CN110381767A - Shoemaking system - Google Patents
Shoemaking system Download PDFInfo
- Publication number
- CN110381767A CN110381767A CN201880012475.9A CN201880012475A CN110381767A CN 110381767 A CN110381767 A CN 110381767A CN 201880012475 A CN201880012475 A CN 201880012475A CN 110381767 A CN110381767 A CN 110381767A
- Authority
- CN
- China
- Prior art keywords
- finger grips
- shoe tree
- clamping manipulator
- shoe
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D119/00—Driving or controlling mechanisms of shoe machines; Frames for shoe machines
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D111/00—Shoe machines with conveyors for jacked shoes or for shoes or shoe parts
- A43D111/003—Shoe machines with conveyors for jacked shoes or for shoes or shoe parts with clamping or gripping mechanism
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D111/00—Shoe machines with conveyors for jacked shoes or for shoes or shoe parts
- A43D111/006—Shoe machines with conveyors for jacked shoes or for shoes or shoe parts with special means to place the shoe or shoe part in the following machine
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D3/00—Lasts
- A43D3/10—Devices for removing lasts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D2200/00—Machines or methods characterised by special features
- A43D2200/10—Fully automated machines, i.e. machines working without human intervention
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D2200/00—Machines or methods characterised by special features
- A43D2200/20—Machines including a carousel with different working posts around a turning table
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D2200/00—Machines or methods characterised by special features
- A43D2200/30—Machines including a magazine, e.g. for feeding blanks, pre-forms or sheets
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
Abstract
A kind of shoemaking system, at least one warehouse including storing shoe parts, shoe tree and the multiple first automatically or semi-automatically machine (M1, M2 ... Mi) for the operation of shoemaking needed for executing one or more steps.Advantageously, it can be by being travelled to and fro between the machine (M1, M2 ... Mi) and/or warehouse using robot (R) to automatically process the shoe tree and shoe parts, wherein, the robot (R) includes the articulated jib with clamping manipulator 1.
Description
Technical field
The present invention relates to shoemaking systems defined by a kind of preamble as claimed in claim 1.
Background technique
It is well known that shoemaking includes many more manipulations, such as: by vamp be pre-assembled to shoe tree, assembling toe-cap, assembling shoe,
Upper of a shoe, riveted, roughing and gluing are assembled, applies insole, apply sole and/or sewing.
Once these operations were performed manually by, but the machine specially designed has been provided in recent years and grasps to execute every step
Make, to ensure that processing quality is consistent and high yield.
Although these machines have automatic property, but still need to place shoe tree on the table, it is therefore necessary to have
Operator is on the scene, to load and unload shoe tree from the machine and it is necessary to conveying equipment is set, in order to by semi-finished product shoes from one
Platform machinery is transported to another, because can execute all required operations without an individual machine.
It should be noted also that the design of machine in the prior art is to execute above-mentioned many operations (for example, applying
Upper side and shoe or roughing and gluing are assembled before insole), the shoe tree is oriented last sole upward.
This part is necessary, because glue should be transported to bottom from top to avoid undesirable drippage.Shoe tree
This upward position (sole is upward) is also required to operator and checks whether operation correctly carries out, and may take manual operation
To complete certain operations.According to above-mentioned requirements, shoe industry has developed the automaton being highly improved, can be with completely solely
Vertical mode carries out various operations, but still needs operator on the scene in order to which shoe tree is from a workbench to another workbench
Processing.
Therefore, tight demand can be from a machine to the automatic processing shoe tree of another machine, vamp and formation shoes
Required other parts.In order to meet this demand, it has been suggested that use manipulator, this manipulator has fixture, the fixture
Shoe tree can be caught in special grasping extension outstanding from shoe tree part, corresponding with neck.This is because this fixture
Only it is suitable for catching the article with fixed and preset shape, and the biography that size and shape cannot be caught to change according to its model
System shoe tree, unless it has this grasping extension.
This limitation hinders the success of this arrangement, because the use of this manipulator with fixture needs to have this
Class grasps the shoe tree that is new, specially designing of extension to replace all existing traditional shoe trees.
In addition, it is also pointed out that, since shoe tree must be by catching the above-mentioned part from the neck for limiting shoe tree prominent
Grasping extension handled, and this shoe tree cannot be used for existing machine, because existing machine requires shoe tree to exist
Sole is handled and is positioned in the case where upward.It can only be by avoiding in its side it should be understood that such case is possible
The mode of shoe tree is clamped to realize, according to the model of shoes to be formed and the size of shoes, the shoe tree there can be alterable height
Convex or recessed profile.
Summary of the invention
Therefore, the present invention is based on the above problems to contemplate a kind of shoemaking system, it may be assumed that
Including multiple automatically or semi-automatically machines for executing required shoemaking operation；
To meet the demand, have a structure in which and functional characteristics, by the two sides in shoe tree keep they and/or
It clamps and handles shoe parts automatically to handle traditional shoe tree from a machine to another machine；And
The shortcomings that can also avoiding the above-mentioned prior art.
The problem is solved by shoemaking system as described in claim 1.
On the other hand, which is also solved by using adaptive clamping manipulator as defined in claim 23.
Detailed description of the invention
In conjunction with attached drawing, by hereinafter being described to the preferred embodiment provided in illustrative and not restrictive mode,
The other feature and advantage of shoemaking system of the invention will become obvious, in which:
Figure A shows a kind of schematic diagram of embodiment of shoemaking system of the invention；
Fig. 1 shows adaptive clamping manipulator of the invention and is in perspective view, in open configuration, and the machine
Tool hand is located at the free end of robots arm；
Fig. 2 shows the side views of the manipulator of Fig. 1；
Fig. 3 shows the front view of the manipulator of Fig. 1；
The clamping manipulator that Fig. 4 a and 4b show Fig. 1 is in two different perspective views in closure clamp configuration；
Fig. 5 shows the side view of the manipulator of Fig. 4 a and 4b；
Fig. 6 shows the front view of the manipulator of Fig. 4 a and 4b；
Fig. 7 shows the perspective view of the finger grips of manipulator of the invention；
Fig. 8,9 and 10 shows perspective view of the manipulator 1 when catching shoe tree or sole；And
Figure 11 shows the schematic diagram of the possibility structure of shoemaking system of the invention.
Specific embodiment
With reference to Fig. 1, shoemaking system of the invention is broadly designated at 100.
The shoemaking system 100 includes:
At least one warehouse, memory are placed with shoes parts or component, shoe tree and/or semifinished or finished goods shoes；
Multiple shoe trees 4, designed for receiving shoe parts during shoemaking operation；And
First processing unit 101 comprising the multiple first automatically or semi-automatically machine M1, M2…MiFor carrying out one kind
Or a variety of required shoemaking operations.
Advantageously, the shoemaking system includes the first robot R with articulated jib 15, and the articulated jib 15 has clamping
Manipulator 1, the first robot R, which is in, can operate the multiple first automatically or semi-automatically machine M1, M2…MiIn
One machine M1, M2…MiAnd/or the position in the warehouse, in order to
The shoe tree 4 selectively is caught in the side of the shoe tree 4 using the clamping manipulator 1, and described
One machine M1, M2…MiAnd/or the shoe tree 4 is operated between at least one warehouse in a predefined manner；And/or
Shoe parts 13 are selectively caught using the clamping manipulator 1, and in a predefined manner at least one described storehouse
Library and the first machine M1, M2…MiBetween it is handled.
It should be noted that as used in the specification and in the claims, term is selected using clamping manipulator 1
The shoe tree 4 is selectively caught to be intended to place with not having vamp and vamp above shoe tree in the side of shoe tree 4 to property
It is related in the processing situation on the shoe tree.In the latter case, the clamping manipulator 1 will obviously clamp the side of shoe tree
It is inserted into vamp, that is, fixture does not contact directly with shoe tree.
Preferably, the first processing unit 101 includes processing locality, manages and controls device LI for managing and controlling
System:
The operation of the first robot R；
The multiple first automatically or semi-automatically machine M1, M2…MiThe first machine M1, M2…Mi；And
Handle the shoe tree 4 and shoe parts 13 in the first processing unit 101；
To add for supervising in the first processing unit 101 to what each specific shoes manufactured were carried out
Work step is rapid.
Preferably, shoemaking system 100 includes at least one working area B, for temporarily storing shoe tree 4 and being applied to
Shoe tree 4 or shoe parts relevant to the shoe tree 4, the loading of at least one interim storage working area B and/or unloading pass through
The clamping manipulator 1 of first robot R carries out.
Preferably, working area B is thermal conditioning working area, is preferred for being heated or cooled and/or have for changing shoes
The moisture-absorption characteristics of water content in component.It by this arrangement, can according to need, during manufacture or can make before manufacture
Shoe parts are heated at the end of making, cooling and/or change water content.
Preferably, above-mentioned shoemaking system 100 includes at least one second other processing unit 102 comprising:
Multiple second automatically or semi-automatically machine M'1,M'2,…M'iTo carry out one or more required shoemaking operations；
Optional warehouse can be used for storing shoes parts or component, shoe tree and/or semifinished or finished goods shoes；
Second robot R' comprising the articulated jib 15 with clamping manipulator 1, the clamping manipulator 1 is in can
In the multiple automatically or semi-automatically machine M'1,M'2,…M'iIn machine M'1,M'2,…M'iOr the warehouse (if
If having) on the position that is operated；In order to
The shoe tree 4 selectively is caught in the side of the shoe tree 4, and in the machine M'1,M'2,…M'iAnd/or
It is handled in a manner of preset between the warehouse (if any)；And/or
Selectively grab institute's shoe parts 13 and at least one described warehouse and machine M'1,M'2,…M'iBetween with pre-
If mode it is handled.
Preferably, it is above-mentioned at least one first processing unit 102 include processing locality, manage and control device L1', with
In managing and controlling:
The operation of the second robot R'；
The multiple automatically or semi-automatically machine M'1,M'2,…M'iIn machine M'1,M'2,…M'iOperation；And
The processing of the shoe tree 4 and shoe parts 13 in the second processing unit 102；
With to the procedure of processing that each specific shoes for manufacturing are carried out in the second processing unit 102 into
Row supervision.
Preferably, the first unit 101 is interconnected at least one second unit 102 by temporarily storage working area B phase
It connects, for exchanging shoe tree 4 and associated shoe parts, wherein the working area B is used to pass through first robot
The clamping manipulator 1 of the clamping manipulator 1 of R and the second robot R ' are loaded and/or unload, and the working area B is preferred
For thermal conditioning and/or moisture absorption working area B, to change the moisture content in shoe parts.
Preferably, the shoemaking system 100 includes:
Traceable ID label, preferably RFID label tag, the label are related to the shoe tree 4 and/or the shoe parts；
For reading the device of the traceable ID label, with the manipulator 1 and/or the first machine M1, M2 ... Mi
And the second machine M'1,M'2,…M'iIt is associated.
Preferably, the shoemaking system 100 includes that central processing manages and controls unit, for managing, controlling and supervising
It superintends and directs:
The operation of the processing unit；
The operation of the working area B；And/or
Correlation between the processing unit.
A kind of shoemaking system is hereinbefore described, respectively includes individually processing unit 101 or two processing units 101
With 102.It is to be understood, however, that at least one processing unit may include two, three or more processing unit, they
It is pairs of using corresponding working area or multiple units link together.It is required according to specific manufacture, these processing units can be with
It is performed in parallel different treatment process or identical operation.
It is to be further understood that processing used in units at these, automatically or semi-automatically machine can be well-known
Existing machine, i.e. the upper of a shoe kludge (seat-fitting machines) and roughing laminator of the application.
As described above, these machines are efficient and can automatically execute various processing operations, although in existing skill
They load and unload shoe tree there is still a need for operator is on the scene in art, wherein in each process-cycle of workbench, by shoes department
Part is applied to shoe tree or is associated with it.
On the contrary, using have clamping manipulator robot (as described further below), can make every automatically or
The workbench of semiautomatic machine is loaded and unloads in the case where not needing operator.
This is possible, because above-mentioned manipulator 1 can selectively catch shoe tree 4 at the respective side of shoe tree 4, and
And can even if sole upward in the case where they can be placed into every machine workbench in.
Fig. 1 to 10 is shown in the various structures using the adaptive clamping manipulator 1 in configuration, which is suitable for
The shoe tree 4 (see Fig. 8) of traditional type or another part of shoes, such as sole 13 are clamped, as shown in Figures 9 and 10.
The adaptive clamping manipulator 1 includes main body 2, is designed to be operably connected to the mechanical arm of robot
14 and by its actuating.
Preferably, the free end that the clamping manipulator 1 is connected to arm 14 by being inserted into force snesor 12, the power sensing
Device 12 can determine the power for being acted on by the clamping manipulator 1 and/or being applied.
The embodiment according to shown in, the main body 2 substantially with the shape of parallelepiped, have and prolong along longitudinal direction
The longitudinal direction side and two short cross sides of the rectangular base stretched and two opposite length.
The shape of the main body of the clamping manipulator 1 can also differ markedly from rectangular base shape as the example shows.
The aforementioned body 2 of clamping manipulator 1 includes having the first side 3 of outer surface, when manipulator clamping shoe tree 4 or another
When object (shoe parts) 13, the outer surface is towards that is, turn to the shoe tree 4 or another object 13.
The clamping manipulator 1 further include:
Clamping device associated with aforementioned body 2, with one for selectively clamping shoe tree 4 or another object 13
Point；And
Driving device for driving this clamping device to close and open.
Advantageously:
Above-mentioned clamping device includes at least a pair of reversed finger grips 5；
The finger grips 5 stretch out main body 2, so that its distal end 6 extends beyond the above-mentioned outer surface of the first side 3 of main body 2；
Each finger grips 5 extend to the distal end 6 from the end 7 close to the main body along axis n-n；
Each finger grips 5 be hinged with from an open configuration (referring to Fig. 1,2 and 3) be moved to a closed configuration (referring to
Figure as Fig. 4 a, 4b, 5,6,8,9,10), wherein in the open configuration, the finger of the opposite acting in opposition of each pair of finger grips 5
Clamp 5 is in spaced relation, and in the closed configuration, finger when above-mentioned open configuration is in the clamping manipulator 1
The position of clamp 5 is compared, and the said distal ends 6 of the finger grips 5 of the opposite acting in opposition of each pair of finger grips 5 become:
Closer to the above-mentioned outer surface of first side 3 of the main body 2；And
It is closer proximity to each other or be in contact with each other.
Preferably, when the opposite finger grips of each pair of finger grips are moved to above-mentioned closed configuration from open configuration,
More curved shape is presented in they, wherein the concave surface of the opposite finger grips 5 of each pair of finger grips 5 is facing each other, such as schemes
Shown in 6 example.
Preferably, the adaptive finger grips 5 are hinged around hinge axes Y-Y, wherein the hinge axes Y-Y extends
It is parallel to following direction:
Perpendicular to the direction of the axis n-n of each finger grips 5；And
Perpendicular to the direction of an imaginary plane, which extends through two reversed works with a pair of of finger grips 5
Finger grips.
It is highly preferred that each finger grips 5 include multiple sections of 8a, 8b, 8c, described section from above-mentioned proximal end 7 to said distal ends 6
Extended with hinged relationship end-to-end each other.
Each finger grips 5 have towards/towards the first side 3 of the main body 2 above-mentioned outer surface inside, Yi Jiyu
Opposite outside；
According to illustrated embodiment (for example, as shown in Figures 6 and 7):
Each finger grips 5 include the end segments 8a for limiting the distal end 6；
The inside of each finger grips 5 includes multiple first segment 8b, the multiple first segment 8b in the end segments 8a and
It is axially extending with hinged relationship end-to-end each other between the proximal end 7, until they define the inside 7a of the proximal end 7；
The outside of each finger grips 5 is limited by multiple second segment 8c, and the multiple second segment 8c is from the end segments 8a
Exterior section it is axially extending with hinged relationship end-to-end each other, until they limit the external 7b of the proximal end 7；
The inside 7a of the proximal end 7 of each finger grips 5 is hinged at the respective point 15 of the main body 2, around corresponding
It is parallel to the hinge axes Y-Y rotation of the longitudinal axis of main body 2；
The external 7b of the proximal end 7 of each finger grips 5 is rotatably driven by above-mentioned driving device.
Preferably, the driving device for the clamping manipulator 1 includes: the corresponding electricity for each finger grips 5
Machine, the motor have the rotation of the outside for the proximal end 7 that each finger grips 5 are connected to by corresponding bar/crank 10
Axis 9.
Alternatively, single motor can be provided to move the more than one finger grips 5 of the clamping manipulator 1 or movement
All finger grips.Here, should be including limitation dress from the mechanical driving device that motor is transmitted to finger grips 5 for that will move
It sets, such as torque limiter, clutch, to limit maximum delivered clamping force/torque of each finger grips.
Preferably, in each finger grips 5 of clamping manipulator 1, the multiple first segment 8b and the multiple second
The respective points of articulation of section 8c is hinged by respective connecting rod 11.
Above-mentioned connecting rod 11 and section 8 define four-rod linkage in the structure of each finger grips 5.
Preferably, in each finger grips 5, corresponding external articulation side is cut with scissors from the proximal end 7 to distal end 6 towards inside
Connect side convergence.
Preferably, the clamping manipulator 1 includes elastic material and/or elastic device 16, the elastic material and/or bullet
Property device 16 be located at the inside of each finger grips 5 above-mentioned multiple first segment 8b and outside above-mentioned multiple second segment 8c it
Between.
Preferably, each finger fixture 5 of the clamping manipulator 1 includes at least two hinges along its own axis n-n
Contact, and preferably include at least three hinge joints.
As shown, when manipulator is in open configuration (see Fig. 3), the axis of each finger grips 5 of clamping manipulator 1
Line n-n is substantially linearly, and when the manipulator is in closed configuration (see Fig. 6), in broken string shape.
Preferably, the clamping manipulator 1 includes the opposite finger grips 5 of two pairs of interlaced settings.
According to illustrated embodiment, two pairs of opposite finger grips 5 are on longitudinal X-X, i.e., along the long side phase of main body 2
Mutually staggeredly.
Two pairs of opposite finger grips make clamping manipulator 1 clamped at two points spaced apart shoe tree 4 or another
Object 13, so that it is guaranteed that grabbing securely and steadily on it.
Preferably, each finger grips 5 include the material for being coated with or being formed with great friction coefficient at the distal end 6
The retained part of material.
Preferably, each finger grips 5 include the retained part for having rough surface in the distal end 6.
Preferably, the clamping manipulator includes the corresponding sensor device for each finger grips 5, with directly or
By measuring the closing force for determining and being applied by each finger grips 5 indirectly.
Using shoe tree 4 manufacture shoes method the following steps are included:
Shoemaking system 100 as described above is provided；
The shoe parts in the first processing unit 101 are handled using the first robot R；
It is selected in the first processing unit 101 by using the clamping manipulator 1 by means of the first robot R
Selecting property the shoe tree 4 is operated by clamping the shoe tree 4 in the side of shoe tree 4；And
Using the first machine M1, M2 ... Mi pairs is related to shoe tree and be located at the first machine M1, the M2 ... it is every in Mi
Shoe parts on one machine execute procedure of processing.
Preferably, if above-mentioned shoemaking system 100 further includes the second processing unit 102, the manufacturing method of shoes includes making
Handled with above-mentioned interim storage working area B shoe parts between the first processing unit 101 and the second processing unit 102 and/or
The step of shoe tree.
Preferably, the shoemaking method the following steps are included:
It is every kind of different types of shoes, stores required shoe parts, for the shoe tree of the application shoe parts, and
The sequence of process operation is carried out on various machines；
Identify processed each shoe tree；And
According to the shoe tree identified, needed for applying/be associated in every machine according to the sequence provided in storing data
Shoe parts simultaneously execute processing operation.
As shown in the above description clearly, shoemaking system of the invention meets the demand, and also overcomes
Such as the prior art defect illustrated in background technique of the invention.The structure of above-mentioned manipulator enables this manipulator to grab
The firmly object of shoe tree of such as traditional type etc is similar to the shoes being manually operated during usual shoemaking by operator
Last carving.
In this respect it should be noted that according to the size and concrete shape of the shoes to be manufactured, shoe tree has different shapes
Shape and size.In addition, these shoe trees have quite mellow and full and curved shape, it is not easy to be caught by the fixture with straight-tooth, this
There is kind the fixture of straight-tooth to be only capable of executing normal opening and closing movement.However, clamping manipulator of the invention is adaptive
Type, because of the shape of its shoe tree for being adapted to and conforming to crawl, so as to be suitble to its circle, convex or spill shape
Shape is to ensure securely effective crawl.
Why this is able to achieve the result is that leading to the opposite finger grips of each pair of finger grips on the shoe tree that will be grabbed
It is grabbed in one of finger grips mode different from another finger grips to cooperate and reach.As described above, working as
When crawl finger-shaped material is moved to closed configuration from open configuration, they are taken closer to the position of manipulator main body, preferably present
One more curved profile, this may insure to catch shoe tree securely by appropriate form.
Preferably, this adaptive clamping effect can be ensured, be because finger grips are hinged and including example
Such as above-mentioned multiple sections extended with hinged relationship end-to-end each other.
By using clamping manipulator may be implemented one of advantage be that it is possible to directly or indirectly determine and adjust it is each
The finger grips shape to be presented, and the maximum pressure that be applied on object that is to be held and grabbing, to improve institute
State the ability that clamping manipulator is adapted to the concrete shape of shoe tree to be captured.
Another advantage of the clamping manipulator is, this manipulator can be used: automatically processing shoe tree and automatic
Handle shoe parts.This manipulator can not only travel to and fro between warehouse and load and unload shoe tree, but also can be specifically for use in
The machine known, these machines are commonly used in:
Vamp is installed to shoe tree；
Toe-cap is installed
Shoe is installed；
Roughing；
It is glued；
Sole is installed；
Etc..
In view of before making the present invention, being automatically brought into operation although above-mentioned known machine has, there is still a need for operations for they
Person's next shoe parts for loading and unloading shoe tree and used manually on the scene.
Using brought by shoemaking system of the invention the advantage is that due to using one or more operation robots, can
To realize almost automatic shoes manufacturing process, and using existing automatically or semi-automatically technology reduce labour, this
Automatically or semi-automatically technologies can be not only integrated into shoemaking system of the invention from the angle of structure and function a bit, can also be with
It is integrated in terms of general control and management system and/or single processing unit.
It obviously, it will be appreciated by persons skilled in the art that can be in the scope of the present invention defined in the appended claims
It is interior, above-mentioned clamping manipulator is variously changed and modification.
Thus, for example, more than one robot can be provided in individually processing unit.
Claims (37)
1. a kind of shoemaking system, comprising:
At least one warehouse is used to store shoes accessory or shoe parts (13), shoe tree and/or semifinished or finished goods shoes；
Multiple shoe trees (4) are designed to receive shoe parts in shoemaking operating process；And
First processing unit (101) comprising for executing one or more required shoemaking operations multiple first it is automatic or
Semiautomatic machine (M1, M2 ... Mi)；
It is characterized by comprising the first robot (R), first robot (R) includes hinged with clamping manipulator (1)
Arm (15), first robot (R) is in can be in the multiple first automatically or semi-automatically machine (M1, M2 ... Mi)
The first machine (M1, M2 ... Mi) and/or the warehouse on the position that is automatically brought into operation, in order to:
The shoe tree (4) selectively is clamped in the side of the shoe tree (4) by the clamping manipulator (1), described
Between first machine (M1, M2 ... Mi) and/or at least one described warehouse in a manner of preset the mobile shoe tree (4)；With/
Or
The shoe parts (13) are selectively clamped by the clamping manipulator (1), at least one described warehouse and institute
State between the first machine (M1, M2 ... Mi) the mobile shoe parts (13) in a manner of preset.
2. shoemaking system according to claim 1, it is characterised in that: first processing unit (101) includes originally being located in
It manages, manage and control device (L1), to manage and control:
The operation of first robot (R)；
The operation of the multiple first automatically or semi-automatically the first machine in machine (M1, M2 ... Mi) (M1, M2 ... Mi)；With
And
The shoe tree (4) and the shoe parts (13) are handled in first processing unit (101)；
To supervise in first working cell (101) to procedure of processing performed by each specific shoes manufactured.
3. shoemaking system according to claim 1 or 2, it is characterised in that: including temporarily storing the shoe tree (4) and
Applied at least one of the shoe tree (4) or associated shoe parts temporarily storage working area (B), at least one is temporarily deposited
Working area (B) is put to be loaded and/or unloaded by the clamping manipulator (1) of first robot (R).
4. shoemaking system according to claim 3, it is characterised in that: at least one described interim storage working area (B) is
Thermal conditioning working area is preferred for being heated or cooled and/or changing with moisture-absorption characteristics the moisture content in shoe parts.
5. shoemaking system described in any one of -4 according to claim 1, it is characterised in that: including at least one the second processing
Unit (102) comprising:
Multiple second automatically or semi-automatically machine (M1, M2 ... Mi), to execute one or more required shoemaking operations；
Optional warehouse, for storing shoes accessory or shoe parts (13), shoe tree and/or semifinished or finished goods shoes；
Second robot (R ') comprising the articulated jib (15) with clamping manipulator (1), second robot (R ') are in
Can the multiple second automatically or semi-automatically machine (M ' 1, M ' 2 ... M ' i) in the second machine (M ' 1, M ' 2 ... M ' is i)
And/or the position being automatically brought into operation on the warehouse (if any), in order to:
The shoe tree (4) selectively is clamped in the side of shoe tree (4), and (M ' 1, M ' 2 ... M ' is i) and/or the storehouse in machine
The shoe tree (4) is moved between library (if any) in a manner of preset；And/or
Selectively clamp the shoe parts (13), and at least one described warehouse and machine (M ' 1, M ' 2 ... M ' i) between
The mobile shoe parts (13) in a manner of preset.
6. shoemaking system according to claim 5, it is characterised in that: second processing unit (102) includes originally being located in
It manages, manage and control device (L1), to manage and control:
The operation of second robot (R ')；
The multiple second automatically or semi-automatically machine (M ' 1, M ' 2 ... M ' i) in the second machine (M ' 1, M ' 2 ... M ' is i)
Operation；And
The shoe tree (4) and the shoe parts (13) are handled in second processing unit (102)；
To supervise in second working cell (102) to procedure of processing performed by each specific shoes manufactured.
7. shoemaking system according to claim 5 or 6, it is characterised in that: the first unit (101) and described at least one
A second unit (102) is connected to each other by temporarily storage working area (B) to exchange shoe tree (4) and associated shoe parts,
Wherein, the interim storage working area (B) by first robot (R) clamping manipulator (1) and second robot
The clamping manipulator (1) of (R ') is loaded and/or unloads, also, the interim storage working area (B) is preferably thermal conditioning
And/or moisture absorption working area, for changing the moisture content in shoe parts.
8. shoemaking system according to any one of claims 1-7, it is characterised in that: include:
Traceable ID label, preferably RFID label tag are related to the shoe tree and/or the shoe parts；And
For reading the device of the traceable ID label, with the manipulator (1) and/or first machine (M1,
M2 ... Mi) and the second machine (M'1,M'2,…M'i) associated.
9. according to claim 2 and/or shoemaking system as claimed in claim 6, it is characterised in that: including central processing, management
And control unit, with management, control and supervision:
The operation of the processing unit；
The operation of the interim storage working area (B)；And/or
Correlation between the processing unit.
10. shoemaking system described in any one of -9 according to claim 1, it is characterised in that: for clamping and manipulating shoe tree
And/or the clamping manipulator (1) of shoe parts is adaptive clamping manipulator comprising:
Be designed to robots arm (15) be operatively connected and by its activate main body (2), the main body (2) include have quilt
It is designed to face towards the first side (3) of the outer surface of the shoe tree (4) by the manipulator (1) clamping；
The clamping device with a part for selectively clamping shoe tree (4) associated with the main body (2)；And
Driving device for driving the clamping device to be closed and open；
Wherein: the clamping device includes the finger grips (5) of at least a pair of of acting in opposition；
The finger grips (5) are stretched out from the main body (2), so that its distal end (6) extends beyond the first side of the main body (2)
(3) the outer surface；
The finger grips (5) of the acting in opposition proximally (7) axially extend to the distal end (6) relative to the main body (2)；
The finger grips (5) are hinged, to be moved to closed configuration from open configuration, wherein each pair of in the open configuration
The finger grips (5) of the opposite direction effect of finger grips (5) are in relationship separated from each other, and in the closed configuration,
The distal end (6) of the finger grips (5) of the opposite acting in opposition of each pair of finger grips (5) becomes:
Closer to the outer surface of the first side (3) of the main body (2)；And
It is closer or be in contact with each other.
11. shoemaking system according to claim 10, it is characterised in that: as the clamping manipulator (1) is beaten from described
It opens configuration and is moved to the closed configuration, the finger grips (5) of the opposite acting in opposition of each pair of finger grips (5) present more curved
Bent shape, the finger grips (5) of acting in opposition of the concave surface towards each pair of finger grips (5).
12. shoemaking system described in 0 or 11 according to claim 1, it is characterised in that: described in the clamping manipulator (1)
Finger grips (5) are hinged around hinge axes (Y-Y), in which: the hinge axes (Y-Y) extend parallel to following direction:
Perpendicular to the direction of the axis (n-n) of each finger grips (5)；And
Perpendicular to the direction of the imaginary plane for the finger grips for extending through two acting in oppositions with a pair of of finger grips (5).
13. shoemaking system described in any one of 0-12 according to claim 1, it is characterised in that: in the clamping manipulator
(1) in, each finger grips (5) include that from the proximal end (7) to the distal end (6) are extended with end-to-end hinged relationship each other
Multiple sections (8a, 8b, 8c).
14. shoemaking system according to claim 12 or 13, it is characterised in that: in the clamping manipulator:
Inside of each finger grips (5) with the outer surface towards first side (3) and outside corresponding thereto；
Each finger grips (5) include the end segments (8a) for limiting the distal end (6)；
It is included between the end segments (8a) and the proximal end (7) on the inside of each finger grips (5) with end-to-end hinge each other
Multiple first segments (8b) of the axially extending inside (7a) until limiting the proximal end (7) of the relationship connect；
The outside of each finger grips (5) is limited by multiple second segments (8c), and the multiple second segment (8c) is with end-to-end each other
Hinged relationship initially axially extends up to its outside (7a) for limiting the proximal end (7) from the outside of the end segments (8a)；
The inside (7a) of the proximal end (7) of each finger grips (5) is hinged at the respective point of the main body (2) around corresponding
Hinge axes (Y-Y) rotation；
The outside (7b) of the proximal end (7) of each finger grips (5) is by the rotatable driving of the driving device.
15. shoemaking system according to claim 14, it is characterised in that: in the clamping manipulator (1), for each
Finger grips (5), the driving device include having to be connected to the described close of each finger grips (5) by corresponding bar (10)
Hold the corresponding motor of the rotary shaft (9) in the outside of (7).
16. clamping manipulator according to claim 14 or 15, it is characterised in that: described in each finger grips (5)
The respective points of articulation of multiple first segments (8) and the multiple second segment (8c) is hinged by corresponding connecting rod (11)；The connecting rod
(11) and section (8) defines the four-rod linkage in each finger grips (5) structure.
17. the shoemaking system according to any one of preceding claims 10-16, it is characterised in that: in the manipulator
(1) in, each finger grips (5) include at least two hinge joints along its axis (n-n), and it is hinged to preferably include at least three
Point.
18. the shoemaking system according to any one of preceding claims 10-17, it is characterised in that: the manipulator (1)
The finger grips (5) of the acting in opposition shifted to install including two Duis.
19. shoemaking system described in any one of 0-18 according to claim 1, it is characterised in that: manipulator (1) packet
It includes: being used for the corresponding sensor device of each finger grips (5), to determine directly or by indirect measurement by each fingers
Has the closing force that (5) apply.
20. a kind of manufacturing method of shoes using shoe tree (4), comprising the following steps:
Shoemaking system as described in any one of claim 1-19 is provided；
The shoes department is handled in first processing unit (101) by the clamping manipulator (1) of first robot (R)
Part (13)；
Pass through the clamping manipulator (1) selectivity in first processing unit (101) by first robot (R)
The side of ground clamping shoe tree (4) clamps shoe tree (4) to operate the shoe tree (4)；And
It is related for the shoe tree using the first machine (M1, M2 ... Mi) and be located in first machine (M1, M2 ... Mi)
Each machine on shoe parts the step of being processed.
21. according to manufacturing method of shoes described in claim 5,7 and 20, it is characterised in that: be used for described in temporarily storage including using
The interim storage working area (B) of shoe parts (13) and/or the shoe tree (4), in first processing unit (101) and at least
The step of handling the shoe tree (4) between one processing unit (102).
22. according to manufacturing method of shoes described in claim 2,6,8 and 20 or 21, it is characterised in that: further comprising the steps of:
For every kind of different types of shoes, required shoe parts are stored, for the shoe tree of the application shoe parts, and various
The sequence of process operation is carried out on machine；
Identify processed each shoe tree；And
According to the shoe tree identified, according to the sequence provided in the data stored, needed for applying/being associated in every machine
Shoe parts simultaneously execute processing operation.
23. a kind of for clamping and manipulating the clamping manipulator (1) of shoe tree and/or shoe parts comprising:
Be designed to robots arm (15) be operatively connected and by its activate main body (2), the main body (2) include have quilt
It is designed to face towards the first side (3) of the outer surface of the shoe tree (4) by the manipulator (1) clamping；
The clamping device with a part for selectively clamping shoe tree (4) associated with the main body (2)；And
Driving device for driving the clamping device to be closed and open；
It is characterized by:
The clamping device includes the finger grips (5) of at least a pair of of acting in opposition；
The finger grips (5) are stretched out from the main body (2), so that its distal end (6) extends beyond the first side of the main body (2)
(3) the outer surface；
The finger grips (5) of the acting in opposition proximally (7) axially extend to the distal end (6) relative to the main body (2)；
The finger grips (5) are hinged, to be moved to closed configuration from open configuration, wherein each pair of in the open configuration
The finger grips (5) of the opposite direction effect of finger grips (5) are in relationship separated from each other, and in the closed configuration,
The distal end (6) of the finger grips (5) of the opposite acting in opposition of each pair of finger grips (5) becomes:
Closer to the outer surface of the first side (3) of the main body (2)；And
It is closer or be in contact with each other.
24. clamping manipulator according to claim 23, it is characterised in that: as the clamping manipulator (1) is from described
Open configuration is moved to the closed configuration, and the finger grips (5) of the opposite acting in opposition of each pair of finger grips (5) are presented more
Curved shape, the finger grips (5) of acting in opposition of the concave surface towards each pair of finger grips (5).
25. the clamping manipulator according to claim 23 or 24, it is characterised in that: the finger grips (5) are around articulated shaft
Line (Y-Y) is hinged, in which: the hinge axes (Y-Y) extend parallel to following direction:
Perpendicular to the direction of the axis (n-n) of each finger grips (5)；And
Perpendicular to the direction of the imaginary plane for the finger grips for extending through two acting in oppositions with a pair of of finger grips (5).
26. the clamping manipulator according to any one of claim 23-25, it is characterised in that: each finger grips (5)
Including from the proximal end (7) to the distal end (6) with multiple sections (8a, 8b, 8c) of end-to-end hinged relationship extension each other.
27. the clamping manipulator according to claim 25 or 26, it is characterised in that:
Each finger grips (5) have the inside and outside on the other side of the outer surface towards first side (3)；
Each finger grips (5) include the end segments (8a) for limiting the distal end (6)；
It is included between the end segments (8a) and the proximal end (7) on the inside of each finger grips (5) with end-to-end hinge each other
Multiple first segments (8b) of the axially extending inside (7a) until limiting the proximal end (7) of the relationship connect；
The outside of each finger grips (5) is limited by multiple second segments (8c), and the multiple second segment (8c) is with end-to-end each other
Hinged relationship initially axially extends from the outside of the end segments (8a), until the outside (7a) of its restriction proximal end (7)；
The inside (7a) of the proximal end (7) of each finger grips (5) is hinged at the respective point of the main body (2) around corresponding
Hinge axes (Y-Y) rotation；
The outside (7b) of the proximal end (7) of each finger grips (5) is by the rotatable driving of the driving device.
28. clamping manipulator according to claim 27, it is characterised in that: for each finger grips (5), the driving
Device includes the rotary shaft in the outside with the proximal end (7) for being connected to each finger grips (5) by corresponding bar (10)
(9) corresponding motor.
29. the clamping manipulator according to claim 27 or 28, it is characterised in that: described in each finger grips (5)
The respective points of articulation of multiple first segments (8) and the multiple second segment (8c) is hinged by corresponding connecting rod (11)；The connecting rod
(11) and section (8) defines the four-rod linkage in each finger grips (5) structure.
30. the clamping manipulator according to any one of claim 27-29, it is characterised in that: in each finger grips
(5) in, corresponding external articulation side is converged from the proximal end (7) to distal end (6) towards internal hinged side.
31. the clamping manipulator according to any one of claim 27-30, it is characterised in that: including being located at each finger
Elastic material and/or elasticity between multiple first segments (8b) of the inside of clamp (5) and multiple second segments (8c) in outside
Device (16).
32. the clamping manipulator according to any one of preceding claims 23-31, it is characterised in that: each fingers
Tool (5) includes at least two hinge joints along its axis (n-n), preferably includes at least three hinge joints.
33. the clamping manipulator according to any one of preceding claims 23-32, it is characterised in that: the manipulator
(1) include two pairs of acting in oppositions shifted to install finger grips (5).
34. the clamping manipulator according to any one of claim 23-33, it is characterised in that: including being used for each finger
The corresponding sensor device of clamp (5), to be closed directly or by indirect measurement determination by what each finger grips (5) applied
With joint efforts.
35. the clamping manipulator according to any one of claim 23-34, it is characterised in that: each finger grips (5)
The retained part with high coefficient of friction material is coated with or formed including being located at the distal end (6).
36. a kind of robot including articulated jib, the articulated jib has the clamping manipulator for being mounted on its free end, feature
Be: the clamping manipulator is the clamping manipulator as described in any one of claim 23-35.
37. robot according to claim 35, it is characterised in that: passed including power associated with the clamping manipulator
Sensor (12), to determine the power applied by the clamping manipulator (1) and/or applied.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT102017000019521 | 2017-02-21 | ||
| IT102017000019577A IT201700019577A1 (en) | 2017-02-21 | 2017-02-21 | FOOTWEAR PRODUCTION SYSTEM |
| IT102017000019521A IT201700019521A1 (en) | 2017-02-21 | 2017-02-21 | PRENSILE MANIPULATOR FOR SHOE MAKING |
| IT102017000019577 | 2017-02-21 | ||
| PCT/IB2018/051034 WO2018154438A1 (en) | 2017-02-21 | 2018-02-20 | A shoe manufacturing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110381767A true CN110381767A (en) | 2019-10-25 |
Family
ID=61692028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880012475.9A Pending CN110381767A (en) | 2017-02-21 | 2018-02-20 | Shoemaking system |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP3585204A1 (en) |
| CN (1) | CN110381767A (en) |
| BR (1) | BR112019017338A2 (en) |
| WO (1) | WO2018154438A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019202515A1 (en) * | 2019-02-25 | 2020-08-27 | Kuka Deutschland Gmbh | Method for the automatic fitting of a shoe upper onto a last |
| IT202100014033A1 (en) * | 2021-05-28 | 2022-11-28 | Rg Eng S R L | MANIPULATION APPARATUS FOR PAINTING INSTALLATIONS FOR SAFETY SHOE TOE CAPS AND METHOD FOR MANIPULATING SAFETY SHOE TOE CAPS USING SUCH MANIPULATION APPARATUS |
| DK181424B1 (en) * | 2021-06-23 | 2023-11-13 | Ecco Sko As | A footwear manufacturing system and method |
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|---|---|---|---|---|
| US3608118A (en) * | 1969-05-26 | 1971-09-28 | Usm Corp | Apparatus for assembling articles of commerce |
| FR2586908A1 (en) * | 1985-09-06 | 1987-03-13 | Blanc Roger | Installation for the automated manufacture of shoes |
| CN102821918A (en) * | 2010-03-24 | 2012-12-12 | 株式会社安川电机 | Robot hand and robot device |
| CN203105849U (en) * | 2013-01-30 | 2013-08-07 | 东莞市唯嘉鞋业有限公司 | Control device of insole machine |
| CN105835051A (en) * | 2016-04-26 | 2016-08-10 | 江南大学 | Dual-motor drive cooperatively-controlled under-actuated manipulator |
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| GB8315953D0 (en) * | 1983-06-10 | 1983-07-13 | British United Shoe Machinery | Transfer apparatus |
| DK156693C (en) * | 1984-11-06 | 1990-03-05 | Eccolet Sko As | INSTALLATION FOR OPENING SHOES SHOES |
| US4769866A (en) * | 1986-11-21 | 1988-09-13 | International Shoe Machine Corporation | Multi-station system to act upon footwear upper assemblies with transfer between stations thereof |
| FR2612052B1 (en) * | 1987-03-12 | 1989-06-09 | Actis Ets | INSTALLATION FOR THE AUTOMATED MANUFACTURE OF SHOES |
| IT1251124B (en) * | 1991-07-26 | 1995-05-04 | Cerim S P A Off Mec | UPPER HANDLING AND TREATMENT MACHINE |
| FR2825944B1 (en) * | 2001-06-18 | 2003-12-12 | Actis Ets | GRIPPING HEAD FOR ROBOT MANIPULATOR |
| FI20020547A (en) * | 2002-03-21 | 2003-09-22 | Abb Oy | Method and apparatus for mounting |
| US8936289B1 (en) * | 2010-03-15 | 2015-01-20 | Telefactor Robotics LLC | Robotic finger assemblies |
| US8958901B2 (en) * | 2011-11-18 | 2015-02-17 | Nike, Inc. | Automated manufacturing of shoe parts |
| US9566724B2 (en) * | 2013-10-30 | 2017-02-14 | Nike, Inc. | Automated rubber molding and de-molding |
-
2018
- 2018-02-20 CN CN201880012475.9A patent/CN110381767A/en active Pending
- 2018-02-20 BR BR112019017338-2A patent/BR112019017338A2/en active Search and Examination
- 2018-02-20 EP EP18712268.4A patent/EP3585204A1/en active Pending
- 2018-02-20 WO PCT/IB2018/051034 patent/WO2018154438A1/en unknown
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3608118A (en) * | 1969-05-26 | 1971-09-28 | Usm Corp | Apparatus for assembling articles of commerce |
| FR2586908A1 (en) * | 1985-09-06 | 1987-03-13 | Blanc Roger | Installation for the automated manufacture of shoes |
| CN102821918A (en) * | 2010-03-24 | 2012-12-12 | 株式会社安川电机 | Robot hand and robot device |
| CN203105849U (en) * | 2013-01-30 | 2013-08-07 | 东莞市唯嘉鞋业有限公司 | Control device of insole machine |
| CN105835051A (en) * | 2016-04-26 | 2016-08-10 | 江南大学 | Dual-motor drive cooperatively-controlled under-actuated manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| BR112019017338A2 (en) | 2020-03-31 |
| EP3585204A1 (en) | 2020-01-01 |
| WO2018154438A1 (en) | 2018-08-30 |
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