JPS5940801A - Automatic demounting of shoes - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

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.

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, close to the injection machine 3, there is a foot type heel unlocking device 4, which will be described later, and a teaching pin V for automatic shoe removal adjacent to the unlocking device 4.
Pack-type manipulators 5 are respectively provided. 6
1 is a conveyor for conveying the shoes S removed from the injection shoe making machine 1, and T is a program switching device for changing the shoe removal locus of the manipulator 5 according to the type of shoes S.

1st. As shown in FIG. 4, the injection molding machine 10 has one shoe sole molding mold 8 on the rotating table 2, and two molds attached to the support 9 that cooperate with the mold 8 to mold the shoe sole. 2) 1 for forming a plurality of feet and a plurality of right soles with a foot last 10 of
11. 11. are arranged alternately at equal intervals on the circumference. A truncated cone-shaped rotating head 12 that can be rotated intermittently through 180° and fixed at each position is attached to the tip of each support 9, and two foot molds 10 are attached to the outer peripheral surface of the rotating head 12, and their heel portions 10b 1 by positioning it on the outer edge side of the rotary table 2.
They are fixed with a phase difference of 80°.

As a result, each last 10 can take a lower horizontal position with the bottom surface facing downward, and an upper inclined position tilted at approximately 45 degrees with the bottom surface facing upward.

Second. As shown in FIG. 3, the last 10 has a last main body 10α having a substantially hook-shaped notch 13 in the heel portion, and the last main body 10α slides along the convex arc-shaped longitudinal inner surface of the notch 13 and engages therewith. It consists of a removable heel portion 10h.

A dovetail 14 is protruded from the concave arc-shaped sliding surface of the heel portion 10h relative to the last body 10a, and the dovetail 14 slides into a dovetail groove 15 formed on the longitudinal inner surface of the notch 13, whereby the heel portion 10b is ensured to slide against the last body 10α.

Between the rear part of the last main body 10a and the upper part of the heel part 10h, the heel part 10h is held in the engagement position with the notch 13 of the last main body 10a, that is, the heel part 10b is in a locked state.
A toggle-type locking device 16 is provided for aligning the bottom surface with the bottom surface of the last main body 1 (H1) and maintaining the regular length of the last.

The locking device 16 locks one end of the hooked portion 17 into the foot last body 1.
It is pivotally attached to the upper rear surface of 0α by a support shaft 18, and its hook-shaped portion 1
7, a handle 20 having a bar-shaped portion 19 projecting obliquely from the other end of the link 23, and a link 23 having one end pivoted at an intermediate position of the hook-shaped portion 1γ and the other end pivoted to the heel portion 10b by connecting pins 21 and 22, respectively.
Therefore, the link 23 has a notch 2 that escapes the support shaft 18.
4 is formed.

In the above configuration, when the handle 20 is in the downward rotating position as shown by the chain line in FIG. On the other hand, the handle 20 is rotated clockwise in FIG. 1(
When the heel portion 10b is moved over the straight line XX connecting the axes of the l-side connecting pins 22, the bottom surface of the heel portion 10b coincides with the bottom surface of the last body 10α, and the heel portion 10b is held in a locked state.

The shoe sole molding mold 8 consists of a split type side mold part 8α that can be moved in the left-right direction and a bottom mold part 8h that can be moved in the vertical direction.
A resin sprue 25 connected to the injection machine 3 is formed on the mating surfaces of both side mold parts 8α.

The sprue 25 is formed with a narrow diameter portion 25α on the outlet side, so that the sprue slug solidified within the sprue 25 after forming the sole can be easily removed by pulling.

4th. As shown in FIG. 5, the unlocking device 4 for unlocking the heel portion 1 (l) by the locking device 16 is equipped with a base 21 having a mounting surface sloped upward toward the rotary table 2. A pair of front and rear support plates 2 are mounted on the mounting surface.
A cylinder portion 31 of a large first air cylinder 301 is provided via 9. First air cylinder 30. There are two brackets (long and short) at the tip of the piston rod 32) 33.34
A board 35 with a protruding structure is fixed, and the long bracket 3
An end of an arm 3T fixed to the middle part of the unlock pin 36 is pivotally attached to the tip of the arm 3 via a connecting pin 3B. At the tip of the short bracket 34 is a small W second air cylinder 30! The end of the cylinder portion 39 is pivotally attached via a connecting pin 40, and the tip of the piston rod 41 is pivotally attached to the rear end of the unlock pin 36 via a connecting pin 42. The first air cylinder 301 has a function of moving the unlock pin 36 forward and backward with respect to the handle bar 19 of the locking device 16, and the second air cylinder 30. is unlock pin 36
It has a function of engaging the handle bar-shaped portion 19 with the handle rod-shaped portion 19. 43 is the piston rod 3 of the first air cylinder 30+
The two guide rods are slidably engaged with the support portions 44 between the substrates 35. 45 is a reinforcing frame for the guide rod 43, and both members 4315
moves forward and backward together with the piston rod 32. This reinforcement frame 4
5 is provided with a cam for confirming the forward limit and backward limit of the piston rod 32.

As shown in FIGS. 6 to 8 and 10, the shoe removal manipulator 5 includes a bendable and extensible arm 48 that is swingably suspended from a support 46 via a support shaft 41, and a lower end of the arm 48. The hand 5 is swingably attached via a support shaft 49 to the
0 and more. The hand 50 has a base end 51 on the arm 48 side.
an intermediate portion 52 that is rotatable relative to the base end portion 51 around an axis perpendicular to the support shaft 49; and an intermediate portion 52 that is freely swingable relative to the intermediate portion 52 around a support shaft 53 that is parallel to the support shaft 49 of the arm 48; a cylinder portion 54, and a pair of first cylinder portions attached to the cylinder portion 54 that can be opened and closed. Second finger portion 551 .

55! It becomes more.

The cylinder portion 54 has a pair of first cylinders parallel to each other. Second cylinder hole 56. ．． 56. and their first stone 5T%
, 57. are slid together, and the first and second cylinder holes 56. ．． 56. Inside is a pneumatic chamber 71 for opening the finger part. ,7
1. and a pneumatic chamber 72 for closing the finger portion. ．． 72. It is divided into Those pneumatic chambers 71z -71t -72+
-72t is a pneumatic chamber 71.-72t for opening the finger portion of the first cylinder hole 56. is the pneumatic chamber 72 for closing the finger portion of the second cylinder hole 562! and the first cylinder hole 56. Pneumatic chamber 72 for closing the finger portion. is the pneumatic chamber 71 for opening the finger portion of the second cylinder hole 562. and are arranged adjacent to each other. First piston 57. A first piston rod 581 is fixedly installed on the end face facing the finger portion closing pneumatic chamber 721, and the first cylinder hole 56. A first finger portion 55. The proximal ends of the two are connected. First piston 57. A first guide rod 59t is fixed to the end face facing the finger opening pneumatic chamber 71°, and the portion of the first guide rod 591 that protrudes from the first cylinder hole 56 is connected to the second finger portion 55. It is slid onto the proximal end of the. Second piston 57.0 Pneumatic chamber for closing finger portion 72. On the end face facing
8. is fixedly installed, and its first second piston rond 58. The second cylinder hole 56. A second finger portion 55 is provided at the projecting end of the spider.
．． The middle parts of the two are connected. Second piston 51. Pneumatic chamber 71 for opening the finger part. On the end face facing the second guide rod 59! is fixedly installed, and its second guide rond 59. the second of
Cylinder hole 56. The protruding portion from the first finger portion 55
．． 0 is slid into the middle part.

1st. The second finger portions 551 and ssl have stepped protrusions 60 for shoe clamping made of sponge rubber facing each other on the inner surfaces of their tips, and the thin portions 60 of both blocks 60
The side of the sole of the shoe is sandwiched between the inner sides of α, and the side of the heel's heel is sandwiched between the inner sides of thick portion 60b. A push plate 61 made of sponge rubber is attached to the upper surface of the thin wall portion sag of both blocks 60 with one end thereof protruding inward.

This presser plate 61 presses the heel tread when the shoe is large, thereby preventing the toe side from lowering and the shoe falling from between the blocks 60, but is not necessary when the shoe is small.

Figure 9 is 1. This shows a pneumatic circuit for opening and closing the second finger portions 55□ and 551, in which the air pressure source 62 includes a filter 63,
Pneumatic unit 66 consisting of pressure reducing valve 84 and oiler 65
A high pressure setting pressure reducing valve 69 and a low pressure setting pressure reducing valve 70 are connected in parallel between the unit 66 and the switching valve 67. 1st. Second finger portion 5.5s, 55. The on-off valve 68 is connected to the switching valve 61. The on-off valve 6B is the first valve of the cylinder portion 54. The pneumatic chamber 7'11.711 for opening the finger portion and the pneumatic chamber 12.711 for closing the finger portion of the second cylinder holes ss, , ss. .

722 by an X-shaped pipe 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, the shoe upper U is suspended between two upper and lower lasts 10 of, for example, the right sole molding unit 11°, which are located in front of the injection machine 30. The heel portion 10b is locked by the locking device 16, and the heel portion 10A is engaged with the notch 13 of the last main body 10α to maintain the last 10 at a regular 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 8α 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, the molten bottom material such as synthetic resin or synthetic rubber is passed from the injection machine 3 through the sprue 25 to the mold parts 8α on both sides.

The shoe S is manufactured by filling the cavity formed by the sole mold part 8h and the foot mold 10 to form the sole So, and at the same time integrating the sole So and the upper U.

Next, both side mold parts 8α are opened, and the bottom mold part 8b is lowered and released, and the last 1o covering the shoe S is rotated 1800 degrees upwards, and the other last 1° located above is placed on the Kanazawa 8. The shoe S is manufactured by placing it above the sole mold part 8b and performing the same operations as described above. Then, the spruce lag is removed using a spruce lag cutting device (not shown).

Thereafter, the rotary table 2 is intermittently rotated counterclockwise in FIG. 1 to stop the pair of lasts 1o covering the shoe S at the position of the unlocking device 4. Then, as shown in FIG. 4, the first air cylinder 30K of the unlocking device 4 is operated in the forward direction to move the inclined unlocking pin 36 forward, and the handle rod-shaped portion 19 of the locking device 16 located at the upper portion is moved forward. make it go beyond.

Next, the second air cylinder 30. is operated in the forward direction to raise the unlock pin 36 substantially perpendicular to the axial direction of the first air cylinder 30.0, as shown in FIG. is operated in the backward direction, and the handle 20 is rotated clockwise by retracting the unlock pin 36. As a result, the heel portion 10b of the last 10 becomes in a locked state, its bottom surface protrudes from the bottom surface of the last main body 10α, the close contact between the last main body 10α and the inner surface of the sole SO is released, and the length of the last is shortened. . A similar unlocking operation is performed for the other locking 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 taking off your shoes, please refer to step 10. As shown in FIG. 11, the hand 50 of the manipulator 5 is connected to the first hand 50. Second finger part 5
5. ．． 55. are leveled and opened and placed at the original position α near the conveyor 6.

When taking off shoes, the arm 48 swings and bends toward the last 10 located at the top according to the program, and the cylinder portion 54 rotates around the support shaft 53 to move the first. Second
Finger portion 55. ．． 55. is held at approximately 45°, which matches the inclination of the tread of the sole So, and both finger portions 55, . 55. are located on both sides of the heel of shoe S. When taking off shoes, the switching valve 6T shown in FIG.
．． Second finger portion 55. ．． 55. closes and the heel of shoe S is pinched.

Next, the first. Second finger portion 55. ．． 55 degrees move from position tC to position d so that they draw a trajectory substantially along the sliding surface of the heel portion 10b and the last body 10α. During this time, the heel portion 10h of the last 10 is the first one. Second finger portion 551
, ss, slide against the last body 10α and the length of the last is shortened, so that there is a gap between the toe portion of the last body 1oα and the toe portion of the shoe S as shown in Fig. 12α. This creates a gap, which facilitates the next heel release operation #tr, s.

And the first. Wf, 2 finger portion 55. ．． 55. While rising diagonally backward from position d to position flit, the 13th
a, 1st as shown in Figure 13h. Second finger portion 55. ．． 55. is the heel part 10 of the foot type 10 with the heel of the shoe S
A, but before it comes off, the switching valve 6T is switched to the low pressure setting pressure reducing valve 10 side and the closing pneumatic chamber 72. ,72. 1. Second finger portion 55. ．． 55. The pinching pressure on the heel of the shoe S is reduced. As a result, when the first and second finger portions 551 - 55 * come off the heel portion 10A of the last 10, the unfertilized sole So immediately after molding becomes the first and second finger portions 551-55*. Second finger portion 55. ．． 55. The first step is to avoid the problem of deformation due to excessive pressure. Second finger portion 55. ．． While the shoe 552 rises obliquely backward from the position e to the position f, the heel of the shoe S completely separates from the heel portion 10h of the last 1°, as clearly shown in Figures 14α and 14b.

After that, the first. Second finger portion 55. ,55. is foot type 10
When the shoe S advances obliquely upward substantially parallel to the bottom surface of the shoe S and reaches position 1, the toe of the shoe S passes through the toe of the last body 10α and the shoe S is completely separated from the last 10.

Next, the first. Second finger portion 55. ．． 55. After moving up from position 1 to position 1, while retreating to position number above the conveyor 6, the 1st. Second finger portion 55I.

55, is rotated 180° and the sole So is directed downward,
1st. When the second finger parts ss, , ss, descend to the position No., the shoes S are placed on the conveyor 6. Then, the on-off valve 68 is switched and the closing pneumatic chambers 72s, 72. is opened to the atmosphere at the same time as the opening pneumatic chamber 71. ．． 71. Since pressurized air is introduced into the first. Second finger portion 55
．． ．． The shoes S are opened 55 degrees and left on the conveyor 6.

Next, the first. 2nd fin Karito 55. ．． 55. While moving diagonally upward from position 5 to position K, both finger parts 5
51.

552 are rotated 180 degrees, returning them to their original state.

And the first. The second finger parts ss+, sst descend diagonally backward and retreat, returning to the original position α.

After the above shoe removal operation is completed, the foot print 10 after taking off the shoes is 180
The shoes are rotated 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 fingers of the manipulator are positioned on both sides of the heel from the rear or above the shoe, the tread is held between the fingers, and the peg is moved along 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 invention, even if the 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 the same as Fig. 2. Figure 4 is a side view showing the relationship between the unlocking device and the foot type, Figure 5 is a partially enlarged view of Figure 4, Figure 6 is a partial perspective view of the manipulator, and Figure 7 is Figure 6 - ■ Line cross-sectional view, Figure 8 is Figure 6 ■ Arrow view, Figure 9
The figure is a pneumatic circuit diagram for opening and closing the finger part, No. 10. FIG. 11 is an explanatory diagram of the shoe-removal process, and Figures 12α, 13α, and 14α are explanatory diagrams of a part of the shoe-removal process, respectively, and Figure 12b. Figures 13b and 14b are respectively Figure 125 ■b-Xl
Ib1lr+! , IK 13 a Figure XLI h-Xl
ll blgj, Figure 14a S...iMr, So...sole, U...upper 5-...
... Manipulator, 1G... Foot last, lQa... Foot last body, 10b... Heel part, 551.55. ...First.
2nd finger patent ω needle insertion Achilles Co., Ltd.

Claims (2)

[Claims] (1) A foot last consisting of a foot last main body and a heel part slidably connected to the last main body, and when the heel part is in a locked state with respect to the foot last main body, the bottom surfaces of these parts touch each other. When the heel portion is in an unlocked state with respect to the foot mold body, the bottom surface of the heel portion protrudes from the bottom surface of the foot mold body, thereby shortening the foot mold length. Using the obtained shoe, after hanging the upper on the last, locking the heel, and then molding the sole, manufacturing a shoe in which the sole and the upper are integrated. Then, when the shoe is removed from the last, the step of fixing the last with the tread surface of the sole facing upward, the step of unlocking the heel, and the step of fixing the last with the tread surface of the sole facing upward; opening the finger parts of a manipulator equipped with finger parts and positioning them on both sides of the heel of the shoe from behind or above the shoe, and then closing the finger parts to clamp the heel; and the finger parts a step of moving the heel of the shoe from the heel part of the last by moving it approximately parallel to a sliding surface between the last main body and the heel part; An automatic shoe-removal method comprising the steps of removing the toe side of the shoe from the last body by moving the shoe substantially parallel to the bottom surface. (2) A foot last consisting of a foot last main body and a heel part slidably connected to the last main body, and when the heel part is in a locked state with respect to the last main body, the bottom surfaces of these parts touch each other. When the heel portion is in an unlocked state relative to the foot mold body while maintaining the regular foot shape length, the bottom surface of the heel portion protrudes from the bottom surface of the foot shape body, shortening the length of the foot shape. After suspending the upper on the last using as much as possible, the heel is locked, and then the sole is molded to produce a shoe in which the sole and the upper are integrated. Thereafter, when the shoe is removed from the last, the last is fixed with the tread surface of the sole facing upward, and the heel is unlocked, and at least two steps are performed. opening the finger parts of a manipulator equipped with openable and closable finger parts, positioning them from behind or above the shoe on both sides of the heel, and then closing the finger parts to clamp the heel; The finger portion is moved substantially parallel to the fingering surface of the last main body and the heel portion, and while the heel of the shoe is pulled out from the heel portion of the last, the finger portion is removed from the heel portion. a step of reducing the pinching pressure of the finger portion before it comes off from the shoe; and a step of moving the finger portion substantially parallel to the bottom surface of the last body to remove the toe side of the shoe from the last body.