JPH0214042B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic shoe removal method for removing a freshly manufactured shoe that is in close contact with a last from the last.

Conventionally, removing the shoe from the last has been done manually, which requires a lot of manpower and has a problem of poor work efficiency.

In view of the above, an object of the present invention is to provide an automatic shoe-removal method that can save labor and improve work efficiency by automatically removing shoes using a manipulator.

In order to achieve the above object, the present invention provides a foot last comprising a last main body and a heel portion slidably connected to the last main body, the heel portion being connected to the last main body. When the heel is unlocked with respect to the last main body, the bottom surfaces of the heel coincide with each other to maintain the normal length of the last, while when the heel is unlocked relative to the last main body, the bottom of the heel is aligned with the bottom of the last main body. Using a shoe that is more protruding and shortens the length of the foot,
After hanging the upper on the last, the heel is locked, and then the sole is molded to manufacture a shoe in which the sole and the upper are integrated, and then the shoe is attached to the last. When removing the shoe, at least two steps are performed: fixing the last with the tread surface of the sole facing upward; and releasing the locked state of the heel.
A step of opening the fingers of a manipulator equipped with fingers that can be opened and closed, positioning them on both sides of the heel from behind or above the shoe, and then closing the fingers to clamp the heel. and a step of moving the finger section substantially parallel to the sliding surface between the last body and the heel section to unlock the heel section, and then removing the heel of the shoe from the heel section. and a step of moving the finger section substantially parallel to the bottom surface of the last body and pulling out the toe side of the shoe from the last body. .

Further, according to the present invention, there is provided a foot last consisting of a last main body and a heel portion slidably connected to the last main body, and when the heel portion is in a locked state with respect to the last main body. , when the bottom surfaces of the heel portions are aligned with each other to maintain the normal length of the last, and the heel portion is unlocked from the last main body, the bottom surface of the heel portion protrudes from the bottom surface of the last main body, and the foot Using a mold whose length can be shortened, after suspending the upper on the last, the heel is locked, and then the sole is molded to integrate the sole and the upper. When the shoe is manufactured and then removed from the last, the step of fixing the last with the tread surface of the sole facing upward, and the step of releasing the locked state of the heel, at least A manipulator having two openable and closable finger parts is opened and placed on either side of the heel from behind or above the shoe, and then the finger parts are closed to make the heel relatively large. a step of pinching with a pinching pressure; and a step of moving the finger portion substantially parallel to a sliding surface between the last body and the heel portion to bring the heel portion of the last into an unlocked state. After reducing the clamping pressure of the finger part, the finger part is removed from the heel part to prevent deformation of the uncured sole immediately after molding, and then the heel of the shoe is removed from the heel part. There is provided an automatic shoe-removal method characterized in that the steps of removing the shoe and removing the toe side of the shoe from the last main body by moving the finger section substantially parallel to the bottom surface of the last main body are performed in sequence. be done.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes a rotary injection shoe making machine, which includes a rotary table 2 that rotates intermittently in a counterclockwise direction, and a rotary table 2 disposed around the table 2. The injection machine 3 for molding shoe soles is provided.

Around the rotary table 2, a foot heel unlocking device 4, which will be described later, is placed close to the injection machine 3.
Adjacent to the unlocking device 4, a teaching play/back type manipulator 5 for automatic shoe removal is provided. 6 is a conveyor for conveying the shoes S removed from the injection shoe making machine 1, and 7 is a program switching device for changing the shoe removal locus of the manipulator 5 depending on the type of shoes S.

As shown in FIGS. 1 and 4, on the rotary table 2 of the injection shoe making machine 1, there is one mold 8 for molding soles,
A plurality of left sole molding units 11 1 and a plurality of right sole molding units 11 ₁ , 11 2 each having two foot lasts 10 provided on a support 9 and forming the shoe sole in cooperation with the left sole molding units 11 1 and 11 ₂ are arranged alternately on the circumference. They are placed at equal intervals. A truncated cone-shaped rotating head 12 that can be rotated intermittently through 180 degrees and fixed at each position is attached to the tip of each support column 9, and two foot lasts 10 are attached to the outer circumferential surface of the rotating head 12, and their heel portions 10b are attached. are positioned on the outer peripheral edge side of the rotary table 2 and fixed with a phase difference of 180°. As a result, each last 10 can assume a lower horizontal position with its bottom facing downward, and an upper inclined position tilted at approximately 45 degrees with its bottom facing upward.

As shown in FIGS. 2 and 3, the last 10 has a main body 10 having a substantially hook-shaped notch 13 in the heel portion.
a, and a heel portion 10b that can slide along the convex arc-shaped longitudinal inner surface of the notch 13 and engage and disengage therewith. A dovetail 14 is provided on the concave arc-shaped sliding surface of the heel portion 10b relative to the last body 10a, and the dovetail 14
is the dovetail groove 1 formed on the longitudinal inner surface of the notch 13
5, thereby ensuring sliding of the heel portion 10b with respect to the last body 10a.

Between the rear part of the last body 10a and the upper part of the heel part 10b, the heel part 10b is held in the engagement position with the notch 13 of the last body 10a, that is, the heel part 10b is locked and the bottom surface of the heel part 10b is inserted. A toggle type locking device 16 is provided for aligning the bottom surface of the last body 10a and maintaining the regular length of the last.

The locking device 16 includes a handle 20 having one end of a hooked portion 17 pivotally attached to the upper rear surface of the foot last body 10a via a support shaft 18, and a rod portion 19 projecting obliquely from the other end of the hooked portion 17. , a link 23 having one end pivotally connected to the intermediate position of the hook-shaped part 17 and the other end to the heel part 10b by connecting pins 21 and 22, respectively, and the link 23 has a notch 24 which escapes the support shaft 18.
is formed.

In the above configuration, when the handle 20 is in the downward rotating position as shown by the chain line in FIG. length is shortened. On the other hand, rotate the handle 20 clockwise in FIG. 2 about the support shaft 18 to connect the connecting pin 21 on the hook-shaped portion 17 side to a straight line connecting the axis of the support shaft 18 and the connecting pin 22 on the heel portion 10b side. When the heel portion 10b is moved beyond -, the bottom surface of the heel portion 10b coincides with the bottom surface of the last body 10a, and the heel portion 10b is held in a locked state.

The sole molding mold 8 has a split type side mold part 8a that can move in the left-right direction and a sole mold part 8 that can move in the vertical direction.
b, and the injection machine 3 is placed on the mating surface of both side mold parts 8a.
A sprue 25 is formed to be connected to. The sprue 25 is formed with a narrow diameter portion 25a on the outlet side,
After the sole is formed, the spruce slug solidified within the sprue 25 can be easily removed by pulling.

As shown in FIGS. 4 and 5, the locking device 16
The unlocking device 4 for unlocking the heel portion 10b is equipped with a base 27 having an upwardly sloped mounting surface toward the rotary table 2. A cylinder portion 31 of a large first air cylinder 30 ₁ is provided. At the tip of the piston rod 32 of the first air cylinder ₃₀₁ , there are two brackets 33 and 34, a long one and a short one.
A base plate 35 having a protruding shape is fixed thereto, and the end of an arm 37 fixed to the middle part of the unlocking pin 36 is pivotally connected to the tip of the long bracket 33 via a connecting pin 38. The end of the cylinder portion 39 of a small second air cylinder 30 ₂ is pivotally attached to the tip of the short bracket 34 via a connecting pin 40 , and the tip of the piston rod 41 is connected to the unlock pin 36 .
It is pivotally connected to the rear end of the body via a connecting pin 42. The first air cylinder 30 ₁ has a function of moving the unlocking pin 36 forward and backward with respect to the handle bar 19 of the locking device 16, and the second air cylinder 30 ₂ has a function of engaging the unlock pin 36 with the handle bar 19. has. 43 is a guide rod for the piston rod 32 of the first air cylinder ₃₀₁ ;
The support portion 44 between the substrates 35 is slidably engaged. 45 is a reinforcing frame for the guide rod 43, and both members 43, 45 move forward and backward together with the piston rod 32. This reinforcing frame 45 is provided with a cam for confirming the forward and backward limits of the piston rod 32.

As shown in FIGS. 6 to 8 and FIG. 10, the shoe removal manipulator 5 has a flexible arm 48 that is swingably suspended from a support 46 via a support shaft 47.
and a handle 50 swingably attached to the lower end of the arm 48 via a support shaft 49.
The hand 50 has a base end 51 on the arm 48 side, an intermediate part 52 rotatable about an axis perpendicular to the support shaft 49 with respect to the base end 51, and a support shaft 49 of the arm 48 with respect to the intermediate part 52. It consists of a cylinder part 54 that is swingable around a support shaft 53 parallel to the cylinder part 54, and a pair of first and second finger parts 55 ₁ and 55 ₂ that are attached to the cylinder part 54 and can be opened and closed.

The cylinder portion 54 has a pair of first and second cylinder holes 56 ₁ and 56 ₂ that are parallel to each other.
The first and second pistons 57 ₁ and 57 ₂ are slid into the second cylinder holes 56 ₁ and 56 ₂ , respectively, and the inside of the first and second cylinder holes 56 ₁ and 56 ₂ is a pneumatic chamber 71 ₁ for opening the finger portion. , 71 ₂ and pneumatic chamber 7 for closing the finger part
It is divided into 2 ₁ and 72 ₂ . Those pneumatic chambers 71 ₁ ,
71 ₂ , 72 ₁ , 72 ₂ , the finger portion opening pneumatic chamber 71 ₁ of the first cylinder hole 56 ₁ is connected to the finger portion closing pneumatic chamber 72 ₂ of the second cylinder hole 56 ₂ and the first cylinder hole 56 Pneumatic chamber 7 for closing the finger part of ₁
2 ₁ are arranged adjacent to the finger portion opening pneumatic chamber 71 ₂ of the second cylinder hole 56 ₂ , respectively.
Pneumatic chamber 7 for closing the finger portion of the first piston 57 ₁
A first piston rod 58 ₁ is fixed to the end face facing _{2 1} .
The proximal end of the first finger portion 55 ₁ is connected to the end protruding from the cylinder hole 56 ₁ . A first guide rod 59 ₁ is fixedly installed on the end face of the first piston 57 ₁ facing the finger opening pneumatic chamber 71 ₁ , and a portion of the first guide rod 59 ₁ projects from the first cylinder hole 56 _{1 .} is slidably engaged with the base end of the second finger portion ₅₅₂ . The end face of the second piston 57 ₂ facing the pneumatic chamber 72 ₂ for closing the finger portion is provided with the second piston rod 5 .
8 ₂ is fixedly installed, and the intermediate portion of the second finger portion 55 ₂ is connected to the end of the second piston rod 58 ₂ that projects from the second cylinder hole 56 ₂ . 2nd piste 5
A _second guide rod ₅₉₂ is fixed on the end face facing the finger opening pneumatic chamber ₇₁₂ of 72.
The protruding portion of the guide rod 59 ₂ from the second cylinder hole 56 ₂ is slidably engaged with the intermediate portion of the first finger portion 55 ₁ .

The first and second finger parts 55 ₁ and 55 ₂ have stepped blocks 60 for shoe clamping made of sponge rubber facing each other on the inner surfaces of their tip parts, and both blocks 60
between the inner sides of the thin part 60a of the heel,
The side surfaces of the upper skin of the heel are sandwiched between the inner surfaces of the thick portions 60b. A presser plate 6 made of sponge rubber is provided on the upper surface of the thin wall portion 60a of both blocks 60.
1 is attached with one end protruding inward. This presser plate 61 presses the heel tread when the shoe is large, thereby preventing the toe side from going down and the shoe falling from between the two blocks 60, but is not necessary when the shoe is small.

FIG. 9 shows a pneumatic circuit for opening and closing the first and second finger parts 55 ₁ and 55 ₂ , in which a pneumatic unit 66 consisting of a filter 63, a pressure reducing valve 64 and an oiler 65 is connected to the pneumatic source 62. , the unit 66
A high pressure setting pressure reducing valve 69 and a low pressure setting pressure reducing valve 70 are connected in parallel between the switching valve 67 and the switching valve 67 . 1st, 2nd
The on-off valves 68 of the finger parts 55 ₁ , 55 ₂ are switching valves 6
Connected to 7. The on-off valve 68 has an X-shape in the first and second cylinder holes 56 ₁ , 56 ₂ of the cylinder part 54 , in the finger part opening pneumatic chambers 71 ₁ , 71 ₂ and in the finger part closing pneumatic chambers 72 ₁ , 72 ₂ . It is connected by piping 73.

Next, the shoe manufacturing and shoe removal processes using each of the above-mentioned devices will be explained.

First, as shown in FIGS. 1 to 3, for example, the right bottom molding unit 11 ₂ is located on the front side of the injection machine 3.
The upper and lower shoe uppers U are suspended between the upper and lower lasts 10, and the heel portions 10b of the lasts 10 are locked by the locking device 16, and the heel portions 10b are inserted into the notches 13 of the last body 10a.
The foot last 10 is held at the normal last length.
The foot mold 10 located at the bottom is positioned above the bottom mold part 8b of the mold 8 to close the mold parts 8a on both sides, and the rotary table 2 is intermittently rotated counterclockwise in FIG. 1 to inject the sprue 25 of the mold. Match the injection nozzle of machine 3. Then, from the injection machine 3, the molten bottom material such as synthetic resin or synthetic rubber is passed through the sprue 25 to the mold parts 8a on both sides,
The cavity formed by the sole mold part 8b and the foot mold 10 is filled and the sole _S0 is formed.
Shoes S are manufactured by integrating _S0 and upper U.

Next, both side mold parts 8a are opened, and the bottom mold part 8b is lowered to release the mold, and the foot last 10 covering the shoe S is rotated 180 degrees upward, and the other foot last 10 located above is rotated.
is placed above the bottom mold part 8b of the mold 8, and the shoes S are manufactured by the same operations as described above. Then, the spruce lag is removed by a spruce lag removal device (not shown).

Thereafter, the rotary table 2 is intermittently rotated counterclockwise in FIG. 1 to stop the pair of lasts 10 covering the shoes S at the position of the unlocking device 4. Then, as shown in FIG. 4, the first air cylinder ₃₀₁ of the unlocking device 4 is actuated in the forward direction to move the inclined unlocking pin 36 forward, so that it passes over the handle rod-shaped portion 19 of the locking device 16 located at the top. let Next, the second air cylinder ₃₀₁ is operated in the forward direction to raise the unlocking pin 36 approximately perpendicular to the axial direction of the first air cylinder ₃₀₁ , and the fifth
As shown in the figure, the first air cylinder ₃₀₁ is actuated in the backward direction, and the unlock pin 36 is moved back to rotate the handle 20 clockwise. As a result, the locked state of the heel portion 10b of the last 10 is released, the bottom surface thereof protrudes from the bottom surface of the last main body 10a, the close contact between the last main body 10a and the inner surface of the sole _S0 is released, and the last length is increased. is shortened. A similar unlocking operation is performed for the other lock device 16 as well.

Next, the rotary table 2 is intermittently rotated counterclockwise in FIG. 1 to stop the last 10 at the position of the manipulator 5.

Before the shoe removal operation, the handle 50 of the manipulator 5 is in the first and second positions, as shown in FIGS. 10 and 11.
The second finger parts 55 ₁ and 55 ₂ are made horizontal and are opened to be in the original position a near the conveyor 6.

When taking off your shoes, move arm 4 according to the program.
8 swings and bends toward the last 10 located at the top, and the cylinder portion 54 rotates around the support shaft 53, causing the first and second finger portions 55 ₁ and 55 ₂ to move toward the sole S ₀ of the shoe. It is held at approximately 45°, which matches the inclination of the tread,
Both finger parts 55 ₁ at position c via position b,
55 ₂ are located on both sides of the heel of shoe S. When taking off your shoes,
The switching valve 67 in FIG. 9 is switched to the high pressure setting pressure reducing valve 69 side, and the closing pneumatic chamber 7
Since high pressure air is introduced into 2 ₁ and 72 ₂ ,
The second finger parts 55 ₁ and 55 ₂ are closed, and the heel of the shoe S is clamped with a relatively large clamping pressure.

Next, the first and second finger parts 55 ₁ , 55 ₂
, moves from position c to position d so as to draw a trajectory substantially along the sliding surface of heel portion 10b and last body 10a. During this time, the heel portion 10b of the last 10 slides against the last main body 10a as the first and second finger portions 55 ₁ and 55 ₂ move and becomes unlocked, and the length of the last is further shortened. , foot shape body 10a
Between the toe part of shoe S and the toe part of shoe S is the 12th a.
As shown in the figure, a gap is created, which facilitates the next heel release operation of the shoe S.

Then, while the first and second finger parts 55 ₁ and 55 ₂ rise diagonally backward from position d to position e, the first and second finger parts 55 1 and 55 2 move upward as shown in FIGS.
The finger parts 55 ₁ , 55 ₂ come off from the heel part 10 b of the last 10 together with the heel of the shoe S, but before they come off, the switching valve 67 is switched to the low pressure setting pressure reducing valve 70 side to open the closing pneumatic chamber 72 ₁ ,72 Reduce the atmospheric pressure in ₂ , the first,
The clamping pressure of the second finger parts 55 ₁ and 55 ₂ against the heel of the shoe S is reduced. As a result, when the first and second finger parts 55 ₁ , 55 ₂ come off from the heel part 10 b of the last 10 , the uncured sole S ₀ immediately after molding is transferred to the first and second finger parts 55 ₁ , 55 _{2 .} It is possible to avoid the problem of deformation due to strong pressure.

While the first and second finger portions 55 ₁ and 55 ₂ rise obliquely backward from position e to position f, the heel of the shoe S moves toward the foot shape 10 as shown in FIGS. 14a and 14b.
completely slips out from the heel portion 10b.

Thereafter, the first and second finger parts 55 ₁ and 55 ₂ advance diagonally upward substantially parallel to the bottom surface of the last 10 and reach position g, where the toe of the shoe S slips out from the toe of the last main body 10a and the shoe S completely separates from the foot last 10. Next, the first and second finger parts 55 ₁ and 55 ₂ are at position g.
After rising to position h, the first and second finger parts 55 ₁ , while retreating to position i above the conveyor 6
55 ₂ is rotated 180 degrees and the sole S ₀ is directed downward,
When the first and second finger parts 55 ₁ and 55 ₂ descend to position j, the shoes S are placed on the conveyor 6. Then, the on-off valve 68 is switched and the closing pneumatic chamber 72 is opened.
₁ , 72 ₂ are opened to the atmosphere, and at the same time pressurized air is introduced into the opening pneumatic chambers 71 ₁ , 71 ₂ , so the first and second finger parts 55 ₁ , 55 ₂ are opened and the shoes S are transferred to the conveyor 6 . left on top.

Next, while the first and second finger parts 55 ₁ and 55 ₂ advance diagonally upward from position j to position k, both finger parts 55 ₁ and 55 ₂ rotate by 180 degrees to return them to their original states. and the first and second finger parts 5
5 ₁ and 55 ₂ descend diagonally backward and retreat, returning to the original position a.

After the above shoe removal operations are completed, the footprint after shoe removal is 10.
is rotated by 180 degrees to position the unshoeed last 10 upward, and the same shoe-off operation as described above is performed.

As described above, according to the first invention, at least two finger parts of the manipulator are positioned on both sides of the heel from the rear or above the shoe, the heel is held between the finger parts, and the fingers are moved on a specific trajectory. By moving the shoe, the shoe can be automatically removed from the last, thereby saving labor and improving the efficiency of shoe removal work.

Further, according to the second aspect of the invention, even if the shoe sole is in an uncured state immediately after manufacture, the shoe can be reliably taken off without deforming the sole, and productivity can be greatly improved.

[Brief explanation of drawings]

The drawings show an apparatus for carrying out the method of the present invention, in which Fig. 1 is a schematic plan view of the whole, Fig. 2 is a side view showing the relationship between the foot mold and the mold, and Fig. 3 is a view taken in the direction of the arrow in Fig. 2. , FIG. 4 is a side view showing the relationship between the unlocking device and the last, FIG. 5 is a partial enlarged view of FIG. 4, FIG. 6 is a partial perspective view of the manipulator, and FIG. 7 is a partial perspective view of the manipulator.
Line sectional view, FIG. 8 is a view in the direction of the arrow in FIG. 6, FIG. 9 is a pneumatic circuit diagram for opening and closing the finger part, FIGS.
Figure a is an explanatory diagram of a part of the shoe removal process, and the 12th figure is an explanatory diagram of a part of the shoe removal process.
b, 13b and 14b are respectively 12a
FIG. 14A is a cross-sectional view taken along line XIIb-XIIb, line b-b in FIG. 13a, and b-b in FIG. 14a. S...shoe, _S0 ...sole, U...upper, 5...manipulator, 10...foot last, 10a...foot last body, 10b...heel, ₅₅₁ , ₅₅₂ ...first and second finger parts.

Claims (1)

[Scope of Claims] 1. A foot last consisting of a last main body and a heel portion slidably connected to the last main body, wherein the heel portion is locked to the last main body. , their bottom surfaces match each other to maintain the regular foot length,
On the other hand, when the heel portion is unlocked from the last body, the bottom surface of the heel portion protrudes from the bottom surface of the last body, shortening the length of the last. After suspending the heel, the heel is locked, and then the sole is molded to produce a shoe in which the sole and the upper are integrated, and when the shoe is removed from the last, a step of fixing the last with the tread of the sole facing upward; a step of releasing the locked state of the heel; and a step of opening the finger portions of a manipulator having at least two openable and closable finger portions. is positioned on both sides of the heel of the shoe from behind or above the shoe, and then closing the finger portion to clamp the heel; and sliding the finger portion between the last body and the heel portion. removing the heel of the shoe from the heel after bringing the heel into an unlocked state by moving the heel substantially parallel to a surface; and moving the finger section substantially parallel to the bottom surface of the last body. and pulling out the toe side of the shoe from the last body. 2. A foot last consisting of a last main body and a heel portion slidably connected to the last main body, and when the heel portion is locked to the last main body, the bottom surfaces of the bottom surfaces are mutually connected. Matches and maintains the regular foot length,
On the other hand, when the heel portion is unlocked from the last body, the bottom surface of the heel portion protrudes from the bottom surface of the last body, thereby shortening the length of the last. After suspending the leather, the heel is locked, and then the sole is molded to produce a shoe in which the sole and the upper are integrated;
Thereafter, in order to remove the shoe from the last, a step of fixing the last with the tread surface of the sole facing upward, a step of releasing the locked state of the heel, and a step of releasing at least two openable and closable fingers. After opening the finger parts of a manipulator having a plurality of parts and positioning them on both sides of the heel of the shoe from behind or above the shoe, the finger parts are closed to clamp the heel with a relatively large clamping pressure. a step of moving the finger section approximately parallel to a sliding surface between the last body and the heel section to unlock the heel section of the last; After reducing the wearing pressure, the finger portion is removed from the heel portion to prevent deformation of the uncured shoe sole immediately after molding, and then the heel of the shoe is removed from the heel portion, and the finger portion is removed from the heel portion. An automatic shoe-removal method characterized by sequentially performing the step of moving the toe side of the shoe substantially parallel to the bottom surface of the last main body and pulling out the toe side of the shoe from the last main body.