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CN-121987008-A - Mechanical grabbing and clamping device for realizing automatic picking and placing of shoes and production method

CN121987008ACN 121987008 ACN121987008 ACN 121987008ACN-121987008-A

Abstract

The invention relates to the field of shoemaking equipment, and discloses a mechanical grabbing device for realizing automatic picking and placing of shoes and a production method thereof, wherein the mechanical grabbing device comprises a supporting main body, a horizontal moving mechanism, an opening and closing driving mechanism and a grabbing manipulator; the horizontal moving mechanism comprises a screw rod which is rotationally arranged on one side of the supporting main body and a screw rod driving assembly which drives the screw rod to rotate, the two opening and closing driving mechanisms are arranged on the screw rod at intervals, the two opening and closing driving mechanisms are driven by the screw rod driving assembly to horizontally and synchronously move along the same direction, two sides of each opening and closing driving mechanism outwards extend to form a horizontal movable end, each grabbing and clamping manipulator is rotationally connected with one horizontal movable end, and a rotating driving mechanism is arranged at a rotating connecting end of each grabbing and clamping manipulator. The automatic feeding device has the advantages that the automatic feeding of the shoes which are not pressed with the bottoms and the automatic taking-down of the shoes which are well pressed with the bottoms can be synchronously realized, so that the production efficiency is improved.

Inventors

  • LU TINGDONG

Assignees

  • 福建铠锋智能科技有限公司

Dates

Publication Date
20260508
Application Date
20260209

Claims (10)

  1. 1. The mechanical grabbing and clamping device for automatically picking and placing the shoes is characterized by comprising a supporting main body, at least one horizontal moving mechanism, at least two opening and closing driving mechanisms and at least four grabbing and clamping mechanical arms; The horizontal moving mechanism comprises a screw rod which is arranged on one side of the supporting main body in a rotating mode along the length direction and a screw rod driving assembly which drives the screw rod to rotate, the two opening and closing driving mechanisms are arranged on the screw rod at intervals, the two opening and closing driving mechanisms are driven to horizontally and synchronously move along the same direction through the screw rod driving assembly, two sides of each opening and closing driving mechanism outwards extend to form a horizontal movable end, each grabbing manipulator is rotationally connected with the horizontal movable end, a rotating driving mechanism is arranged at a rotating connecting end of each grabbing manipulator, and the two grabbing manipulators connected to the two sides are driven to be close to or far away from each other through the opening and closing driving mechanisms, and are driven to vertically rotate through the rotating driving mechanisms.
  2. 2. The mechanical grabbing and clamping device for achieving automatic taking and placing of shoes according to claim 1, wherein each opening and closing driving mechanism comprises a supporting outer frame, a first gear, a second gear, a third gear, a gear driving assembly, a first movable rail and a second movable rail, wherein the first gear is rotatably arranged in the middle of the supporting outer frame, the second gear is rotatably arranged on the upper portion of the supporting outer frame and meshed with the first gear, the third gear is rotatably arranged on the lower portion of the supporting outer frame and meshed with the first gear, the gear driving assembly drives the first gear to rotate, the supporting outer frame is in threaded connection with a screw rod, the top of the first movable rail is in sliding connection with the inner top of the supporting outer frame, a first rack meshed with the second gear is arranged at the bottom of the first movable rail, one end of the first movable rail extends to the outer portion of one side of the supporting outer frame to form one horizontal movable end, the bottom of the second movable rail is slidably connected with the inner bottom of the supporting outer frame, the second rack meshed with the third gear is arranged at the top of the second movable rail, and one end of the second movable rail extends to the outer portion of the other side of the supporting outer frame to form the other horizontal movable end.
  3. 3. The mechanical gripper device for automatically picking and placing shoes according to claim 1, wherein a free end of each gripper manipulator is provided with a movable gripper assembly; The movable grabbing clamp assembly comprises a grabbing clamp body, a connecting seat body, a tension spring and an in-place inductor, wherein the connecting seat body is arranged at the free end of the grabbing clamp manipulator, the top of the grabbing clamp body is slidably connected with the connecting seat body through a first guide rail and a first sliding block, a clamping notch used for clamping the end of a shoe is formed at one end of the grabbing clamp body, the clamping notches of the two movable grabbing clamp assemblies on the same opening and closing driving mechanism are oppositely arranged, the tension spring is arranged between the connecting seat body and the grabbing clamp body, and the in-place inductor is arranged on the grabbing clamp body and is positioned at one end close to the clamping notch.
  4. 4. The mechanical grabbing clamp device for automatically picking and placing shoes according to claim 3, wherein the grabbing clamp body is provided with first limiting stops for blocking the connecting seat body on two sides of one end, close to the clamping notch, of the grabbing clamp body, the grabbing clamp body is provided with second limiting stops for blocking the connecting seat body on two sides of one end, far away from the clamping notch, of the grabbing clamp body, and the in-place sensor is arranged on the first limiting stops.
  5. 5. The mechanical grabbing device for automatically picking and placing shoes according to claim 1, wherein each horizontal movable end is provided with a connecting piece, and the connecting pieces comprise L-shaped connecting plates used for being connected with grabbing manipulators and connecting blocks connected between the L-shaped connecting plates and the horizontal movable ends.
  6. 6. The mechanical grabbing clamp device for automatically picking and placing shoes according to claim 1 is characterized in that the supporting main body comprises a supporting base, supporting main boards and connecting beams, wherein a plurality of supporting main boards are arranged at the top of the supporting base along the length direction at intervals, and the supporting main boards are connected together through the connecting beams.
  7. 7. The mechanical gripping device for automatically picking and placing shoes according to claim 6, wherein each of said support main plates is a triangular plate.
  8. 8. The mechanical grabbing and clamping device for automatically picking and placing shoes according to claim 6, wherein screw rod assembly grooves are formed on two sides of the middle of each supporting main board, two ends of each screw rod are connected with screw rod assembly grooves on two supporting main boards through screw rod installation bases, and screw rod assembly grooves on the remaining supporting main boards are used as abdicating grooves.
  9. 9. The mechanical grabbing and clamping device for automatically picking and placing shoes according to claim 6, wherein guide rail assembling parts are formed on two sides of the upper portion and the lower portion of each supporting main board, the horizontal moving mechanism further comprises a second guide rail arranged on the guide rail assembling parts, and the opening and closing driving mechanism and the grabbing and clamping mechanical arm are connected with the second guide rail in a sliding mode through second sliding blocks.
  10. 10. A method for producing a mechanical gripping device for automatic picking and placing of shoes according to any of claims 1-9, characterized in that it comprises the following steps: When the screw rod driving assembly drives the two opening and closing driving mechanisms to horizontally and synchronously move to a first position along a first direction, controlling the two rotation driving mechanisms on one opening and closing driving mechanism to drive the two grabbing manipulators to downwards rotate to a required position, controlling the opening and closing driving mechanism to drive the two grabbing manipulators to mutually close and clamp the shoe to be pressed, and controlling the two rotation driving mechanisms of the opening and closing driving mechanism to drive the two grabbing manipulators to drive the clamped shoe to upwards reset; the two opening and closing driving mechanisms are driven to horizontally and synchronously move to a second position along the direction opposite to the first direction by the screw rod driving assembly, the two rotation driving mechanisms on one opening and closing driving mechanism are controlled to drive the two grabbing manipulators to drive the shoes to be pressed to rotate downwards to a required position, the opening and closing driving mechanism is controlled to drive the two grabbing manipulators to be far away from each other and loosen the shoes to be pressed, the two rotation driving mechanisms of the opening and closing driving mechanism are controlled to drive the two grabbing manipulators to reset upwards, meanwhile, the two rotation driving mechanisms on the other opening and closing driving mechanism are controlled to drive the two grabbing manipulators to drive the shoes to rotate downwards to a required position, the opening and closing driving mechanism is controlled to drive the two grabbing manipulators to be far away from each other and loosen the shoes to be pressed, and the two rotation driving mechanisms of the opening and closing driving mechanism are controlled to drive the two grabbing manipulators to reset upwards.

Description

Mechanical grabbing and clamping device for realizing automatic picking and placing of shoes and production method Technical Field The invention relates to the technical field of shoemaking equipment, in particular to a mechanical grabbing device for realizing automatic picking and placing of shoes and a production method. Background In the shoe production process, after gluing and bonding between the shoe upper and the shoe sole, the glued shoe is required to be extruded to promote the shoe sole and the shoe upper to be tightly matched and shaped, so that the bonding effect of the shoe sole and the shoe upper is ensured, and a sole pressing machine is formed. The sole pressing machine generally comprises a frame, a left and right edge pressing mechanism, a front and back tightening mechanism and a pressing rod mechanism, wherein the left and right edge pressing mechanism and the front and back tightening mechanism are used for enclosing a containing cavity for containing shoes, and the pressing rod mechanism is used for pressing shoe trees, such as a sole pressing machine and a sole pressing method for shoemaking, which are disclosed in Chinese patent application No. CN 202511287558.7. In order to be used with the sole pressing machine, it is needed to provide a mechanical grabbing and clamping device capable of synchronously realizing automatic feeding of shoes which are not pressed and automatic taking-off of the shoes which are well pressed. Disclosure of Invention Aiming at the defects of the prior art, the invention provides the mechanical grabbing device for automatically picking and placing the shoes and the production method, which can synchronously realize the automatic feeding of the shoes with the unpressed bottoms and the automatic taking-off of the shoes with the pressed bottoms, and are beneficial to improving the production efficiency. In order to achieve the above purpose, the invention is realized by the following technical scheme: In a first aspect, a mechanical grabbing and clamping device for automatically picking and placing shoes comprises a supporting main body, at least one horizontal moving mechanism, at least two opening and closing driving mechanisms and at least four grabbing and clamping mechanical arms; The horizontal moving mechanism comprises a screw rod which is arranged on one side of the supporting main body in a rotating mode along the length direction and a screw rod driving assembly which drives the screw rod to rotate, the two opening and closing driving mechanisms are arranged on the screw rod at intervals, the two opening and closing driving mechanisms are driven to horizontally and synchronously move along the same direction through the screw rod driving assembly, two sides of each opening and closing driving mechanism outwards extend to form a horizontal movable end, each grabbing manipulator is rotationally connected with the horizontal movable end, a rotating driving mechanism is arranged at a rotating connecting end of each grabbing manipulator, and the two grabbing manipulators connected to the two sides are driven to be close to or far away from each other through the opening and closing driving mechanisms, and are driven to vertically rotate through the rotating driving mechanisms. Further, each opening and closing driving mechanism comprises a supporting outer frame, a first gear, a second gear, a third gear, a gear driving assembly, a first movable rail and a second movable rail, wherein the first gear is rotatably arranged in the middle of the supporting outer frame, the second gear is rotatably arranged on the upper part of the supporting outer frame and meshed with the first gear, the third gear is rotatably arranged on the lower part of the supporting outer frame and meshed with the first gear, the gear driving assembly drives the first gear to rotate, the supporting outer frame is in threaded connection with a screw rod, the top of the first movable rail is slidably connected with the inner top of the supporting outer frame, a first rack meshed with the second gear is arranged at the bottom of the first movable rail, one end of the first movable rail extends to the outer side of the supporting outer frame to form a horizontal movable end, the bottom of the second movable rail is slidably connected with the inner bottom of the supporting outer frame, a second rack meshed with the third gear is arranged at the top of the second movable rail, and one end of the second movable rail extends to the outer side of the supporting outer frame to form another horizontal movable end. Further, the free end of each grabbing mechanical arm is provided with a movable grabbing component; The movable grabbing clamp assembly comprises a grabbing clamp body, a connecting seat body, a tension spring and an in-place inductor, wherein the connecting seat body is arranged at the free end of the grabbing clamp manipulator, the top of the grabbing clamp body is slidably connec