WO2004098341A1 - Tete pour l’equipement d’un bras de robot destine a realiser une operation d’ebavurage ou de cardage - Google Patents
Tete pour l’equipement d’un bras de robot destine a realiser une operation d’ebavurage ou de cardage Download PDFInfo
- Publication number
- WO2004098341A1 WO2004098341A1 PCT/FR2004/001093 FR2004001093W WO2004098341A1 WO 2004098341 A1 WO2004098341 A1 WO 2004098341A1 FR 2004001093 W FR2004001093 W FR 2004001093W WO 2004098341 A1 WO2004098341 A1 WO 2004098341A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- head
- shaft
- support
- carding
- tool
- Prior art date
Links
Classifications
-
- 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 present invention relates to a head for equipping a robot arm, intended to perform a deburring or carding operation.
- a certain number of articles of synthetic material obtained by molding have, after demolding, burrs of material at the joint plane. This is particularly the case for shoe soles of injected synthetic material, which can be molded onto the shoe or can be glued to it. The removal of these overhanging parts is carried out by manual cutting, most often.
- the mechanism used is complex, and is arranged cantilevered relative to the end of the robot arm.
- the tool constituted by a shears is led to follow different trajectories, for example to rotate 90 ° in the same continuity of movement, for example to cut out burrs at the front and rear ends, which are perpendicular to the burr located on the periphery of the sole.
- carding operations In the context of the manufacture of shoes, it is also known to carry out carding operations, these carding operations being carried out on the upper of the shoe to facilitate the attachment of thermoplastic or overmolded soles for example.
- the carding operation consists in eroding a strip of material using a cutter, near the area of the upper to receive the sole. It is also sometimes necessary to carry out a carding operation on the upper face of the upper, in particular at the level of the front end of the foot, when the sole of the shoe has a return on the upper face of the shoe, in particular to have a reinforced end.
- the object of the invention is to provide a head for equipping a robot arm, intended to perform a deburring or carding operation, and responding to the technical problems previously posed.
- the head concerned by the invention comprises: - a fixing plate on the arm of the robot,
- a support for a deburring or carding tool mounted to pivot around the shaft and in line with the fixing area of the plate on the robot arm.
- a jack mounted coaxially with the shaft, connected to one end of a connecting rod, the other end of which is connected to the support of the tool in order to adjust the orientation of the latter, and
- the working head whether it is a deburring head or a carding head, can therefore pivot around the shaft on which its support is pivotally pivoted, under the action of the jack mounted on the same axis.
- the number of parts used is reduced, and the masses are reduced and are centered in the extension of the cylinder axis.
- the drive cylinder of the connecting rod is a rotating cylinder.
- the rod for adjusting the orientation of the tool acts on the support thereof by means of a compensation cylinder.
- the compensation cylinder ensures a determined and constant pressure on the workpiece, thus compensating for the effects of gravity, depending on the working position of the head.
- this comprises an electric motor arranged on the axis of the shaft, on the side opposite to the jack for adjusting the position of the tool support, the output shaft of the engine being equipped with an eccentric acting on a connecting rod for driving the movable blade of a pair of deburring scissors.
- the motor is arranged on the side opposite the rotary actuator relative to the support of the tool, 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.
- the latter comprises an electric motor secured to the support with an axis perpendicular to the shaft, on which the support is pivotally mounted, and on the output shaft from which a milling cutter is wedged. carding.
- the invention will be well understood, with the aid of the description which follows, with reference to the appended schematic drawing, representing, by way of nonlimiting examples, two embodiments of this head.
- Figure 1 is a perspective view of a deburring head.
- Figure 2 is an elevational view partially in section of the deburring head of Figure 1.
- Figure 3 is an elevational view partially in section, similar to Figure 2, of a carding head.
- the head shown in Figures 1 and 2 is mounted at the end of a robot arm 2, on which it is fixed by means of a plate 3.
- a shaft 4 parallel to the plane of the plate, on which is pivotally mounted a support 5 for a tool constituted by scissors 6.
- a fitter 7 which drives, by means of an eccentric 8, a connecting rod 9 which actuates the movable blade 10 of the pair of scissors 6, the other blade 13 of which is fixed.
- a rotary actuator 14 Coaxial to the shaft 4 is mounted, on the other side of the support 5, a rotary actuator 14, which drives a connecting rod 15, the other end of which is associated with the support 5 by means of a compensating actuator 16 As shown in the drawing, the scissors 6 are centered on the robot arm.
- the orientation of the tool constituted by the scissors 6 is given by the rotary actuator 14 which more or less pivots the connecting rod 15, the actuator 16 being intended to ensure constant pressure on the workpiece, whatever the position of the whole in space.
- FIG. 3 represents a carding head, using the same general geometry, in which the same elements are designated by the same references as above.
- the support 5 is equipped with an electric motor 18, on the output shaft 19 which is fixed a cutter 20.
- the orientation of the working axis of the cutter is given by action of the rotary actuator 14 via the connecting rod 15.
- the invention brings a great improvement to the existing technique by providing a head for equipping a robot arm, of simple and compact structure, allowing a large latitude of movements, compactness and weight centering allowing rapid movements which are not disturbed by the presence of significant inertia.
- the support 5 could be equipped with a clamp intended, when a burr is large, to form a V-shaped incision in the burr, before cutting the latter using scissors, another clamp, also mounted on the support 5, which can be provided to grasp the burrs at the end of cutting and allow its transfer, by movement of the robot, to a trash can.
- a clamp intended, when a burr is large, to form a V-shaped incision in the burr, before cutting the latter using scissors
- another clamp also mounted on the support 5, which can be provided to grasp the burrs at the end of cutting and allow its transfer, by movement of the robot, to a trash can.
Landscapes
- 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
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/553,753 US20070082583A1 (en) | 2003-05-06 | 2004-05-06 | Head for a robot ar intended to perform a deflashing or rouging operation |
DK04742655T DK1619974T3 (da) | 2003-05-06 | 2004-05-06 | Hoved til udstyring af en robot-arm, der er beregnet til at udföre en afgratnings- eller en oprulningsoperation |
DE602004005583T DE602004005583T2 (de) | 2003-05-06 | 2004-05-06 | Bearbeitungskopf zur ausrüstung eines roboterarms zum entgraten oder aufrauhen |
EP04742655A EP1619974B1 (fr) | 2003-05-06 | 2004-05-06 | Tete pour l´equipement d´un bras de robot destine a realiser une operation d´ebavurage ou de cardage |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR03/05515 | 2003-05-06 | ||
FR0305515A FR2854549B1 (fr) | 2003-05-06 | 2003-05-06 | Tete pour l'equipement d'un bras de robot destine a realiser une operation d'ebavurage ou de cardage |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004098341A1 true WO2004098341A1 (fr) | 2004-11-18 |
Family
ID=33306188
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2004/001093 WO2004098341A1 (fr) | 2003-05-06 | 2004-05-06 | Tete pour l’equipement d’un bras de robot destine a realiser une operation d’ebavurage ou de cardage |
Country Status (9)
Country | Link |
---|---|
US (1) | US20070082583A1 (fr) |
EP (1) | EP1619974B1 (fr) |
CN (1) | CN100534352C (fr) |
AT (1) | ATE357861T1 (fr) |
DE (1) | DE602004005583T2 (fr) |
DK (1) | DK1619974T3 (fr) |
FR (1) | FR2854549B1 (fr) |
PT (1) | PT1619974E (fr) |
WO (1) | WO2004098341A1 (fr) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011054885A1 (de) * | 2011-10-27 | 2013-05-02 | Hans Hermann Bergmann | Entgratungsvorrichtung |
EP3733161A1 (fr) | 2007-10-12 | 2020-11-04 | Novartis AG | Compositions comprenant des modulateurs de récepteur de sphingosine 1 (s1p) phosphate |
Families Citing this family (4)
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 |
CN102038333B (zh) * | 2010-12-17 | 2015-09-02 | 王文平 | 适合于套楦的鞋面腰部打粗作业机器 |
CN103963198A (zh) * | 2013-01-31 | 2014-08-06 | 汉达精密电子(昆山)有限公司 | 自动赶毛边装置 |
CN112801988B (zh) * | 2021-02-02 | 2023-04-18 | 上海交通大学 | 基于rgbd和深度神经网络的物体抓取位姿检测方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3735437A (en) * | 1971-06-11 | 1973-05-29 | B Krolikov | Upper roughing device |
EP0388674A2 (fr) * | 1989-03-24 | 1990-09-26 | Lanfranco Anzani | Machine avec des fonctions diverses pour le travail de chaussures |
FR2690864A1 (fr) * | 1992-05-06 | 1993-11-12 | Blanc Roger | Tête pour l'équipement d'un robot, destinée à réaliser une opération de cardage. |
US5560062A (en) * | 1994-03-17 | 1996-10-01 | Officine Meccaniche Cerim Spa. | Method and device for machining the bottom of footwear |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5403131A (en) * | 1993-12-14 | 1995-04-04 | Thermwood Corporation | Method and apparatus for trimming flash from plastic molded parts |
US5676588A (en) * | 1995-10-12 | 1997-10-14 | Aga Ab | Rotating drum cryogen shot blast deflashing system |
US6283824B1 (en) * | 1998-05-21 | 2001-09-04 | Tycom Corporation | 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 |
US6803538B2 (en) * | 2001-08-31 | 2004-10-12 | Honda Canada Inc. | Laser welding system |
US6949057B2 (en) * | 2003-09-02 | 2005-09-27 | The Boeing Company | Multi-function end effector |
-
2003
- 2003-05-06 FR FR0305515A patent/FR2854549B1/fr not_active Expired - Fee Related
-
2004
- 2004-05-06 EP EP04742655A patent/EP1619974B1/fr not_active Expired - Lifetime
- 2004-05-06 PT PT04742655T patent/PT1619974E/pt unknown
- 2004-05-06 WO PCT/FR2004/001093 patent/WO2004098341A1/fr active IP Right Grant
- 2004-05-06 AT AT04742655T patent/ATE357861T1/de not_active IP Right Cessation
- 2004-05-06 DE DE602004005583T patent/DE602004005583T2/de not_active Expired - Fee Related
- 2004-05-06 CN CNB2004800117931A patent/CN100534352C/zh not_active Expired - Fee Related
- 2004-05-06 US US10/553,753 patent/US20070082583A1/en not_active Abandoned
- 2004-05-06 DK DK04742655T patent/DK1619974T3/da active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3735437A (en) * | 1971-06-11 | 1973-05-29 | B Krolikov | Upper roughing device |
EP0388674A2 (fr) * | 1989-03-24 | 1990-09-26 | Lanfranco Anzani | Machine avec des fonctions diverses pour le travail de chaussures |
FR2690864A1 (fr) * | 1992-05-06 | 1993-11-12 | Blanc Roger | Tête pour l'équipement d'un robot, destinée à réaliser une opération de cardage. |
US5560062A (en) * | 1994-03-17 | 1996-10-01 | Officine Meccaniche Cerim Spa. | Method and device for machining the bottom of footwear |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3733161A1 (fr) | 2007-10-12 | 2020-11-04 | Novartis AG | Compositions comprenant des modulateurs de récepteur de sphingosine 1 (s1p) phosphate |
DE102011054885A1 (de) * | 2011-10-27 | 2013-05-02 | Hans Hermann Bergmann | Entgratungsvorrichtung |
DE102011054885B4 (de) * | 2011-10-27 | 2014-04-10 | Hans Hermann Bergmann | Entgratungsvorrichtung und Gelenkarm dafür |
Also Published As
Publication number | Publication date |
---|---|
EP1619974B1 (fr) | 2007-03-28 |
FR2854549B1 (fr) | 2005-06-24 |
CN1780566A (zh) | 2006-05-31 |
DE602004005583T2 (de) | 2008-01-31 |
FR2854549A1 (fr) | 2004-11-12 |
DK1619974T3 (da) | 2007-08-06 |
PT1619974E (pt) | 2007-06-19 |
CN100534352C (zh) | 2009-09-02 |
US20070082583A1 (en) | 2007-04-12 |
EP1619974A1 (fr) | 2006-02-01 |
DE602004005583D1 (de) | 2007-05-10 |
ATE357861T1 (de) | 2007-04-15 |
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