TWI531328B - Method to process technical objects, in particular, parts for shoes - Google Patents
Method to process technical objects, in particular, parts for shoes Download PDFInfo
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- TWI531328B TWI531328B TW100138765A TW100138765A TWI531328B TW I531328 B TWI531328 B TW I531328B TW 100138765 A TW100138765 A TW 100138765A TW 100138765 A TW100138765 A TW 100138765A TW I531328 B TWI531328 B TW I531328B
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Description
本發明係關於加工技術物體,特別是鞋子部件的方法,以及用於實施該方法之裝置。The present invention relates to a method of processing a technical object, particularly a shoe component, and an apparatus for carrying out the method.
雖然本發明不限於以鞋子部件作為加工中之物體,但在下文中藉由此等鞋子部件來描述本發明。如應用於(例如)鞋底、鞋面之部件等之此等鞋子部件具有偏離達幾毫米之尺寸及體積,該偏離由製造公差及收縮量之變化引起。一般而言,此外,特別是在鞋子部件之狀況下,此偏離涉及「柔軟」組件,使得在生產之後,物體呈現未定義之不能再生產的形狀。Although the invention is not limited to the use of shoe components as objects in processing, the invention is described hereinafter by means of such shoe components. Such shoe components, such as those applied to, for example, soles, uppers, and the like, have dimensions and volumes that deviate by a few millimeters, which are caused by variations in manufacturing tolerances and shrinkage. In general, in addition, particularly in the case of shoe components, this deviation involves a "soft" component such that after production, the object assumes an undefined shape that cannot be reproduced.
對於製造過程之剩餘部分,此等物體為獨立的。按照慣例,在稍後操作中,將此等組件定位於陰模(negative mould)中且接著使用程式予以進一步加工。These objects are independent of the remainder of the manufacturing process. Conventionally, in later operations, the components are positioned in a negative mould and then further processed using a program.
一般而言,鞋子為流行物品,因此設計一年改變若干次且得以進一步發展。對於製造者,此情形導致產品之極大數目個不同變化。在應用於上文所描述之特徵時,若要使此加工自動化,則此對投入及人員提出極大需求。結果,直至現在,在組裝該等組件期間仍手動地加工此等鞋子部件。因為許多手動操作,所以組裝成本為極其勞動密集型的且易出錯。In general, shoes are popular items, so the design changes several times a year and is further developed. For the manufacturer, this situation results in a very large number of different variations of the product. In order to automate this process when applied to the features described above, this puts great demands on the input and personnel. As a result, until now, these shoe components have been manually machined during assembly of the components. Because of the many manual operations, assembly costs are extremely labor intensive and error prone.
因此,本發明之任務為提出一種方法,藉由該方法,無論待加工之所遞送物體是什麼,均可藉由機器個別地及自動地加工該物體。Accordingly, it is an object of the present invention to provide a method by which an object can be individually and automatically machined by a machine, regardless of the object being processed.
本發明如申請專利範圍第1項中所陳述而解決此任務,其中藉由一傳送系統將物體裝載及輸送至一加工單元中,在該加工單元中藉由一感測器系統掃描及量測該等物體,自該感測器系統將經掃描之量測值饋送至一電腦中,該電腦個別地針對每一物體根據該等所記錄之量測值來為一6軸工業機器人程式化後續操作,且接著將該等經加工之物體傳遞至其他加工單元。The present invention solves this task as set forth in claim 1 wherein the object is loaded and transported by a transport system into a processing unit where it is scanned and measured by a sensor system The objects, from the sensor system, feed the scanned measurements to a computer that individually programs a 6-axis industrial robot for each object based on the recorded measurements. Operation, and then transferring the processed objects to other processing units.
所陳述之系統藉由一工業機器人自動地加工上文所描述之鞋子部件。個別地獲取該等物體之幾何輪廓。使用此等幾何輪廓,接著根據自由定義之準則自動地產生個別機器人程式。幾何形狀之擷取及加工一個緊接著一個,由輸送系統(傳送帶)互連起來。對具有已定義之限制的物體精確地執行機器人加工。由於此自動之幾何形狀擷取及機器人程式產生,所以物體之單獨程式化為不必要的。系統之操作者不需要對特定機器人系統之進一步程式化瞭解。此情形很重要,以致於在鞋子及組件之製造中,常常為以下狀況:使用具有很少或相對低之教育程度之操作者/工人。產品意欲具有高品質且沒有由製造過程引起之品質變化之跡象。此發展允許藉由當前操作人員使鞋子部件自動化。由手動作業中之錯誤造成之產品品質的差異得以消除。The stated system automatically processes the shoe components described above by an industrial robot. The geometric contours of the objects are obtained individually. Using these geometric profiles, then individual robot programs are automatically generated according to freely defined criteria. The geometry is captured and machined one after the other and interconnected by a conveyor system (conveyor belt). Robotic machining is performed accurately on objects with defined limits. Due to this automatic geometry capture and robotic generation, individual stylization of objects is unnecessary. The operator of the system does not need further stylized knowledge of a particular robotic system. This situation is so important that in the manufacture of shoes and components, it is often the case that an operator/worker with little or relatively low educational level is used. The product is intended to be of high quality and without signs of quality changes caused by the manufacturing process. This development allows the shoe components to be automated by the current operator. The difference in product quality caused by errors in manual work is eliminated.
根據申請專利範圍第2項,就工業機器人對物體之加工而言,規定物體被靜態地傳送至機器人,亦即,一旦物體已被量測且特殊機器人加工程式已產生,便一個接一個循環地由工業機器人加工物體。According to item 2 of the scope of patent application, in the case of machining of an object by an industrial robot, the specified object is statically transmitted to the robot, that is, once the object has been measured and a special robotic machining program has been generated, it is cycled one by one. The object is machined by an industrial robot.
然而,根據申請專利範圍第3項,亦規定物體在機器人前面或分別在機器人下方持續向前移動,且機器人在加工操作期間跟著物體。However, according to item 3 of the scope of the patent application, it is also stipulated that the object continues to move forward in front of the robot or under the robot, respectively, and the robot follows the object during the machining operation.
以此方式,可將該等物體可傳送至後續加工台或將該等物體傳送回至傳送位置。此係藉由具有相反行進方向之雙傳送帶來實現,經由該雙傳送帶,將經加工之物體傳送至後續加工台,或(例如)藉由改變至另一帶而將其傳送至包裝或亦傳送至另一加工單元。此提供了人力之節省。由上述情形所致,根據申請專利範圍第4項,自裝載被加工之物體直至量測、程式產生及基於此程式化之後續加工的所有加工步驟可發生於一共同外殼中。In this way, the objects can be transported to subsequent processing stations or transferred back to the transfer location. This is achieved by a double conveyor belt having opposite directions of travel through which the processed object is transported to a subsequent processing station or, for example, transferred to a package or transferred to another belt by changing to another belt. Another processing unit. This provides a savings in manpower. In view of the above, according to item 4 of the scope of the patent application, all processing steps from loading the processed object to measurement, program generation and subsequent processing based on this stylization may occur in a common housing.
此類型之裝置形成申請專利範圍第5項之標的物。此等單元結構上緊湊且含有精確加工該物體所需要的一切。This type of device forms the subject matter of claim 5 of the scope of the patent application. These units are structurally compact and contain everything needed to accurately machine the object.
實務上,此等外殼在裝載及卸貨開口處為密封的且不可由未經授權的人查看,或視具體情況不可由在操作執行時到來的未經授權的人近接,因此亦考慮到安全態樣。In practice, such enclosures are sealed at the loading and unloading openings and are not viewable by unauthorized persons or, as the case may be, cannot be accessed by unauthorized persons arriving at the time of operation, thus also taking into account the safety state. kind.
根據申請專利範圍第7項,規定若干此等單元可串聯地或亦可彼此並聯地配置,藉以在並聯配置中可加工不同物體,接著將該等物體傳送至配置於下游之加工台,其中(例如)經加工之物體可一起被傳送。According to item 7 of the scope of the patent application, it is provided that a plurality of such units may be arranged in series or in parallel with each other, whereby different objects may be processed in a parallel configuration, and then the objects are transported to a processing station arranged downstream, wherein For example, processed objects can be transported together.
根據本發明之單元可容易地整合於現有生產線中且無需很多成本。The unit according to the invention can be easily integrated into existing production lines without much cost.
下文借助於圖式說明及描述本發明。The invention is illustrated and described below with the aid of the drawings.
裝置(加工台)包含具有底板2、側壁3及頂4之外殼1。The device (processing station) comprises a housing 1 having a bottom plate 2, side walls 3 and a top 4.
經由門5近接該單元。The unit is accessed via the door 5.
輸送系統(傳送帶)6位於外殼1內,在該輸送系統(傳送帶)6上首先將被加工之物體傳送至在此例子中僅概略地展示之感測器裝置(3D掃描器)7,該感測器裝置(3D掃描器)7連接至外殼1中之電腦(此處未展示),且在該電腦中,基於由3-D掃描器7判定之值,特定地針對被量測之物體而產生加工程式。在此系統中,電腦連接至工業機器人9,該工業機器人9使用加工程式對傳遞通過其下方之物體執行適當加工。加工可靜態地發生。然而,亦有可能在機器人台9處傳送通過被加工之物體,且機器人台9在加工操作期間跟著物體。A conveyor system (conveyor belt) 6 is located in the casing 1 on which the object to be processed is first conveyed to a sensor device (3D scanner) 7 which is only schematically shown in this example, the feeling A detector device (3D scanner) 7 is connected to a computer (not shown here) in the housing 1 and, in the computer, based on the value determined by the 3-D scanner 7, specifically for the object being measured Generate a machining program. In this system, the computer is connected to an industrial robot 9, which uses a machining program to perform appropriate processing on an object passing therethrough. Processing can occur statically. However, it is also possible to transmit through the machined object at the robot table 9, and the robot table 9 follows the object during the machining operation.
接著經由內部傳送系統將被加工之物體傳送回至傳送台,或自該單元傳送至另一單元。The object being processed is then transferred back to the transfer station via the internal transfer system or from the unit to another unit.
可經由窗10來觀察單元1內之加工空間,可使其變暗。The processing space in the unit 1 can be observed through the window 10, which can be made dark.
1...外殼1. . . shell
2...底板2. . . Bottom plate
3...側壁3. . . Side wall
4...頂4. . . top
5...門5. . . door
6...輸送系統6. . . Conveyor system
7...感測器裝置7. . . Sensor device
9...工業機器人9. . . Industrial robot
10...窗10. . . window
圖1係根據本發明之加工台的立體圖。Figure 1 is a perspective view of a processing station in accordance with the present invention.
圖2根據圖1之加工台之前視圖。Figure 2 is a front view of the processing station according to Figure 1.
圖3加工台之側視圖。Figure 3 is a side view of the processing station.
圖4加工台之平面圖。Figure 4 is a plan view of the processing station.
1...外殼1. . . shell
2...底板2. . . Bottom plate
3...側壁3. . . Side wall
4...頂4. . . top
5...門5. . . door
6...輸送系統6. . . Conveyor system
7...感測器裝置7. . . Sensor device
10...窗10. . . window
Claims (6)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102011108760 | 2011-07-28 |
Publications (2)
Publication Number | Publication Date |
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TW201304700A TW201304700A (en) | 2013-02-01 |
TWI531328B true TWI531328B (en) | 2016-05-01 |
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Application Number | Title | Priority Date | Filing Date |
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TW100138765A TWI531328B (en) | 2011-07-28 | 2011-10-26 | Method to process technical objects, in particular, parts for shoes |
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CN (1) | CN102894547A (en) |
TW (1) | TWI531328B (en) |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3804583C2 (en) * | 1988-02-13 | 1994-02-10 | Psb Foerderanlagen | Transfer line for shoe manufacturing |
DE3815013A1 (en) * | 1988-05-04 | 1989-11-16 | Kloeckner Ferromatik Desma | METHOD AND DEVICE FOR MOLDING UP MULTILAYER SOLE ON SHOE SHOES, IF ANY |
EP0591596A1 (en) * | 1992-03-27 | 1994-04-13 | COMELZ S.p.A. | Automatic shoe manufacturing system, particularly for roughening and gluing of uppers |
DE10010689C1 (en) * | 2000-03-04 | 2001-04-12 | Kloeckner Desma Schuhmaschinen | Machining tool guiding method for robot controlled machining detects actual angular position of machining tool at defined intervals for feedback regulation of tool pressure |
US7547270B1 (en) * | 2008-04-08 | 2009-06-16 | Cincinnati Machine, Llc | Machine tool with optimally positioned operator station |
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2011
- 2011-10-26 TW TW100138765A patent/TWI531328B/en active
- 2011-11-11 CN CN2011103648046A patent/CN102894547A/en active Pending
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Publication number | Publication date |
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CN102894547A (en) | 2013-01-30 |
TW201304700A (en) | 2013-02-01 |
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