FR2586908A1 - Installation for the automated manufacture of shoes - Google Patents

Abstract

This installation permits the automatic manufacture of shoes mounted on "lasts". A robot arm 1, equipped with gripping means for a "last", is surrounded by machines 2 to 7 allocated to various shoe-manufacture operations. The robot arm 1, whose movements are programmed, takes up the shoes 10 on a first rack 8, then presents them in succession in front of the machines 2 to 7, causing them to follow appropriate movements in relation to the tools 33, 34 of these machines as a function of the operations to be performed and of the characteristics of the shoes 10. The shoes are finally deposited on a second rack 9.

Description

"Installation for the automated manufacture of shoes"
The present invention relates to an installation intended for the automated manufacture of shoes.

 For the various operations involved in the manufacture of shoes, wooden "forms" are generally used, which reproduce the various characteristics of a foot: size and other dimensions such as width, left foot or right foot, as well as the type and appearance of the shoe. It is on the "shape" that the upper and the vamp of the shoe are adapted, then that the "first" is put in place by nailing (crampons), and that later all the other operations of assembly of the shoe are performed.

All these operations are usually carried out manually, the "shape" provided with its shoe upper being transported manually from one machine to another, for example: stapler, milling machine, glassmaker, sewing machine, etc. Automation shoe manufacturing is more and more desired today for obvious reasons of productivity increase, and given the evolution of techniques, it is towards a real "robotization" of shoe manufacturing There is a problem here which cannot be solved immediately and rationally by simply using or adapting commercially available equipment.
Thus, if we consider a production line, in which the "shapes" carrying the shoes during manufacture would be automatically transferred from one workstation to another, the problem is only partially solved, because we still have to create at each work station, the relative movement of the "shape" and of the tool, depending on the nature of the operation to be performed and the specific characteristics of the shoe to be manufactured.

 Furthermore, robot arms are known which have a plurality of articulations and programmed movements. However, these robot arms currently have uses that are still quite limited: either they only serve as handling means, making it possible to bring a part to work from a storage store to a machine which takes up the part, or else these arms - robots serve as tool supports (example: painting robots) and do not handle the workpieces or objects at all.

 To automate the production of shoes, there is also the problem of gripping and holding the "shapes" on which the shoes are mounted, the positioning of which must be rigorous in particular with respect to the working tools.

 The invention provides an installation which solves in a global and universal manner, by relatively simple and flexible means, the problems posed by the search for an automated manufacture of shoes.

 To this end, the subject of the invention is an installation for the automated manufacture of shoes which comprises, in combination, at least one robot arm equipped at its end with gripping means for a "shape" receiving a shoe to be manufactured and, arranged around the robot arm, machines assigned to various shoe manufacturing operations, as well as storage means for at least one shoe during manufacture, the robot arm being associated with programmable control means able to control its own movements and those of its gripping means so as to successively take a "shape" positioned on the storage means, present the "shape" in front of different machines surrounding the robot arm, making it describe movements relative to the tools of these machines according to the operations to be carried out and the characteristics of the shoes, and deposit the "shape" with the shoe partially or completely completed, on the mo storage yen.

 Thus, the invention uses a robot arm not only to take the "shapes" one by one and bring them to a machine, but also to make them describe all the suitable movements relative to the tools of several machines, which makes it possible to carry out an installation for the automated manufacture of shoes by keeping machines of very simple design, the tools of which do not describe other displacements than their own movements, for example back and forth or rotation; it is only necessary to position these machines with great precision with respect to the robot arm, so that the programmed movements of the latter move the shoes along the exactly desired path relative to the "fixed" tools. The programming allows these movements to be adapted to each size, shape, type, etc.

shoe.

The machines, more or less numerous, are advantageously arranged in a circle all around the or each robot arm, which
successively serves all these machines by pivoting around its
vertical central axis. Although the number of machines may be limited
strictly to the number of separate operations to be carried out, provision is made
preferably, around the same robot arm, two identical series of machines which can be used alternately; this makes it possible at any time
the use of a machine of each type, while the corresponding machine belonging to the other series can be immobilized for its maintenance or due to an operational incident.

 To allow treatment. successive of a number of shoes during manufacture, without interruption of the operating sequence or "dead time", the storage means comprise at least one rack capable of supporting a plurality of "shapes" while ensuring their precise positioning. In a particular embodiment, each rack has a horizontal bar having a series of regularly spaced notches, each provided for the nesting of a notch arranged on the head of a "shape". The "forms" are thus stored in rigorously determined positions, so that their removal is possible by the programmed movements of the arm-robot. It should be noted, in this regard, that the positioning of the heads of the "forms" on a rack is constant, and independent of the particular characteristics of these forms, which only intervene in movements for the operations carried out by machines.

 So that the movements of the "forms" in front of the machines are made with all the desired precision, these "forms" must also occupy a rigorously determined position relative to the robot arm, and this in all directions of space. To this end, the gripping means mounted at the end of the robot arm advantageously comprise a fixed jaw and a movable jaw actuated by means of a jack controlling its approach or its distance from the first jaw, the two jaws cooperating respectively with two opposite Korans arranged in the head of a "form".

 The storage means can comprise, for the or each robot arm and the machines arranged all around, at least a first rack on which the "forms" are put on hold and successively removed by the robot arm to then be presented to the various machines, and at least a second rack on which the "forms" are deposited by the robot arm after passage to the different machines. The second rack, with the "forms" wearing shoes arrived at a certain stage of their manufacture, can be used feed rack for a next automatic unit comprising another robot arm and additional machines performing subsequent operations, this in the case of a more extensive installation according to the invention, that is to say comprising two or more units similar juxtaposed, each with a robot arm surrounded by machines, the "shapes" deposited by the robot arm of one unit being taken up by the robot arm of the next unit.

This makes a real automatic shoe manufacturing workshop possible.

Anyway, the invention will be better understood with the aid of the description which follows, with reference to the appended schematic drawing representing, by way of nonlimiting example, an embodiment of this installation for the automated manufacture of shoes.
Figure 1 is a very schematic general view, in plan from above, of a shoe manufacturing facility according to the present invention
Figure 2 is a perspective view of such an installation, showing in particular one of the racks and the robot arm gripping a shoe;
Figure 3 shows, in perspective, a storage rack carrying a "shape" with a shoe during manufacture, and the end of the robot arm picking up or depositing the "shape";
Figure 4 is another perspective view, very partial, showing a shoe held by the robot arm and undergoing a manufacturing operation on one of the machines of the installation.

 Figure 1 shows a complete shoe manufacturing facility, or part of a larger facility. In all cases, the base unit comprises a robot arm generally designated by 1, which is placed in the center of a set of machines 2 to 7 positioned substantially on a circle. On the same circle are also installed storage racks 8 and 9, receiving the shoes 10 before and after they undergo the manufacturing operations carried out on the various machines 2 to 7.

 The robot arm 1, placed in the center of the installation and also visible in FIGS. 2 to 4, is an arm of a type known per se, provided with six axes of articulation. This robot arm 1 is supported by a base 11 surmounted by a column 12. At the top of the column 12 is pivotally mounted, around a vertical axis, a casing 13 on which is articulated, around a horizontal axis, a first section of arm 14. A second section of arm 15 is articulated, around another horizontal axis, at the end of the first section of arm 14. At the end of the second section of arm 15 is rotatably mounted, around an axis oriented in the longitudinal direction of the section 15, an intermediate element 16 on which is pivotally mounted about an axis perpendicular to the previous one, a yoke 17.

Finally, a gripper 18 is rotatably mounted on the yoke 17, around an axis perpendicular to the pivot axis of this yoke i7.

The rotational movements of the various elements 13 to 18 of the robot arm 1, around the axes mentioned, are controlled by motor means not shown, controlled from a separate control cabinet 19 making it possible to have the arm describe any desired movements , according to a pre-established program
The clamp 18 located at the end of the robot arm 1 is designed to grip a shoe 10 during manufacture, conventionally mounted on a "shape" 20, for example having a wooden body see in particular Figure 3. The " shape "20 is provided with a metal gripping head 21, having two opposite notches 22, 23, one facing rear and the other facing forward of shoe 10.The clamp 18 comprises, mounted under a plate 24, a fixed jaw 25 and a movable jaw 26 actuated by means of a jack 27, the rod 28 of which is linked to the jaw 26. To grasp a "shape" 20, the two jaws 25, 26 are brought together , so that the fixed jaw 25 is introduced into the first notch 22 having a complementary shape, while the second notch 23 is embedded in the movable jaw 26 of complementary shape. The "shape" 20 is thus taken and maintained in a rigorously determined position with respect to the robot arm 1. The opening and closing movements of the clamp 18 are also controlled from the control cabinet 19 .

 In the overall operation of the installation, the shoes 10 are removed from the first rack 8, and are deposited on the second rack 9 after passing through the various machines 2 to 7.

Each rack 8 or 9 essentially comprises, as shown in the
Figure 2, two parallel horizontal bars 29.30 capable of supporting a series of shoes during manufacture, arranged ~ take off ~ take off.

The first bar 29 has a series of notches "V 31, regularly spaced, in which the heads 21 of the" shapes "20 fit exactly, an additional notch 32 being arranged for this purpose at the rear of each head 21. The front parts of the shoes 10 simply rest on the other bar 30. The "shapes" 20 are thus put on standby in strictly determined positions on the storage racks 8, 9, which allows them to be grasped by the programmed movements of the arm. robot 1. During the operation of the installation, the robot arm 1 successively removes all the "shapes" 20 stored on the first rack 8, and it deposits them on the second rack 9, for example diametrically opposite to the first. storage capacity can be increased by doubling or tripling the racks, an additional rack 8 'being for example placed under the rack 8, in a position allowing the robot arm 1 to also grasp the "shapes" positio by its clamp 18 nnées on this additional rack 8 '- see figure 2.

 The set of machines comprises, for example, two identical series of three machines 2,3,4 and 5,6,7 respectively. In each series, the first machine 2 or 5 can be a stapler, the second machine 3 or 6 a milling machine, and the third machine 4 or 7 a glassmaker OR a carding machine.

 The robot arm 1, after having entered a shape 20 on the rack 8, brings the corresponding shoe 10 successively before the first machine 2 or 5 to undergo a first operation, such as broaching, before the second machine 3 or 6 to undergo a another operation, such as milling, and in front of the third machine 4 or 7 to undergo here a last operation such as glassing or carding. At each station, the "shape" 20 with the shoe 10 during manufacture remains held by the robot arm 1, and the latter makes it describe in space suitable movements relative to the tool 33 of the machine , such as stapling machine 2, a tool which remains stationary except for the movement proper to its operation (tool with displacement, for example reciprocating, or rotary like for another type of tool 34) - see Figures 2 and 4. movements that the robot arm I prints to the "shape" 20 in front of the tool 33 or 34 are, of course, a function of the size and the shape of the shoe 10 to be manufactured, as well as of its right or left character.

As shown in FIG. 3, the gripper 1S is further provided with a reading member 35 capable of recognizing coded indications carried by the heads 21 of the "shapes" 20 and indicating the particular characteristics of these shapes; this allows the automatic choice and triggering of a robot arm movement program
I adapted to the particular characteristics of the "form" concerned.

 The presence of two identical series of machines avoids "downtime", by allowing normal maintenance of a machine in a series, for example operations to replace worn tools, or interventions in the event of an incident. operation, while using the identical machine belonging to the other series.

 After passing through the three machines considered, each shoe 10 during manufacture is deposited by the robot arm 1 on the other rack 9. The racks 8 and 9 can be produced in the form of movable lockable carriages allowing supply and evacuation shoes by an operator, as well as manual retouching or control operations. In a more extensive and highly automated installation, a second robot arm 1 ′ can take on the forms deposited on the rack 9, which then performs intermediate storage, to present them in front of other machines 36,37,38,39 .... which carry out the following manufacturing operations, as briefly indicated by the dashed line in Figure 1. Of course, we can consider a compound installation a greater or lesser number of similar units, each with a robot arm surrounded by machines.

 The movements of the robot arm (s) 1,1 ', for removing the "shapes" from a rack, presenting them in front of the various machines, performing successive manufacturing operations and placing them on another rack, can be programmed by "learning", by first manually controlling these movements and recording them during this preliminary maneuver.

 As is obvious, and as is apparent from the above, the invention is not limited to the only embodiment of this installation for the automated manufacture of shoes which has been described above, by way of example it embraces, on the contrary, all variants respecting the same principles, regardless in particular of the number and nature of the machines involved in the installation.

Claims (8)

REVENIBICADNS  1. Installation for the automated manufacture of shoes, characterized in that it comprises, in combination, at least one brasrobot (I) equipped at its end with gripping means (18) for a "shape" (20) receiving a shoe to manufacture (10) and, arranged around the robot arm (1), machines (2 to 7) assigned to various shoe manufacturing operations, as well as storage means (8, 9) for at least one shoe in during manufacturing, the robot arm (1) being associated with programmable control means (19) capable of controlling its own movements and those of its gripping means (18) so as to successively take a "shape" (20) positioned on the storage means (8), present the "shape" (20) in front of the various machines (2 to 7) surrounding the robot arm (1), by making it describe movements relative to the tools (33,34) of these machines according to the operations to be carried out and the characteristics of the shoes, and file the " form "(20), with the shoe (10) partially or completely completed, on the storage means (9).  2. Installation for the automated manufacture of shoes according to claim 1, characterized in that the machines (2 to 7) are arranged in a circle all around the or each robot arm (1), to be successively served by this arm- robot (1).  3. Installation for the automated manufacture of shoes according to claim 2, characterized in that two identical series of machines (2,3,4 and 5,6,7) are provided around the same robot arm (1), usable alternately.  4. Installation for the automated manufacture of shoes according to any one of claims 1 to 3, characterized in that the storage means comprise at least one rack 8.9 capable of supporting a plurality of "shapes" (20) ensuring their precise positioning.  5. Installation for the automated manufacture of shoes according to claim 4, characterized in that each rack (8,9) comprises a horizontal bar (29) having a series of regularly spaced notches (31), each provided for nesting a notch (32) arranged on the head (21) of a "shape" (20).  6. Installation for the automated manufacture of shoes according to claim 4 or 5, characterized in that the storage means include, for the or each robot arm (1) and the machines (2 to 7) arranged all around, at at least a first rack (8) on which the "forms" (20) are put on hold and successively removed by the robot arm (1), to then be presented to the various machines, and at least a second rack (9) on which the "forms" (20) are deposited by the robot arm (1), after passing through the different machines.  /. Installation for the automated manufacture of shoes according to any one of claims 1 to 6, characterized in that the gripping means (18) mounted at the end of the robot arm (1) comprise a fixed jaw (25) and a movable jaw (26) actuated by means of a jack (27) controlling its approach or its distance from the first jaw (25), the two jaws (25,26) cooperating respectively with two opposite notches (22,23) arranged in the head (21) of a "shape" (20).  8. Installation for the automated manufacture # e of shoes according to any one of claims 1 to 7, characterized in that the gripping means (18), mounted at the end of the robot arm (1), are provided with in addition to a reading member (35) capable of recognizing coded indications carried by the heads (21) of the "shapes" (20) and indicating the particular characteristics of these shapes, for triggering an arm movement program -robot (1) adapted to these characteristics.  9. Installation for the automated manufacture of shoes according to any one of claims 1 to 8, characterized in that it comprises two or more similar units juxtaposed, each with a robot arm (1,1 ') surrounded by machines ( 2 to 7; 36 to 39), the "forms" (20) deposited by the robot arm (1) of one unit being taken up by the robot arm (I ') of the next unit.