US20070082583A1 - Head for a robot ar intended to perform a deflashing or rouging operation - Google Patents

Head for a robot ar intended to perform a deflashing or rouging operation Download PDF

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Publication number
US20070082583A1
US20070082583A1 US10/553,753 US55375304A US2007082583A1 US 20070082583 A1 US20070082583 A1 US 20070082583A1 US 55375304 A US55375304 A US 55375304A US 2007082583 A1 US2007082583 A1 US 2007082583A1
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United States
Prior art keywords
head
shaft
deflashing
support
tool
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.)
Abandoned
Application number
US10/553,753
Inventor
Roger Blanc
Caroline Blanc-Andrei
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Actis SARL
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Assigned to ETABLISSEMENTS ACTIS reassignment ETABLISSEMENTS ACTIS ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BLANC, ROGER (DECEASED), BLANC-ANDREI, CAROLINE (LEGAL REPRESENTATIVE FOR DECEASED INVENTOR, ROBER BLANC)
Publication of US20070082583A1 publication Critical patent/US20070082583A1/en
Abandoned legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
    • A43D37/00—Machines for roughening soles or other shoe parts preparatory to gluing
    • A43D37/005—Machines for roughening soles or other shoe parts preparatory to gluing characterised by constructional details of the rotative tools used therewith

Definitions

  • the subject of the present invention is a head to equip a robot arm intended to perform a deflashing or roughing operation.
  • a certain number of items made of synthetic material and obtained by molding exhibit, after demolding, flash at the parting line. This is the case in particular of the soles of footwear made of injection-molded synthetic material which may be overmolded onto the item of footwear or bonded thereto. The removal of these protruding parts is performed by manual cutting as often as not. It is also known practice for deflashing to be performed using a head mounted at the end of the arm of a robot, the computer controlling the robot having incorporated the path of the machining head and the work that the tool is to perform. However, in existing devices, the mechanism employed is complicated and is cantilevered with respect to the end of the robot arm.
  • the tool consisting of shears
  • the tool is made to follow different paths, for example to pivot through 90° in the same continuous movement in order, for example, to cut off flash at the front and rear ends, which is perpendicular to the flash located around the periphery of the sole.
  • the object of the invention is to provide a head for equipping a robot arm, intended to perform a deflashing or roughing operation, and which solves the technical problems presented previously.
  • the head to which the invention relates comprises:
  • the working head can therefore pivot about the shaft on which its support is mounted to pivot, under the action of the actuator mounted on the same axis.
  • the number of components used is lower, and the masses are small and are centered in the extension of the axis of the actuator.
  • the actuator for driving the link rod is a rotary actuator.
  • the link rod for adjusting the orientation of the tool acts on the tool support via a compensation actuator.
  • the compensation actuator makes it possible to exert a determined and constant pressure on the workpiece, thus compensating for the effects of gravity, depending on the working position of the head.
  • this head comprises an electric motor positioned along the axis of the shaft, at the opposite end to the actuator for adjusting the position of the tool support, the output shaft of the motor being equipped with an eccentric acting on a link rod for driving the moving blade of a pair of deflashing shears.
  • the motor is located at the opposite end to the rotary actuator with respect to the tool support, so that the masses of the actuator and of the motor respectively are balanced with respect to the end of the arm of the actuator.
  • this head comprises an electric motor secured to the support of axis perpendicular to the shaft, on which the support is mounted to pivot, and onto the output shaft of which a roughing wheel is keyed.
  • FIG. 1 is a perspective view of a deflashing head.
  • FIG. 2 is an elevation in part section of the deflashing head of FIG. 1 .
  • FIG. 3 is an elevation in part section, similar to FIG. 2 , of a roughing head.
  • the head depicted in FIGS. 1 and 2 is mounted at the end of a robot arm 2 , to which it is fixed via a plate 3 .
  • a shaft 4 is mounted on this plate 3 parallel to the plane of the plate, and on this shaft there is mounted so that it can pivot a support 5 for a tool consisting of shears 6 .
  • Mounted on the shaft 4 and coaxial with the shaft 4 is a motor 7 which, via an eccentric 8 , drives a link rod 9 which actuates the moving blade 10 of the pair of shears 6 , the other blade 13 of which is fixed.
  • a rotary actuator 14 which drives a link rod 15 the other end of which is associated with the support 5 by way of a compensation actuator 16 .
  • the shears 6 are centered on the robot arm.
  • the orientation of the tool consisting of the shears 6 is given by the rotary actuator 14 which causes the link rod 15 to pivot to a greater or lesser extent, the actuator 16 being intended to ensure constant pressure on the workpiece irrespective of the position of the assembly in space.
  • FIG. 3 depicts a roughing head, adopting the same overall geometry, in which the same elements are denoted by the same references as before.
  • the support 5 is equipped with an electric motor 18 , to the output shaft 19 of which a roughing wheel 20 is fixed.
  • the orientation of the working axis of the wheel is given by the action of the rotary actuator 14 by way of the link rod 15 .
  • the invention provides a vast improvement over the existing art by providing a head to equip a robot arm, of simple and compact structure, allowing a wide freedom of movement, the compactness and the centering of the weights allowing rapid movements which are not disturbed by the presence of a significant amount of inertia.
  • the support 5 could be equipped with a gripper intended, if the flash is significant in extent, to make a V-shaped incision into the flash, before the flash is cut off using the shears, it being possible for another gripper, also mounted on the support 5 , to be provided in order to take hold of the flash at the end of cutting and allow its transfer, via movement of the robot, into a waste receptacle.

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  • Manipulator (AREA)
  • Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
  • Milling Processes (AREA)
  • Moving Of Heads (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)

Abstract

The invention relates to a head for a robot arm, which is intended to perform a deflashing or carding operation. The inventive head comprises: a plate which is fixed to the arm of the robot; a shaft which is mounted to the plate in parallel therewith; a support for a deflashing or carding tool, which is pivot mounted around the shaft in an extension of the area where the plate is fixed to the arm of the robot; a jack which is mounted coaxially to the shaft which is connected to one end of a connecting rod, the other end thereof being connected to the above-mentioned tool support in order to adjust the orientation thereof; and means for driving the tool which is used to equip a robot arm and which is intended to perform a deflashing or carding operation.

Description

    BACKGROUND OF THE INVENTION AND DESCRIPTION OF THE PRIOR ART
  • The subject of the present invention is a head to equip a robot arm intended to perform a deflashing or roughing operation.
  • A certain number of items made of synthetic material and obtained by molding exhibit, after demolding, flash at the parting line. This is the case in particular of the soles of footwear made of injection-molded synthetic material which may be overmolded onto the item of footwear or bonded thereto. The removal of these protruding parts is performed by manual cutting as often as not. It is also known practice for deflashing to be performed using a head mounted at the end of the arm of a robot, the computer controlling the robot having incorporated the path of the machining head and the work that the tool is to perform. However, in existing devices, the mechanism employed is complicated and is cantilevered with respect to the end of the robot arm.
  • It is also necessary to consider the fact that the tool, consisting of shears, is made to follow different paths, for example to pivot through 90° in the same continuous movement in order, for example, to cut off flash at the front and rear ends, which is perpendicular to the flash located around the periphery of the sole.
  • In the case of the manufacture of footwear, it is also known practice to perform roughing operations, these roughing operations being performed on the upper of the item of footwear to improve the adhesion of thermoplastic or overmolded soles for example. The roughing operation consists in eroding a strip of material using a roughing wheel, near the region of the upper where the sole is to fit. It is also sometimes necessary to perform a roughing operation on the top surface of the upper, particularly at the front end of the foot, when the sole of the item of footwear has a return over onto the top surface of the item of footwear, particularly in order to form a reinforced toe.
  • In this case also, there is an issue surrounding the availability of a tool which has a significant pivoting capability so that it is just as good at roughing the periphery of the upper as it is at roughing the top thereof. In this case also, the issue is one of performing these movements using a mechanism which is as simple as possible, with optimum centering of the weight along the axis of the end of the robot arm.
    • SUMMARY OF THE INVENTION
  • The object of the invention is to provide a head for equipping a robot arm, intended to perform a deflashing or roughing operation, and which solves the technical problems presented previously.
  • To this end, the head to which the invention relates comprises:
      • a fixing plate for fixing to the robot arm,
      • a shaft mounted on the plate parallel thereto,
      • a support for a deflashing or roughing tool mounted to pivot about the shaft and in the continuation of the region of fixing of the plate to the robot arm,
      • an actuator mounted coaxial with the shaft, connected to one end of a link rod the other end of which is connected to the tool support so as to adjust the orientation of this tool, and
      • tool drive means.
  • The working head, whether this is a deflashing head or a roughing head, can therefore pivot about the shaft on which its support is mounted to pivot, under the action of the actuator mounted on the same axis. The number of components used is lower, and the masses are small and are centered in the extension of the axis of the actuator.
  • Advantageously, the actuator for driving the link rod is a rotary actuator.
  • According to another feature of the invention, the link rod for adjusting the orientation of the tool acts on the tool support via a compensation actuator.
  • The compensation actuator makes it possible to exert a determined and constant pressure on the workpiece, thus compensating for the effects of gravity, depending on the working position of the head.
  • In the case of a deflashing head, this head comprises an electric motor positioned along the axis of the shaft, at the opposite end to the actuator for adjusting the position of the tool support, the output shaft of the motor being equipped with an eccentric acting on a link rod for driving the moving blade of a pair of deflashing shears.
  • It should be noted that the motor is located at the opposite end to the rotary actuator with respect to the tool support, so that the masses of the actuator and of the motor respectively are balanced with respect to the end of the arm of the actuator.
  • In the case of a roughing head, this head comprises an electric motor secured to the support of axis perpendicular to the shaft, on which the support is mounted to pivot, and onto the output shaft of which a roughing wheel is keyed.
    • BRIEF DESCRIPTION OF THE DRAWINGS
  • In any event, the invention will be clearly understood with the aid of the description which follows, with reference to the attached schematic drawing which, by way of nonlimiting examples, depicts two embodiments of this head.
  • FIG. 1 is a perspective view of a deflashing head.
  • FIG. 2 is an elevation in part section of the deflashing head of FIG. 1.
  • FIG. 3 is an elevation in part section, similar to FIG. 2, of a roughing head.
    • DESCRIPTION OF THE PREFERRED EMBODIMENTS
  • The head depicted in FIGS. 1 and 2 is mounted at the end of a robot arm 2, to which it is fixed via a plate 3. A shaft 4 is mounted on this plate 3 parallel to the plane of the plate, and on this shaft there is mounted so that it can pivot a support 5 for a tool consisting of shears 6. Mounted on the shaft 4 and coaxial with the shaft 4 is a motor 7 which, via an eccentric 8, drives a link rod 9 which actuates the moving blade 10 of the pair of shears 6, the other blade 13 of which is fixed.
  • Mounted coaxial with the shaft 4 and on the other side of the support 5 is a rotary actuator 14 which drives a link rod 15 the other end of which is associated with the support 5 by way of a compensation actuator 16. As depicted in the drawing, the shears 6 are centered on the robot arm.
  • The orientation of the tool consisting of the shears 6 is given by the rotary actuator 14 which causes the link rod 15 to pivot to a greater or lesser extent, the actuator 16 being intended to ensure constant pressure on the workpiece irrespective of the position of the assembly in space.
  • FIG. 3 depicts a roughing head, adopting the same overall geometry, in which the same elements are denoted by the same references as before. In this case, the support 5 is equipped with an electric motor 18, to the output shaft 19 of which a roughing wheel 20 is fixed. In this case too, the orientation of the working axis of the wheel is given by the action of the rotary actuator 14 by way of the link rod 15.
  • As is apparent from the foregoing, the invention provides a vast improvement over the existing art by providing a head to equip a robot arm, of simple and compact structure, allowing a wide freedom of movement, the compactness and the centering of the weights allowing rapid movements which are not disturbed by the presence of a significant amount of inertia.
  • In the case of a deflashing head, the support 5 could be equipped with a gripper intended, if the flash is significant in extent, to make a V-shaped incision into the flash, before the flash is cut off using the shears, it being possible for another gripper, also mounted on the support 5, to be provided in order to take hold of the flash at the end of cutting and allow its transfer, via movement of the robot, into a waste receptacle.
  • As goes without saying, the invention is not restricted to the sole embodiments of this head that are described hereinabove by way of examples; on the contrary, it encompasses all variants thereof.

Claims (10)

1. A head for equipping a robot arm, intended to perform a deflashing or roughing operation, and which comprises:
a fixing plate for fixing to the robot arm,
a shaft mounted on the plate parallel thereto,
a support for a deflashing or roughing tool mounted to pivot about the shaft and in the continuation of the region of fixing of the plate to the robot arm,
an actuator mounted coaxial with the shaft, connected to one end of a link rod the other end of which is connected to the tool support so as to adjust the orientation of this tool, and
tool drive means.
2. The head as claimed in claim 1, wherein the actuator for driving the link rod is a rotary actuator.
3. The head as claimed in claims 1, wherein the link rod for adjusting the orientation of the tool acts on the tool support via a compensation actuator.
4. The head as claimed in claim 1, wherein, in the case of a deflashing head, this head comprises an electric motor positioned along the axis of the shaft, at the opposite end to the actuator for adjusting the position of the tool support, the output shaft of the motor being equipped with an eccentric acting on a link rod for driving the moving blade of a pair of deflashing shears.
5. The head as claimed in claim 1, wherein, in the case of a roughing head, this head comprises an electric motor secured to the support of axis perpendicular to the shaft, on which the support is mounted to pivot, and onto the output shaft of which a roughing wheel is keyed.
6. The head as claimed in claim 2, wherein the link rod for adjusting the orientation of the tool acts on the tool support via a compensation actuator.
7. The head as claimed in claim 2, wherein, in the case of a deflashing head, this head comprises an electric motor positioned along the axis of the shaft, at the opposite end to the actuator for adjusting the position of the tool support, the output shaft of the motor being equipped with an eccentric acting on a link rod for driving the moving blade of a pair of deflashing shears.
8. The head as claimed in claim 3, wherein, in the case of a deflashing head, this head comprises an electric motor positioned along the axis of the shaft, at the opposite end to the actuator for adjusting the position of the tool support, the output shaft of the motor being equipped with an eccentric acting on a link rod for driving the moving blade of a pair of deflashing shears.
9. The head as claimed in claim 2, wherein, in the case of a roughing head, this head comprises an electric motor secured to the support of axis perpendicular to the shaft, on which the support is mounted to pivot, and onto the output shaft of which a roughing wheel is keyed.
10. The head as claimed in claim 3, wherein, in the case of a roughing head, this head comprises an electric motor secured to the support of axis perpendicular to the shaft, on which the support is mounted to pivot, and onto the output shaft of which a roughing wheel is keyed.
US10/553,753 2003-05-06 2004-05-06 Head for a robot ar intended to perform a deflashing or rouging operation Abandoned US20070082583A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR03/05515 2003-05-06
FR0305515A FR2854549B1 (en) 2003-05-06 2003-05-06 HEAD FOR THE EQUIPMENT OF A ROBOT ARM FOR REALIZING A DRAINING OR CARDING OPERATION
PCT/FR2004/001093 WO2004098341A1 (en) 2003-05-06 2004-05-06 Head for a robot arm, which is intended to perform a deflashing or carding operation

Publications (1)

Publication Number Publication Date
US20070082583A1 true US20070082583A1 (en) 2007-04-12

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US10/553,753 Abandoned US20070082583A1 (en) 2003-05-06 2004-05-06 Head for a robot ar intended to perform a deflashing or rouging operation

Country Status (9)

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US (1) US20070082583A1 (en)
EP (1) EP1619974B1 (en)
CN (1) CN100534352C (en)
AT (1) ATE357861T1 (en)
DE (1) DE602004005583T2 (en)
DK (1) DK1619974T3 (en)
FR (1) FR2854549B1 (en)
PT (1) PT1619974E (en)
WO (1) WO2004098341A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080265458A1 (en) * 2007-04-24 2008-10-30 Keith Hershner Method for forming an over-molded product
CN102038333A (en) * 2010-12-17 2011-05-04 王文平 Vamp quarter roughing machine suitable for slip last

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SG187458A1 (en) 2007-10-12 2013-02-28 Novartis Ag Compositions comprising sphingosine 1 phosphate (s1p) receptor modulators
DE102011054885B4 (en) * 2011-10-27 2014-04-10 Hans Hermann Bergmann Deburring device and articulated arm for it
CN103963198A (en) * 2013-01-31 2014-08-06 汉达精密电子(昆山)有限公司 Automatic burr sliding-extrusion device
CN112801988B (en) * 2021-02-02 2023-04-18 上海交通大学 Object grabbing pose detection method based on RGBD and deep neural network

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3735437A (en) * 1971-06-11 1973-05-29 B Krolikov Upper roughing device
US5403131A (en) * 1993-12-14 1995-04-04 Thermwood Corporation Method and apparatus for trimming flash from plastic molded parts
US5560062A (en) * 1994-03-17 1996-10-01 Officine Meccaniche Cerim Spa. Method and device for machining the bottom of footwear
US5676588A (en) * 1995-10-12 1997-10-14 Aga Ab Rotating drum cryogen shot blast deflashing system
US6086294A (en) * 1999-03-19 2000-07-11 Fanuc Robotics North America Inc. Robotic deflashing of plastics with cutter guidance
US20020168922A1 (en) * 1998-05-21 2002-11-14 Mortell Paul D. Automated drill bit re-sharpening and verification system
US20050049126A1 (en) * 2003-09-02 2005-03-03 The Boeing Company Multi-function end effector
US7019259B2 (en) * 2001-08-31 2006-03-28 Honda of Canada Manufacturing a division of Honda Canada Inc. Laser welding system

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1228743B (en) * 1989-03-24 1991-07-03 Anzani Lanfranco Anzani Onorio MULTI FUNCTION FOOTWEAR MACHINE.
FR2690864B1 (en) * 1992-05-06 1996-10-04 Roger Blanc HEAD FOR THE EQUIPMENT OF A ROBOT, FOR CARRYING OUT A CARDING OPERATION.

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3735437A (en) * 1971-06-11 1973-05-29 B Krolikov Upper roughing device
US5403131A (en) * 1993-12-14 1995-04-04 Thermwood Corporation Method and apparatus for trimming flash from plastic molded parts
US5560062A (en) * 1994-03-17 1996-10-01 Officine Meccaniche Cerim Spa. Method and device for machining the bottom of footwear
US5676588A (en) * 1995-10-12 1997-10-14 Aga Ab Rotating drum cryogen shot blast deflashing system
US20020168922A1 (en) * 1998-05-21 2002-11-14 Mortell Paul D. Automated drill bit re-sharpening and verification system
US6086294A (en) * 1999-03-19 2000-07-11 Fanuc Robotics North America Inc. Robotic deflashing of plastics with cutter guidance
US7019259B2 (en) * 2001-08-31 2006-03-28 Honda of Canada Manufacturing a division of Honda Canada Inc. Laser welding system
US20050049126A1 (en) * 2003-09-02 2005-03-03 The Boeing Company Multi-function end effector

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080265458A1 (en) * 2007-04-24 2008-10-30 Keith Hershner Method for forming an over-molded product
WO2008134438A1 (en) * 2007-04-24 2008-11-06 Precision Medical Products, Inc. Method for forming an over-molded product
CN102038333A (en) * 2010-12-17 2011-05-04 王文平 Vamp quarter roughing machine suitable for slip last

Also Published As

Publication number Publication date
ATE357861T1 (en) 2007-04-15
CN1780566A (en) 2006-05-31
CN100534352C (en) 2009-09-02
FR2854549A1 (en) 2004-11-12
EP1619974A1 (en) 2006-02-01
FR2854549B1 (en) 2005-06-24
DK1619974T3 (en) 2007-08-06
DE602004005583T2 (en) 2008-01-31
PT1619974E (en) 2007-06-19
WO2004098341A1 (en) 2004-11-18
DE602004005583D1 (en) 2007-05-10
EP1619974B1 (en) 2007-03-28

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AS Assignment

Owner name: ETABLISSEMENTS ACTIS, FRANCE

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:BLANC, ROGER (DECEASED), BLANC-ANDREI, CAROLINE (LEGAL REPRESENTATIVE FOR DECEASED INVENTOR, ROBER BLANC);REEL/FRAME:017203/0355

Effective date: 20051214

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION