital part from the middle part to the tail end is gradually reduced; the width of the part of the rod body from the head end to the middle part of the interdigital part is equal, the width of the part of the rod body from the middle part to the tail end of the interdigital part is gradually reduced, and the tail end of the interdigital part is one end far away from the second base frame.

In one embodiment, the camera mechanism comprises a camera and a plurality of illuminating lamp beads surrounding the camera lens, the camera is fixedly connected to the bottom of the second base frame, and the camera lens faces the position between the two interdigital parts.

According to the shoe tree grabbing method provided by the invention, through structural design of the shoe tree bracket and the mechanical arm clamp, the shoe tree pasted with the two-dimensional code is placed on the shoe tree bracket, and the mechanical arm clamp grabs the shoe tree bracket so as to take out the shoe tree, so that the shoe tree grabbing method has the advantages of high grabbing efficiency and high accuracy, and meanwhile, the shoe tree grabbing method has obvious economic efficiency, and effectively improves the production efficiency of an individualized flexible shoe production line.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic view of the structure of a last carrier according to an embodiment of the present invention;

FIG. 2 is a schematic view of the last carrier of the embodiment of the present invention showing the structure of the last carrier when a last is installed;

FIG. 3 is an isometric view of a robotic arm clamp in an embodiment of the invention;

FIG. 4 is a side view of a robot arm clamp in an embodiment of the present invention;

FIG. 5 is a top view of a robotic arm clamp in an embodiment of the present invention;

FIG. 6 is a schematic cross-sectional view of a slide rail according to an embodiment of the present invention;

FIG. 7 is a schematic cross-sectional view of a chute according to an embodiment of the present invention

FIG. 8 is an isometric view of a robotic arm clamp in an embodiment of the present invention;

fig. 9 is a flowchart illustrating a method for gripping a shoe last according to an embodiment of the present invention.

Reference numerals: longitudinal girders 101, bracket grooves 102, transverse girders 103, shielding piece 104, mechanical arm clamp 20, second pedestal 201, chute 2011, interdigital piece 202, sliding part 203, sliding rail 2031, connecting part 204, camera 205, lighting bead 206, connecting plate 207, base 301, knuckle arm 302 and shoe tree 40.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Fig. 1-2 show a last support disclosed in this embodiment, which specifically includes a first base frame and a supporting mechanism; the bottom of the supporting mechanism is fixedly connected to the top of the first base frame, and a supporting surface capable of supporting the shoe tree 40 is arranged at the top of the supporting mechanism; the bottom of first bed frame is equipped with the bracket slot 102 that can stretch into mechanical arm anchor clamps, when the arm need snatch shoe tree 40, only need stretch into bracket slot 102 with mechanical arm anchor clamps and can lift up the shoe tree bracket, accomplish getting of shoe tree 40 and put. Make this shoe tree bracket when being convenient for lay shoe tree 40, can also grab the cooperation with the arm of supporting intelligent machine for arm anchor clamps can snatch the shoe tree bracket, simple structure is slim and graceful moreover, and the intelligent machine arm of being convenient for snatchs, and shoe tree 40 lays conveniently, and all-round visual when shoe tree 40 lays on this bracket, and the staff of being convenient for inspects shoe tree 40 and lays state and relevant information.

In this embodiment, the first base frame includes two longitudinal girders 101 that are equal in length and parallel, and a space is provided between the two longitudinal girders 101. Specifically, the longitudinal girders 101 are of a rectangular parallelepiped structure, and the two longitudinal girders 101 are parallel to each other along the length direction of the rectangular parallelepiped, wherein the length of the longitudinal girders 101 is greater than the length of the shoe tree 40, the width of the space between the two longitudinal girders 101 is greater than the width of the shoe tree 40, the supporting mechanism is fixedly connected to the top surfaces of the two longitudinal girders 101, and a bracket slot 102 is defined between the inner side surfaces of the two longitudinal girders 101 and the bottom surface of the supporting mechanism. In this embodiment, the opposite sides of the two longitudinal girders 101 are the inner sides of the longitudinal girders 101, and the opposite sides of the two longitudinal girders 101 are the outer sides of the longitudinal girders 101.

In this embodiment, the supporting mechanism includes a plurality of parallel transverse girders 103 with equal length, each transverse girder 103 is sequentially and fixedly connected to the top surfaces of two longitudinal girders 101 at intervals, so as to reduce the overall weight of the shoe tree bracket, and the top surfaces of the transverse girders 103 together form a supporting surface. Wherein, horizontal truss 103 is the cuboid structure, and the terminal surface of horizontal truss 103 is the same level with the lateral surface of vertical truss 101. Transverse girders 103 are preferably integrally formed with longitudinal girders 101 in real time, but transverse girders 103 and longitudinal girders 101 are not limited to being integrally formed, and may be fixedly connected by welding, gluing, bolting, etc.

In this embodiment, the supporting surface is a rectangular structure; at least one shielding piece 104 is arranged on each of two long edge edges and one short edge of the supporting surface; the shield 104 comprises a connecting plate and a shield plate which are fixedly connected and perpendicular to each other, the connecting plate is fixedly connected with the shield plate, and the shield plate is parallel to the corresponding edge of the support surface and extends upwards so as to prevent the support surface for the shoe tree 40 from falling. Specifically, there is one shield 104 on the short edge of the support surface, with the shield 104 being located at the middle of the corresponding short edge; the number of the blinders 104 on the long side edge of the support surface is three, and the three blinders 104 are equally spaced on the corresponding long side edge. Preferably, the outer side of the shutter is flush with the side of the support mechanism. The connecting mode between the connecting plate and the supporting surface can adopt welding, cementation, bolt connection and the like.

In this embodiment, the width and thickness of the two longitudinal girders 101 may not be equal, and the width and thickness of each transverse girder 103 may also not be equal.

Fig. 3-5 show a robotic arm gripper of the present disclosure that may be used with the last carrier of fig. 1-2. Specifically, the robot arm clamp 20 in this embodiment includes a second base frame 201, a driving mechanism, and two interdigital mechanisms symmetrically disposed on the second base frame 201, wherein the driving mechanism is fixedly disposed on the second base frame 201, and the second base frame 201 is fixedly connected to the tail end of the last knuckle arm 302 through a bolt. The interdigital mechanism comprises a connecting piece and an interdigital member 202 which are perpendicular to each other, wherein one end of the connecting piece is connected to the second pedestal 201 in a sliding mode, one end of the interdigital member 202 is fixedly connected to the other end of the connecting piece, the other end of the interdigital member 202 extends in the direction away from the second pedestal 201, and the two interdigital members 202 are located on the same horizontal plane; the driving mechanism is in transmission connection with the two connecting members to drive the two connecting members to slide in opposite directions or in opposite directions on the second base frame 201, so as to expand or contract the robot arm clamp 20. This arm anchor clamps 20 is through setting up two subtend or gliding interdigital part 202 dorsad at same horizontal plane, when snatching the shoe tree through this arm anchor clamps 20, only need stretch into the bracket slot on the shoe tree bracket with two interdigital, can hold up the shoe tree bracket and shift, simultaneously because interdigital part 202 can subtend or slide dorsad, and then can slide dorsad through two interdigital parts 202 of drive, and then make the medial surface of two longitudinal trusses of two interdigital parts 202 butt, can accomplish the solid antithetical couplet between arm anchor clamps 20 and the shoe tree bracket, accomplish the snatching of arm anchor clamps 20 to the shoe tree bracket.

In this embodiment, the connecting member includes a sliding portion 203 and a connecting portion 204 perpendicular to each other, in which the sliding portion 203 is a block structure, and the connecting portion 204 is a rod structure. Specifically, the sliding portion 203 is slidably connected to the second base frame 201, one end of the connecting portion 204 is fixedly connected to the bottom of the sliding portion 203 and located at an end away from the other interdigital mechanism, and the interdigital element 202 is fixedly connected to the other end of the connecting portion 204 and perpendicular to the connecting portion 204. With this embodiment, a certain distance is always provided between the two fingers 202, and collision of the two fingers 202 during the sliding process can be effectively avoided.

In this embodiment, a slide rail 2031 is disposed on a surface of the sliding portion 203 facing away from the interdigital element 202, a slide groove 2011 corresponding to the slide rail 2031 is disposed on the second base frame 201, the sliding portion 203 is slidably connected to the second base frame 201 through the cooperation of the slide rail 2031 and the slide groove 2011, and a length direction of the slide rail 2031 is perpendicular to a length direction of the interdigital element 202. Preferably, the number of the sliding rails 2031 on each sliding part 203 is two, so as to effectively ensure the stability of the sliding process of the sliding part 203 on the second base frame 201. Of course, the positions of the slide rail 2031 and the slide groove 2011 may be interchanged, that is, the slide groove 2011 is disposed on the sliding portion 203, and the slide rail 2031 is disposed on the second base frame 201. Further preferably, the cross sections of the sliding groove 2011 and the sliding rail 2031 are convex structures as shown in fig. 6 to 7, so that the sliding rail 2031 can be effectively prevented from falling off from the sliding groove 2011 in the process of sliding matching of the sliding rail 2031 and the sliding groove 2011. In a specific implementation process, a first baffle, not shown, is disposed on the sliding portion 203, and a second baffle, not shown, is disposed at an edge position on the second base frame 201, wherein the first baffle is located at the top of the sliding portion 203 and near one end of the other interdigital mechanism, and the second baffle is located on a sliding path of the first baffle, so that the sliding portion 203 can be effectively prevented from sliding off the second base frame 201.

In this embodiment, the interdigital member 202 is a rod-shaped structure, the thickness of the part of the rod body of the interdigital member 202 from the head end to the middle part is equal, the thickness of the part of the rod body of the interdigital member 202 from the middle part to the tail end is gradually reduced, the width of the part of the rod body of the interdigital member 202 from the head end to the middle part is equal, and the width of the part of the rod body of the interdigital member 202 from the middle part to the tail end is gradually reduced, wherein the tail end of the interdigital member 202 is the end far away from the second base frame 201. That is, the fork 202 becomes thinner and narrower in the direction close to the tail end, so as to facilitate the fork 202 to extend into the bracket slot of the shoe tree bracket, reduce the positioning accuracy requirement of the whole mechanical arm clamp 20, and improve the overall grabbing success rate.

The driving mechanism in this embodiment is not shown, and in a specific implementation process, the driving mechanism may adopt a pneumatic component such as a motor, a hydraulic pump, or an air pump. If the driving mechanism is a motor, the driving mechanism and the sliding portion 203 realize the linear motion of the sliding portion 203 on the second base frame 201 through the matching of the screw rod and the screw rod nut, that is, the sliding portion 203 is bolted on the screw rod, the screw rod is fixedly connected with the output end of the motor, and the motor drives the screw rod to rotate, so as to drive the sliding portion 203 to do linear motion. If the driving mechanism is a hydraulic pump or an air pump, the sliding part 203 is directly and fixedly connected to the output end of the hydraulic pump or the air pump through a bolt, a connecting rod or other parts, and the sliding part 203 is driven to linearly move along with the expansion and contraction of the output end of the hydraulic pump or the air pump.

The mechanical arm clamp 20 in this embodiment further includes a camera shooting mechanism, the camera shooting mechanism includes a camera 205 and a plurality of illuminating lamp beads 206 surrounding the lens of the camera 205, the camera 205 is fixedly connected to the bottom of the second base frame 201 through a connecting plate 207 with a seven-shaped structure, and then the lens of the camera 205 faces the position between the two interdigital parts 202. Wherein, the lighting bead 206 is an LED bead. Through setting up camera shooting mechanism, and then can effectual discernment treat the shoe tree that snatchs.

In this embodiment, the interdigital part 202, the connecting part 204, and the sliding part 203 are integrally formed, so that the interdigital mechanism has high toughness and high bearing capacity.

As shown in fig. 8, the mechanical arm for grabbing a shoe tree disclosed in this embodiment includes a base 301 and a plurality of segment arms 302, each segment arm 302 is sequentially connected end to end, and two adjacent segment arms 302 are hinged or rotationally connected, the head end of the first segment arm 302 is rotationally connected to the base 301, the tail end of the last segment arm 302 is fixedly provided with a mechanical arm clamp 20 shown in fig. 3-5, the mechanical arm clamp 20 is driven by a mechanical arm to move to a designated position, and then the grabbing of the shoe tree bracket is completed. The specific implementation structure of the base 301 and the knuckle arms 302 and the specific connection structure between two adjacent knuckle arms 302 that can realize the hinge connection or the rotation connection are conventional technical means in the technical field of mechanical arms, and therefore are not described in detail in this embodiment. The specific implementation process can refer to the technical schemes disclosed in patents CN111015626A, CN107097219B, CN103182714B, etc.

Fig. 9 shows a method for gripping a shoe last disclosed in this embodiment, which includes the following steps:

step 1, placing a shoe tree with a two-dimensional code on a shoe tree bracket shown in the figure 1-2;

step 2, driving the mechanical arm clamp to the position right in front of the shoe tree bracket to be grabbed through the mechanical arm shown in the figure 8;

step 3, driving the mechanical arm clamp to enable the two interdigital parts to extend into the bracket slot, identifying the two-dimensional code on the shoe tree based on the camera shooting mechanism, judging whether the two interdigital parts are correctly grabbed or not according to the identification result, if so, entering step 4, otherwise, sending alarm information, wherein the alarm information is acousto-optic information;

and 4, driving the two interdigital parts of the mechanical arm clamp to slide back to back, unfolding the mechanical arm clamp, supporting the shoe tree bracket after the two interdigital parts are abutted to the inner side surfaces of the two longitudinal trusses, and moving the shoe tree bracket and the shoe tree to a set position to complete the whole process of grabbing the shoe tree.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.