FR2612052A1 - Installation for the automated manufacture of shoes - Google Patents

Abstract

Installation for automatically manufacturing shoes, using a robot arm 4. Machining machines 41 and storage racks 10 are placed in a semi-circle around the robot arm 4. Each machining station 8 includes two identical machines 40, 41 which are interchangeable by rotation of the station about its vertical axis. All the movements are controlled in a programmed manner.

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. The automation of the manufacture of shoes is more and more desired at present for obvious reasons of increase in productivity, and taking into account the evolution of techniques, it is towards a true "robotization" of the manufacture of shoes that 'it is worth heading. This is a problem which cannot be resolved 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 workstation, 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 in a semicircle around the robot arm, machines assigned to various shoe manufacturing operations, as well as storage and / or supply or disposal means for at least one shoe during manufacture, including at least one means for storage and / or supply at the inlet or upstream end of the semicircle and a means of storage and / or evacuation at the outlet or downstream end of this semicircle. The robot arm is associated with programmable control means, which are capable of controlling its own movements and those of its gripping means so as to successively take a "shape" positioned on the upstream storage and / or supply means, present the "shape" before the different m lines distributed along this semicircle, making it describe movements relative to the tools of these machines as a function of the operations to be carried out and the characteristics of the shoes, and deposit the "shape" with the shoe partially or fully completed, on the downstream storage and / or evacuation means. Furthermore, each of these machines is mounted on a station, or machining satellite, which can rotate, under manual or automatic control and controlled by the programmable control means, around a vertical axis to come replace in its working position this machine by another identical machine and also carried by this station.

 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 automated shoe manufacturing installation by keeping machines of very simple design, the tools of which are frequently replaced and do not describe other movements 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 makes it possible to adapt these movements at each shoe size, shape, type, etc., as well as easy periodic replacement of worn tools without stopping the installation. The machines, more or less in number, are always arranged in a semicircle all around the or each robot arm, which successively serves all these machines by pivoting around its vertical central axis.

 To allow the successive processing of a certain number of shoes during manufacture, without interrupting 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 movable jaw actuated by means of a jack controlling its approaching or its distance from the first jaw, the two jaws cooperating respectively with two opposite notches arranged in the head of a "form".

 The storage means comprise, for the or each robot arm and the -machines arranged around in a semicircle, at least a first upstream rack on which the "forms" are put on hold and successively removed by the robot arm to be then presented to the various machines, and at least one second downstream rack on which the "forms" are deposited by the robot arm after passing to the various machines. These two racks, upstream and downstream, are placed respectively at each of the two ends of the semicircle. The second rack, with the "forms" carrying shoes arrived at a certain stage of their manufacture, can be used as feeding 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 similar units juxtaposed, each with a robot arm surrounded in a semicircle of 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.

In any case, the invention will be well understood, and its advantages and other characteristics will appear during the description which follows, with reference to the appended diagrammatic drawing representing, by way of nonlimiting example, an embodiment of this installation for automated shoe manufacturing, and in which
Figure 1 is a very schematic general view, in plan from above, of a shoe manufacturing installation which comprises two successive semicircle units, or cells
Figure 2 is a partial perspective view of this installation, which shows a central robot arm, a storage rack, and a workstation or satellite, comprising two identical machines; in this figure, the relative positions of the various elements have not been respected;
3 shows, in simplified perspective, a storage rack carrying a "shape" with a shoe in the course of manufacture, as well as the end of the robot arm coming to take or deposit the "shape"
Figure 4 is a schematic representation in partial perspective of a station, or satellite, machining.

 Figure 1 shows a complete automatic shoe manufacturing installation which consists of two basic units 1 and 2 which work in series and are placed on the same side of the manufacturing line 3 on which the shoes arrive and depart. The forms, which each support the upper and the first of a shoe that is not yet machined, are conveyed to the installation by the conveyor 3. A worker takes the forms on the chain 3 at A, and manually deposits them one by one on a storage and feed rack 5 which is placed at the entrance to the first unit 1.

 Each of units 1 and 2 has a robot arm such as 4, which is placed in the center of a set of machines, or "satellites", for machining 6 to 9 and storage racks 5 and 10, the upstream rack 5 serving as a means of supply for unit 1 while the downstream rack 10 serves both as a means of evacuation for unit I and as a means of supply for unit 2. According to an essential characteristic of l invention, the elements 5 to 10 are arranged substantially in a semicircle around the robot arm 4. The rack 5 is arranged at the upstream input end of the semicircle, while the rack 10 is arranged at the other end, or downstream outlet end, of this semicircle. The inlet rack 5, although preferential, is not really mandatory, because the robot arm 4 can also take the forms directly on the chain 3 which then constitutes the supply means. The same is true of the evacuation rack 10, in particular if it is operated with a single unit 1, or with a unit 2 clearly separated from unit I, so that the shapes make a journey over the conveyor 3 between units 1 and 2.

 The robot arm 4, placed in the center of the unit 1 and also visible in FIGS. 2 and 3, is an arm of a type known per se, provided with six axes of articulation. This robot arm 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 about a horizontal axis at the end of the first section of arm 14. At the end of this second section of arm 15 is rotatably mounted, around d an axis oriented in the longitudinal direction of the section 15, an intermediate element 16 on which is pivotally mounted around an axis perpendicular to the previous one, a part 17. Finally, a gripper 18 is pivotally mounted on the part 17, around an axis perpendicular to the pivot axis of this part 17.

 The rotational movements of the various elements 13 to 18 of the robot arm 14, around the axes mentioned, are controlled by motor means not shown, controlled from a 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 4 is designed to grip a shoe 33 in progress. manufacturing, conventionally mounted on a "shape" 20 (Figure 3), for example having a wooden body. The form 20 is provided with a metal gripping head 21, having two opposite notches 22, 23, one facing the rear and the other facing the front of the shoe 33. The clamp 18 comprises, mounted on 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 the "shape" 20, the two jaws 25, 26 are close 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 relative to the robot arm 4. The gripper 18 is further provided with a reading member 35 capable of recognizing coded indications 34 carried by the heads 21 of the shapes 20 and indicating the particular characteristics of these forms. These indications are transmitted to the programmed logic control cabinet 19, which also controls the opening and closing movements of the clamp 18. Code 34 is used to control software which is also controlled by a force sensor placed on the clamp 18, and not shown in the drawing.

 In the overall operation of a unit, such as unit 1, the shoes 33 are removed by the robot 4 from the inlet rack 5, and are deposited on the outlet rack 10 after passing through the various machines , or satellites, for machining 6 to 9. Each rack essentially comprises two parallel horizontal bars 29, 30 capable of supporting a series of shoes during manufacture, arranged side by side. The first bar 29 has a series of tssv notches 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 parts before the shoes simply rest on the other bar 20. The shapes 20 are thus put on hold in strictly determined positions on the storage racks, which allows them to be grasped by the programmed movements of the robot arm 4.

 According to a fundamental characteristic of the invention, each station, or machining satellite 6 to 9, comprises at least two identical machining machines, and this satellite can rotate around a vertical axis to replace, in its position work, a first machine tool by another machine tool. FIG. 4 represents, by way of example, one of the machining satellites 8 used on the installation of FIG. 1, this satellite 8 also being visible in FIG. 2.

 This satellite 8 comprises a main block 36 in the shape of a T, which can rotate around its vertical axis 37. The two upper horizontal arms 38, 39 of the T each carry a machining machine 40, 41 which is in this example a machine. of dust removal provided with a tool 42. Of course, the machines 40 and 41 are strictly identical; they are arranged symmetrically with respect to the vertical axis 37. The machining heads 42 are mounted so as to be easily interchangeable. The block 36 is pivotally mounted on a circular rotation crown 43 fixed on a base 44. The block 36 is locked by an electric actuator 45, the rod 46 of which is capable of being plugged into two holes 47, 48 of the base 44, symmetrical about the axis 37. After unlocking the block 36, its rotation around the vertical axis 37 is controlled by an electric motor 49 whose stator is fixed to the block 36 and whose shaft 50 is fixed to the base 44. Of course, all these movements are remotely controlled by the logic cabinet 19 according to the programming selected by the code 34. For example, for a given satellite and for a given type of shoe, the block 36 is rotated 180 degrees after 30 dusting operations, so that the machine 4, for example, comes to replace the machine 40 in the working position, and that the operator can then replace the worn tool 42 of the machine 40 or other maintenance work, without interrupting operation installation. On the base 44 is also fixed a manual electrical control unit 55.

In the example of FIG. 1, the installation comprises two units 1,2, in series and adjacent. Unit 1 comprises for example four satellites 6 to 9 which respectively carry out the following operations
satellite 6: lock
satellite 7: carding
satellite 8: dust removal
satellite 9: gluing
Unit 2 also includes four satellites 51 to 54 which, in this example, successively perform the following operations
satellite 51: display
satellite 52: buffing
satellite 53: deformation
satellite 54: boxed.

 In operation, the robot arm 4, after having entered a shape 20 on the rack 5, brings the corresponding shoe 33 successively before the first machine 6 to undergo a first operation, such as locking, before the second machine 7 to undergo another operation, such as carding, and so on. At each station, the "shape" 20 with the shoe 33 during manufacture remains held by the robot arm 4, and the latter makes it describe in space suitable movements relative to the tool 42 of the machine , a tool which remains fixed except for the movement proper to its operation (tool with displacement, for example rotary or reciprocating). The movements that the robot arm 4 imparts to the "shape" 20 in front of the tool 42 are, of course, a function of the size and the shape of the shoe 33 to be manufactured, as well as of its right or left character.

 The presence of two identical machines by satellite avoids "dead time", by allowing normal maintenance of one of these two machines, for example operations to replace worn tools or other interventions during the use of the other. machine.

 After passing over the four satellites 6 to 9, each shoe during manufacture is deposited by the robot arm 4 on the other rack 10.

The racks can be made in the form of lockable mobile carts allowing an entry and removal of the shoes by an operator, as well as manual retouching or control operations.

The second robot arm 4 ′ can then resume the forms deposited on the rack 10, which then performs intermediate storage, to present them in front of other satellites 51 to 54 which carry out the following manufacturing operations; the shoes are then placed on the outlet rack 10 ', then transferred manually to the evacuation chain 3 at B. Of course, we can envisage an installation composed of a greater or lesser number of similar units, each with a robot arm surrounded by machines, all the units being aligned on the same side of the chain 3.

 The movements of the robot arm (s) 4,4 ', for removing the "shapes" from a rack, presenting them in front of the various machines, carrying out 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. these programs are then integrated into the general system control software.

 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 (10)

 1. Installation for the automated manufacture of shoes, characterized in that it comprises:  - at least one robot arm (4) equipped at its end with gripping means (18) for a shape (20) receiving a shoe to be manufactured (33),  - arranged in a semicircle around this robot arm: machines (40) assigned to various shoe manufacturing operations, as well as supply or evacuation means (3 and / or 5; 3 and / or 10.10 ') and / or storage (3,10,10') for at least one shoe (33) during manufacture, including, at least, a means of storage and / or supply (3 and / or 5) to the the upstream inlet end of the semicircle and a storage and / or evacuation means (10 and / or 3) at the downstream outlet end of this semicircle,  - programmable control means (34, 19) associated with this robot arm (4) and capable of controlling its own movements and those of its gripping means (18) for successively taking a shape positioned on the storage means and / or upstream supply (5), present the shape in front of the various machines (6 to 9) distributed along this semicircle by making it describe movements relative to the tools (42) of these machines according to the operations to be carried out and characteristics of the shoes, and deposit the form (20) with the shoe (33) partially or completely completed, on the storage means (10) and / or downstream evacuation, and in that each of these machines (40,41) is mounted on a machining station (or satellite) which can rotate around a vertical axis (37) to replace, in its working position, this machine (40) with another identical machine (41) and also mounted on this station (8).  2. Installation according to claim I, characterized in that each machining satellite (8) comprises a body (36) in the shape of a T, which can rotate around its vertical axis (37) and the two upper branches of which each carry a machining machine (40 and 41 respectively).  3. Installation according to claim 1 or claim 2, characterized in that each machining satellite (8) comprises automatic means (45,49) and remotely controllable to rotate this satellite and lock it in the working position, these means being controlled by the programmable control means of the installation (35,34,19).  4. Installation according to one of claims 1 to 3, characterized in that it comprises several units (1,2) placed in series and each comprising a robot arm (4,4 ') half-surrounded by satellites ( 6 - 9, 51 - 54) and means of storage and / or supply or evacuation (3 and / or 5, 10,10 'and / or 3).  5. Installation for the automated manufacture of shoes according to any one of claims 1 to 4, characterized in that the storage means comprise at least one rack (5,10) capable of supporting a plurality of "forms" (20) ensuring their precise positioning.  6. Installation for the automated manufacture of shoes according to claim 5, characterized in that each rack (5.10) has 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).  7. Installation for the automated manufacture of shoes according to claim 5 or claim 6, characterized in that the storage means comprise, for the or each robot arm (4) and the machines (6 to 9) arranged around in half -circle, at least a first rack (5) on which the "forms" (20) are put on hold and successively removed by the robot arm (4), to then be presented to the various machines, and at least a second rack (10) on which the "forms" (20) are deposited by the robot arm (4), after passing through the various machines.  8. Installation for the automated manufacture 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) 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).  9. Installation for the automated manufacture of shoes according to any one of claims 1 to 8, characterized in that the gripping means (18), mounted at the end of the robot arm (1), are further provided with '' a reading member (35) capable of recognizing coded indications (34) carried by the heads (21) of the "forms" (20) and indicating the particular characteristics of these forms, for triggering a program for moving the robot arm (4) adapted to these characteristics.  10. Installation according to one of claims 4 to 9, comprising several units (1,1 ') in series, characterized in that these units are all placed on the same side of the production chain (3) (3) on which the shoes come and go.