KR102138621B1 - Robot automation system for fastening of sandals upper and midsole using fiber rope - Google Patents

Abstract

The present invention relates to a robot automation system for fastening an upper and a midsole of a sandal with fiber ropes. According to the present invention, the robot automation system comprises: a frame including a worktable; a tool holder installed to be spaced apart from the upper part of the worktable at a predetermined height and having a space part formed therein to hole a tool; a rope guide unit coupled to the frame, and including a guide rod having a rope drum mounted thereon and having a rope wound thereon to be inserted into the tool and a guide unit guiding unwinding the rope mounted on the guide rod; a pair of cooperation robots formed of a plurality of multi-joint arms and a grubber, installed to be faced, and independently gripping the tool to allow the rope inserted into the tool to sequentially pass through through-holes formed on a midsole and an upper, thereby making a knot to couple the midsole and the upper; and an upper jig coupled to the upper surface of the worktable and having space parts formed there in to receive the midsole and the upper, respectively, to fix the midsole and the upper without movement when the midsole and the upper are coupled by the cooperation robots, and guiding the rope to allow the rope to stably pass through the through-holes formed in the midsole and the upper. Accordingly, an operation for twisting and coupled to the midsole and the upper is automated by the cooperation robots, thereby providing effects of reducing costs and increasing workability such as production time reduction and the like.

Description

Coupling robot automation system with sandal midsole and upper fiber rope. {ROBOT AUTOMATION SYSTEM FOR FASTENING OF SANDALS UPPER AND MIDSOLE USING FIBER ROPE}

The present invention relates to a cooperative robot automation system for fastening fiber ropes between sandals midsole and upper, and more specifically, in a sandal (shoe) manufacturing process, working in a space with an operator, but fiber midsole and upper which are part of the manufacturing process It relates to a cooperative robot automation system for a fiber rope fastening of a sandal midsole and upper including a cooperative robot that is woven and fastened with a rope.

In general, shoes are provided to have an upper fixed to the sole and the sole to accommodate the foot,

Among them, the outsole is made of a durable and abrasion-resistant material, an outsole that contacts and rubs against the ground, and is coupled to the upper surface of the outsole to cushion shocks applied to the feet and legs during walking, the midsole It is composed of a sockliner that is coupled to the upper surface of the shoe and directly in contact with the sole of the wearer.

The upper and the soles constituting these shoes are individually molded through a separate molding process, and then put into a compression press mold in a state where they are firstly bonded with an adhesive to form a finished shoe.

However, in recent years, the upper forming the outer shape of shoes has been utilized as various materials.

In particular, sneakers, sandals, and open air sneakers (designed in the form of sandals in the front and sneakers in the back), which have a knotted upper by weaving rope, are manufactured,

In the related art, as a worker makes a sandal by making a knot while manually tying a rope to the midsole and upper, the work time is long and productivity is low, such as low productivity.

In addition, the sandals produced by hand have a problem in that the quality of the product is not uniform because the product quality is determined according to the skill level of the operator.

Republic of Korea, Registered Patent Publication, Registration No. 10-1975161

The present invention has been devised to solve this problem, and the present invention includes a cooperative robot that works in a space with a worker in a sandal (shoe) manufacturing process, but ties the midsole and upper, which are part of the manufacturing process, with fiber cloth to fasten them. The aim is to provide an automated system for cooperative robots with fiber rope fastening between sandals midsole and upper with improved work efficiency.

The present invention relates to a system for automating a cooperative robot for fastening a fiber rope of an upper, wherein the system for automating a coarse rope fastening for a upper is a frame including a work table, which is installed at a predetermined height apart from the upper part of the work table, and a tool. A tool holder having a space portion to be mounted, coupled to the frame, includes a guide rod on which a rope drum wound around the tool is mounted, and a guide unit that guides the unloading of the rope mounted on the guide rod. The rope guide portion is provided to have a plurality of articulated arms and grippers, a pair is installed to face each other, and each grips the tool, so that the ropes sewn to the tool have through holes formed in the midsole and upper, respectively. Cooperative robot to form a knot while passing sequentially, so that the midsole and the upper are fastened, coupled to the upper surface of the work table, and the spaces on which the midsole and the upper are seated are respectively formed, so that the midsole and the upper are in the cooperative robot. It characterized in that it comprises a upper jig to secure the midsole and upper so as not to move in the process of being fastened by, and to induce the rope to be stably fitted into the through-hole formed in the midsole and upper.

In addition, a rope hanger member is mounted on the edge of the upper surface of the work table, and a locking hole is formed in the longitudinal direction to penetrate the top and bottom of the rope hanger member.

In addition, the tool is characterized in that it comprises a needle having a narrow cross-sectional area toward the front and a body supporting the needle, the front end being a hollow body with both ends open to allow the rope to pass through the inside.

In addition, the upper jig is seated on the seating bed of the work table, a through hole in the shape of a horseshoe is formed to penetrate through the upper and lower sides, and a plurality of locking protrusions are arranged at regular intervals in the outer direction at the inner periphery of the through hole. The lower plate is fastened to the upper surface of the lower plate, and is coupled to a first intermediate plate in which a seating hole is formed so that the midsole can be seated on the lower plate. Being formed inside, a space is formed, and is installed to surround the upper portion of the midsole, and the second intermediate plate is provided to have a lower slope toward the front, and the upper surface of the second intermediate plate is coupled to the front. It is arranged to be inclined, a plurality of support pins are arranged in a zigzag manner at regular intervals on the edge of the upper surface, and it is characterized in that it includes an upper plate on which a space portion into which the upper is inserted is formed.

In addition, in the process of fastening the midsole and the upper by the cooperative robot automation system for fastening the fiber rope between the sandal midsole and the upper, a height assist member is additionally seated on the upper surface of the midsole to adjust the size of the knot. do.

Accordingly, the present invention has a remarkable effect of improving the efficiency of work, such as cost reduction and shortening of manufacturing time, by automating the operation of weaving and fastening the midsole and upper with a fiber rope using a cooperative robot.

In addition, the cooperative robot used in the present invention utilizes a sensor and is designed to stop the operation when it collides with a person or an object, and not only improves the stability of the work, but also can work in the same space with the worker, so the remarkable effect of good space utilization There is.

1 is a perspective view of a cooperative robot installed in the frame of the present invention.
Figure 2 is a front view of a cooperative robot installed in the frame of the present invention.
3 is a side view of a state in which a cooperative robot is installed in the frame of the present invention.
4 is a plan view of a cooperative robot installed in the frame.
Figure 5 is a photograph of a cooperative robot automation system for fastening the fiber rope of the sandal midsole and upper of the present invention.
6 is a photograph showing a tool holder according to the present invention.
7 is a photograph of an upper jig according to the present invention.
8 is a perspective view of an upper jig according to the present invention.
9 is a plan view of the lower plate of the upper jig according to the present invention.
10 is a plan view of a first intermediate plate of an upper jig according to the present invention.
11 is a view of a second intermediate plate of an upper jig according to the present invention.
12 is a plan view and a side view of the upper plate of the upper jig according to the present invention.
13 is a view showing a process in which the midsole and upper of the sandals are fastened by the system of the present invention.

Hereinafter, the technical spirit of the present invention will be described in more detail with reference to the accompanying drawings.

The accompanying drawings are only examples shown in order to describe the technical spirit of the present invention in more detail, so the technical spirit of the present invention is not limited to the form of the accompanying drawings.

1 is a perspective view of a state in which a cooperative robot is installed in a frame of the present invention, FIG. 2 is a front view of a state in which a cooperative robot is installed in a frame of the present invention, and FIG. 3 is a side view of a state in which a cooperative robot is installed in a frame of the present invention. , FIG. 4 is a plan view of a state in which a cooperative robot is installed on a frame, and FIG. 5 is a photograph of a cooperative robot automation system for fastening a fiber rope of a midsole and upper of the present invention.

1 to 5, the fiber rope fastening cooperative robot automation system 1000 of the sandal midsole and upper of the present invention includes a frame 100, a tool holder 140, a rope guide unit 160, and cooperation. It includes a robot 200, upper jig 300.

First, the frame 100 is a space in which the system of the present invention is installed.

As shown in FIG. 2, the frame 100 includes a plurality of support frames 102 installed on the ground, a work table 120 having a predetermined height by the support frames, and horizontally installed with the ground. It includes a plurality of vertical frames 104, which are vertically installed at the upper edge of the work table, and horizontal frames 106 which are coupled to the upper ends of the vertical frames and horizontally installed to intersect the vertical frames.

In the present invention, as an embodiment, a vertical frame 104 and a horizontal frame 106 are installed on the upper part of the work table 120, and a door (not shown) is coupled to the vertical frame and the horizontal frame, thereby Although the frame 100 is provided to serve as a cover for opening and closing the system of the present invention, since the present invention is a stable system capable of working in a space with an operator using a cooperative robot, the work table 120 is It can be installed open at all times.

Meanwhile, a seating bed 122 on which the upper jig 300 to be described later is seated is installed at the center of the work table 120, and an outer side of the seating bed 122 is firmly coupled with the upper jig 300. A coupling member 124 for installation is provided.

In addition, as shown in FIG. 5, a rope hanger member 126 is mounted on an edge of the upper surface of the work table 120, and a locking hole (not shown) is provided to penetrate the upper and lower surfaces of the rope hanger member 126. Is formed in the long direction.

The rope hanger member 126 is provided with a plate having a vertical cross-section of'a' shape to open the top and bottom of the hook.

The rope 10 is connected to the inlet at which the system of the present invention is operated, by engaging the midsole 20 and the upper 30 in a state where the end is hung in the locking hole of the rope hanger member 126, This is to allow the rope to be used from a point spaced apart at a fixed end, thereby leaving an extra rope to be used in a later process.

In addition, as shown in FIG. 6, a tool holder 140 is installed on a horizontal frame 106 which is installed at a predetermined height apart from the upper part of the work table 120.

The tool cradle 140 is a cradle on which a tool 220 (shown in FIG. 7) is seated, wherein the tool cradle 140 has a lower opening and a mounting groove that is a space where the tool 220 is placed. It is a rectangular plate-shaped plate on which 142 is formed.

In addition, locking grooves (not indicated) are formed on both inner sides of the tool holder 140 to correspond to the shape of the outer surface of the tool 220, so that the tool 220 is stably mounted on the tool holder 140. To be able to.

In the present invention, a total of four tool holders 140 are mounted, but it is preferable that the number or size of the tool holders is installed variously according to the needs of the user.

In addition, as shown in FIG. 5, a rope guide part 160 for guiding the rope 10 is installed on the work table 120.

The rope guide part 160 includes a guide rod 162 into which a rope drum 40 (shown in FIG. 6) on which the rope 10 is wound is inserted, and a plurality of guide units for guiding unwinding of the rope ( 164).

The guide rod 162 is preferably a long rod-shaped so that the rope drum 40, which is an upper and lower open hollow, is inserted and supported, and if necessary, a separable stopper at the end of the guide rod 162 ( (Not shown), so that the rope drum 40 does not deviate from the guide rod 162.

And the guide unit 164 in the present invention, a cylindrical roller, the outer periphery includes a guide roller having a ring-shaped guide groove along the outer periphery, a guide plate in the form of a plate with a guide hole, and the like. , The guide roller may be mounted to be idle, or may be fixedly coupled to prevent rotation.

The guide unit 164 has an effect of guiding the rope 10 to be unwound with an appropriate tension along a predetermined route.

And the guide rod 162 is mounted directly on the outer surface of the vertical frame 104, or as in the present invention, a separate guide frame 108 is installed in the vertical direction on one edge of the work table 120, , It may be mounted on the outer surface of the guide frame 108.

Likewise, the guide unit 164 is also mounted directly on the vertical frame 104 and the horizontal frame 106, or even if a separate frame is provided, such as the guide frame 108 as in the present invention, even if mounted on the frame It is okay.

Next, a pair of cooperative robots 200 are installed on the work table 120 to face each other.

The cooperative robot 200 is a robot having a plurality of articulated arms and grippers, and after gripping the tool 220 to which one rope 10 is sewn, the midsole using the rope 10 It is an element that allows the 20 and the upper 30 to be fastened.

The cooperative robot 200, while communicating with a user interface, sequentially performs the inputted temporal command, and the gripper of the cooperative robot 200 grips the tool 220 and stitches it into the tool 220. As the rope 10 passes through the through holes formed in the midsole and the upper in order to form a knot, the midsole and the upper are fastened to each other.

In the present invention, as the user interface, a touch panel that simultaneously provides functions as an input unit and an output unit is utilized. In the present invention, the touch panel includes an input unit, an output unit, a memory unit, a control unit, a power supply unit, and a wireless communication unit. It is implemented including.

In addition, the cooperative robot 200 is designed to stop operation when colliding with a person or an object, and can safely work in the same space with an operator, and has an effect of improving the stability of the work.

The cooperative robot 200 used in the present invention is a robot that is utilized in one space with a person, such as performing surgery with doctors/nurses, or performing manufacturing with workers, as in the present invention. , Since these cooperative robots are already well-known tolerance technologies, descriptions thereof will be omitted.

As shown in FIG. 7, the tool 220 includes the body 222 and a needle 224 coupled to the body 222.

The body 222 is an element that supports the needle 224 so that the needle is easily coupled to the tool holder 140 or the gripper.

The needle 224 is, so that the rope 10 can pass through the inside, both ends are open hollow, the front end is provided to have a narrow cross-sectional area toward the front, the rope 10 is the needle 224 Through the front of the midsole 20 and the upper 30 to be able to pass through the holes (22, 32, shown in Figure 13) formed.

On the other hand, the upper jig 300 is seated in the center of the upper surface of the work table 120.

The upper jig 300 is fixed to the midsole and upper so that the midsole 20 and the upper 30 do not move in the process of being fastened by the cooperative robot 200, and the rope 10 is the midsole And an element guiding the needle 224 to stably fit in the through holes 22 and 32 formed in the upper.

For clarity of description, the front (toe side) of the sandal is referred to as the front, and the upper jig 300 of the present invention will be described.

8, the upper jig 300 includes a lower plate 320, a first intermediate plate 340, a second intermediate plate 360, and an upper plate 380.

First, as illustrated in FIG. 9, the lower plate 320 is an element that is seated on the seating bed 122 of the work table 120.

The lower plate 320 is a plate plate, the outer periphery of the front (toe portion) side is formed in the shape of a sole (shoe) sole, the outer periphery of the rear side is formed in a rectangular shape, and a through hole 322 in a horseshoe shape on the upper surface ) Is formed.

Here, the horseshoe shape means a curve forming both side surfaces and the front surface of the midsole 20.

In addition, a plurality of locking protrusions 324 are disposed at an inner circumferential edge of the through hole 322 to be spaced apart at regular intervals in the outer direction.

Here, the inner inner periphery of the through hole 322 means an inner periphery of the through hole 322 close to the center of the lower plate 320.

The engaging projection 324 is provided to have a position and number corresponding to the through-hole 22 formed in the midsole 20.

The locking protrusion 324 is a process in which the midsole 20 and the upper 30 are fastened to each other with the rope 10 by the cooperative robot 200, the front end of the needle 224 is the through hole 22 ), when the rope 10 is hooked to the hook projection 324 to make a ring, the details of the operation process of the present invention will be described later with reference to the same.

In addition, a plurality of fasteners 326 are formed on the outer peripheral edge of the lower plate 320 so that separate fastening means (not shown) can be fastened.

The fastener 326 is formed on the first intermediate plate 340 and the second intermediate plate 360, respectively, and the lower plate 320, the first intermediate plate 340, and the second intermediate plate 360 are It is coupled to each other by the fastening means.

In addition, a pair of work table couplers 328 are formed on the front outer circumferential edge of the lower plate 320 to be coupled with a coupling member 124 coupled to the work table 120.

Next, as shown in FIG. 10, the first intermediate plate 340 is an element coupled to the upper surface of the lower plate 320.

The first intermediate plate 340 is the same plate plate as the lower plate 320, the outer periphery of the front is formed in the shape of a sandal (shoe) sole, and the outer periphery of the rear is formed in a rectangular shape, and the outer periphery edge A plurality of fasteners 344 are formed to correspond to the fasteners 326.

In addition, a seating hole 342 in a midsole shape (horizontal cross-section of the midsole) is formed on the first intermediate plate 340, and the midsole 20 of the sandals is formed in the seating hole 342. To settle down.

In addition, the outer periphery of the seating hole 342 formed in the first intermediate plate 340 is formed to correspond to the outer inner periphery of the through hole 322.

Subsequently, as illustrated in FIG. 11, the second intermediate plate 360 is coupled to an upper surface of the rear side of the first intermediate plate 340, and a space portion is formed at the bottom to form the first intermediate plate 340. It is provided to surround the rear of the midsole 20 that is seated on the upper surface of the.

'형상으로, 내부에 공간부가 형성되며, 상기 공간부에 중창(20)의 후방측 일단이 안착된다.More specifically, the vertical section of the second intermediate plate 360 is'

'In the shape, a space portion is formed inside, and the rear side end of the midsole 20 is seated on the space portion.

In addition, a plurality of fasteners 362 are formed on the lower edge of the second intermediate plate 360 so as to correspond to the fasteners 326 and 344, and an upper joining port for coupling with the upper plate 380 to be described later in the center of the upper surface ( 364) is formed.

In addition, the upper surface of the second intermediate plate 360 is provided to have a lower slope toward the front, which allows the upper plate 380 mounted on the upper surface of the second intermediate plate 360 to have a slope. It is for sake.

That is, in the present invention, the upper surface of the second intermediate plate 360 is inclined so that the upper plate 380 has a slope, but according to the user's needs, the upper surface of the second intermediate plate is flat In addition, the bottom surface of the upper plate 380 may be formed to have a slope.

Next, as shown in Figure 12, the upper plate 380 is mounted on the upper surface of the second intermediate plate 360, it is coupled to have a lower slope toward the front.

'로, 상기 상부플레이트(380)의 일단은 상기 제2중간플레이트(360)에 결합되고, 타단은 상기 제1중간플레이트(340)에 배치된다.The horizontal section of the upper plate 380 is'

', one end of the upper plate 380 is coupled to the second intermediate plate 360, the other end is disposed on the first intermediate plate 340.

In other words, if the midsole 20 is seated on the upper surface of the first intermediate plate 340, the other end of the upper plate 380 is disposed on the upper surface of the midsole 20.

In addition, as shown in FIG. 7, in the present invention, as an embodiment, a height auxiliary member 390 is seated on the upper surface of the midsole 20, and an upper plate 380 is provided on the upper surface of the height auxiliary member 390. This is to adjust the size (length in the height direction) of the knot formed between the midsole 20 and the upper 30.

In addition, a plurality of support pins 382 are arranged at predetermined intervals on the upper surface of the upper side of the upper plate 380, and the upper coupling port 384 can be engaged with the second intermediate plate 360 on the upper surface of the rear side. ) Are formed.

The support pins 382 are arranged to be spaced apart at predetermined intervals along the front edge of the upper plate 380, so that they are also arranged in a zigzag manner spaced apart in the left and right directions, so that the upper in the space between the support pins 380. A portion of the lower side of 30 is inserted and supported.

In addition, in the upper 30 used in the present invention, a plurality of through-holes 32 are formed in the same manner as the arrangement interval and number of the support pins 382, and the needle 224 has the support pins 382. It is guided by) to stably insert the rope 10 into the through hole 32.

Referring to Fig. 13, the following describes a process in which the midsole and upper of the sandals are fastened by the system of the present invention.

First, the operator seats the midsole 20 and upper 30 on the upper jig 300.

13 (a), a plurality of through holes 22 are formed to be spaced apart at regular intervals at the edge of the midsole 20, and a plurality of through holes are formed even on the upper outer periphery of the upper 30. 32 is spaced apart at regular intervals.

In more detail, the midsole 20 is seated between the first intermediate plate 340 and the second intermediate plate 360, and the upper 30 is a support pin 382 of the upper plate 380. ).

In this case, a rope drum 40 is coupled to the guide rod 162, and the rope 10 wound around the rope drum 40 passes through the guide unit 164 provided in a plurality. It is a state, the tool holder 140 is a state in which the tool 220, the rope 10 is sewn is mounted.

Thereafter, the user operates the pair of cooperative robots 200 using a user interface (not shown).

The pair of cooperative robots, sequentially through the rope through the plurality of through holes 22 formed in the midsole 20 and the plurality of through holes 32 formed in the upper 30, the through holes (22,32) ) Weave the knots and make a knot so that the midsole 20 and upper 30 are fastened to each other.

For convenience of explanation, the pair of cooperative robots 200 are referred to as a first robot and a second robot, the needle gripped by the first robot is referred to as a first needle 224a, and the rope is a first rope 10a. The needle gripped by the second robot is referred to as a second needle 224b, and the rope is referred to as a second rope 10b.

<Step 1>

First, the first robot grips the tool 220 mounted on the cradle 140, and then the first rope 10a on the rope hook member 126 mounted on the side of the work table 120. ), the first rope 10a is unwound.

Subsequently, the second robot, like the first robot, grips the tool 220 and then fixes one end of the second rope 10b to the rope hanging member 126, and the second rope 10b. Unwind to leave an extra second rope 10b.

This is to allow the rope to be used from a point spaced apart from the end portion, thereby leaving an extra rope to be used in a later process.

And, at this time, the first and second ropes 10a and 10b have knots formed at the end portions, so that they are caught by a locking hole (not shown) formed in the rope hook member 126, and the first and second ropes As the 2 robot rotates the arm, the first and second ropes 10a and 10b are unwound.

<Step 2>

Next, as shown in Figure 13 (a), the first needle (224a) is inserted into the outer direction from the inner direction of the through-hole 32, and then moved again in a predetermined distance in the inner direction, the agent 1, the rope (10a) is bent in an annular shape from the outside of the upper (30).

Subsequently, as shown in (b) of FIG. 13, inside the first rope 10a formed in an annular shape, the second needle 224b is moved and inserted from the top to the bottom, and the first needle ( 224a) is moved inward to pass through the through-hole 32.

Thereafter, the second needle 224b pushes the ring-shaped first rope 10a to the rear side, so that the first rope 10a does not interfere with the next operation, and then moves upwards to remove the second rope 224b. One rope (10a) is separated from the ring.

Accordingly, the first rope is maintained in a looped state in the outer direction of the through hole 32.

<Step 3>

Subsequently, the first needle 224a and the second needle 224b repeat the step <2>, but at the end of step 2, the second needle 224b is the ring-shaped first rope 10a. After being pushed to the rear side, it does not move to the top, moves to the bottom, is inserted into the through-hole 22 formed in the midsole 20, and moves to the top again.

At this time, the second rope 10a is hung on the locking protrusion 324 formed on the lower plate 320 of the upper jig 300, thereby making a ring in the lower direction, as shown in FIG. 13(c). As described above, when the <step 3> is repeated, the second rope 10b is connected by weaving the rings of the first rope 10a.

In addition, at this time, as shown in FIG. 13(d), the second needle 224b pushes the first rope 10a disposed inside or outside the upper 30 to the rear side, and the first When the needle 224a is inserted into the through hole 22, the first rope 10a is prevented from interfering with the through hole 22.

The first robot and the second robot repeat the <Step 3>, weave the first and second ropes 10a, 10b, so that the midsole 20 and upper 30 are the first and second ropes. The knots of (10a, 10b) are used to fasten each other.

And, the last through-hole 32 of the upper 30, as in <Step 2>, maintains a state in which the first rope is looped in the outer direction of the through-hole, and thereafter by manual labor of the operator, The post-process is made and the sandals (shoes) are completed.

Therefore, the present invention has a remarkable effect of improving the efficiency of work, such as cost reduction and reduction in manufacturing time, by automating the operation of weaving and fastening the midsole and upper with a fiber rope by using a cooperative robot.

In addition, the cooperative robot used in the present invention utilizes a sensor and is designed to stop the operation when it collides with a person or an object to improve the stability of the work, and cooperative robot and the worker can work in the same space together, so space utilization It has a remarkable effect of being good.

As described above, the present invention has been described with reference to the embodiment shown in the drawings, but this is only for explaining the invention, and those skilled in the art to which the present invention pertains various modifications or equivalents from the detailed description of the invention It will be understood that one embodiment is possible.

Therefore, the true scope of the present invention should be determined by the technical spirit of the claims.

10: Rope
10a: first rope
10b: second rope
20: Midsole
22: Through
30: Upper
32: Through hole
40: Rope drum
1000: Cooperative robot automation system with sandal midsole and upper fiber rope
100: frame
102: support frame
104: vertical frame
106: horizontal frame
108: guide frame
120: work table
122: seating bed
124: coupling member
126: rope hook member
140: tool holder
142: home
160: rope guide section
162: guide rod
164: guide unit
200: cooperative robot
220: Tools
222: body
224: Needle
244a: first needle
224b: second needle
300: Upper jig
320: lower plate
322: Through hole
324: Take a turn
326: Gojeong-gu
328: work table fitting
340: first intermediate plate
342: seating hall
344: Gojeong-gu
360: second intermediate plate
362: Gojeong-gu
364: Upper joint
380: upper plate
382: support pin
384: upper joint
390: height auxiliary member

Claims (5)

A frame including a work table;
A tool holder that is installed at a predetermined height apart on the upper portion of the work table, and has a space for mounting the tool;
A rope guide unit coupled to the frame, including a guide rod on which the rope drum wound on the tool is mounted, and a guide unit for guiding the unloading of the rope mounted on the guide rod;
It is provided to have a plurality of articulated arms and grippers, a pair is installed to face each other, each gripping the tool, the rope sewn to the tool sequentially passes through the through-holes formed in the midsole and upper respectively knot A cooperative robot to form the midsole and upper so as to form;
It is coupled to the upper surface of the work table, and the spaces on which the midsole and upper are seated are respectively formed, fixing the midsole and upper so that the midsole and upper do not move in the process of being fastened by the cooperative robot, and the rope is Includes; upper jig to induce a stable fit to the through-hole formed in the midsole and upper;
The upper jig,
A lower plate seated on the seating bed of the work table, wherein a through hole in the shape of a horseshoe is formed to penetrate through the upper and lower sides, and a plurality of locking protrusions are arranged at regular intervals in the outer direction at the inner periphery of the through hole,
A first intermediate plate that is fastened to the upper surface of the lower plate, and that a seating hole is formed so that the midsole can be seated on the lower plate;
A second intermediate plate coupled to an upper surface of the rear side of the lower plate, the lower portion being opened and a space formed therein, and installed to surround the upper portion of the midsole;
It is coupled to the upper surface of the second intermediate plate, a plurality of support pins are arranged at regular intervals in a zigzag manner at an upper surface edge to include a top plate in which a space portion into which the upper is inserted is formed. Fiber rope fastening cooperative robot automation system.
According to claim 1,
The rope hanger member is mounted on the edge of the upper surface of the work table, and the upper surface of the rope hanger member is formed with a hook so as to penetrate the upper and lower sides.
According to claim 1,
The tool,
A hollow body having both ends open so that the rope can pass through the inside, and the front end has a needle having a narrow cross-sectional area toward the front,
An automatic system for cooperative robot fastening of a fiber rope of a sandal midsole and upper, comprising a body supporting the needle.
delete According to claim 1,
The upper surface of the second intermediate plate is provided to have a lower inclination toward the front, and accordingly, the upper plate coupled to the upper surface of the second intermediate plate is also arranged to be inclined toward the front. Fiber rope fastening cooperative robot automation system.

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