TWI610635B - Material handling system, system formanufacturing shoe parts in an automated manner, and method of manufacturing a shoe - Google Patents
Material handling system, system formanufacturing shoe parts in an automated manner, and method of manufacturing a shoe Download PDFInfo
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Abstract
藉由以自動化方式執行各種鞋製造製程來增強鞋或鞋的 一部分的製造。一種適合用於自動化鞋製造製程的物料處理系統具有導軌以及第一可移動保持元件及第二可移動保持元件，所述保持元件中的每一者具有用於在製造製程期間嚙合部件或部件堆疊的抓握元件。 Enhance shoes or shoes by performing various shoe manufacturing processes in an automated manner Part of the manufacturing. A material handling system suitable for use in an automated shoe manufacturing process has a rail and a first moveable retention element and a second moveable retention element, each of the retention elements having an engagement component or component stack during the manufacturing process Grip component.
Description
本文中的各態樣是有關於鞋的自動化製造。更具體而言，各態樣是有關於以自動化方式組裝及縫製鞋的部件，例如共同構成鞋面的全部或部分的鞋部件。 The various aspects herein are related to the automated manufacture of shoes. More specifically, various aspects are related to components that assemble and sew shoes in an automated manner, such as shoe components that collectively make up all or part of the upper.
鞋的製造通常需要多個組裝步驟，例如切割、成形、組裝、黏合、及/或將多個鞋部件縫製於一起。用於完成該些步驟的某些方法(例如嚴重依賴於手工作業者)可為資源密集型的且可能需要高度的可變性。已闡述過自動化組裝，然而，用於組裝其他商品的製程及機械設備可能不適於組裝鞋，乃因鞋對縫製製程及其他接合製程提出了很多種挑戰。舉例而言，鞋面可能包括厚的、密度大的物料，此種物料難以均勻地縫製，對於複雜的形狀而言特別如此。此外，鞋的縫製需要相對高的精確度，以維持可預測的適合度(fit)及確保兩隻鞋成對匹配。 The manufacture of shoes typically requires multiple assembly steps, such as cutting, forming, assembling, bonding, and/or sewing a plurality of shoe components together. Some of the methods used to accomplish these steps, such as relying heavily on manual workers, can be resource intensive and can require a high degree of variability. Automated assembly has been described, however, the processes and machinery used to assemble other merchandise may not be suitable for assembling shoes, as the shoe presents a number of challenges to the sewing process and other joining processes. For example, the upper may include thick, dense materials that are difficult to sew evenly, especially for complex shapes. In addition, the sewing of the shoe requires relatively high precision to maintain a predictable fit and to ensure that the two shoes are paired in pairs.
鞋面可包括功能性縫製、美觀性縫製或同時包括功能性 縫製及美觀性縫製，且若未能達成縫製的高度準確的佈置及均勻性，則可能使鞋易於提前失效或在美觀性方面令人無法接受。期望在給定的部件內以及在部件與部件之間具有均勻性，例如確保一雙鞋中的兩隻鞋上的裝飾性縫製是一致的。當然，功能性縫製亦應均勻，例如以確保鞋面不自鞋底或鞋舌分離並確保鞋面的任何單獨的部件不會意外地彼此分離。同時，用於構造鞋面的物料可能易於被用於組裝非常耐用的或者不太注重美觀性的商品(例如航海用油布)的自動化設備損壞、磨損或遭受其他破壞。鞋面物料受到破壞可能在美觀性方面無法接受，或者可能干擾鞋面的功能性質，例如透濕性。 The upper may include functional sewing, aesthetic sewing or both functional Sewing and aesthetic sewing, and failure to achieve a highly accurate placement and uniformity of the stitching, may make the shoe susceptible to premature failure or aesthetically unacceptable. It is desirable to have uniformity within a given component and between the component and the component, for example to ensure that the decorative stitching on the two shoes in a pair of shoes is uniform. Of course, the functional sewing should also be uniform, for example to ensure that the upper is not separated from the sole or tongue and that any individual components of the upper are not accidentally separated from one another. At the same time, the materials used to construct the upper may be susceptible to damage, wear, or other damage to automated equipment used to assemble very durable or less aesthetically pleasing items, such as marine tarpaulins. Damage to the upper material may be unacceptable in aesthetics or may interfere with the functional properties of the upper, such as moisture permeability.
仍需要提供在組裝期間提高組裝製程、特別是縫製製程的準確度及精確度的自動化鞋組裝系統、製程及方法。 There is still a need to provide automated shoe assembly systems, processes and methods that increase the accuracy and precision of the assembly process, particularly the sewing process, during assembly.
本發明內容提供對揭露內容的高度概括，且介紹一系列概念，所述一系列概念將在下文實施方式中予以進一步闡述。本發明內容並非旨在辨識所主張主題的關鍵特徵或實質特徵，且亦非旨在用於獨立地幫助確定所主張主題的範圍。 This Summary of the Invention provides a high level of generalization of the disclosure and a set of concepts which are further described in the embodiments below. The summary is not intended to identify key features or essential features of the claimed subject matter, and is not intended to be used to independently determine the scope of the claimed subject matter.
本揭露內容簡要地且以高的層次尤其闡述以自動化方式進行的鞋的部件的組裝及接合，例如藉由縫製進行的接合。一種以自動化方式組裝及縫製鞋部件的示例性系統可由各種組件構成，所述各種組件例如為製造站、傳送機構、視覺系統及共享控制系統。示例性系統及系統組件例如闡述於均在2014年1月23 日提出申請的美國專利申請案第14/162,271號及美國專利申請案第14/162,275號中，該些美國專利申請案全文併入本案供參考。 The present disclosure describes, inter alia, and at a high level, the assembly and joining of the components of the shoe in an automated manner, such as by sewing. An exemplary system for assembling and sewing shoe components in an automated manner can be constructed from a variety of components, such as manufacturing stations, transport mechanisms, vision systems, and shared control systems. Exemplary systems and system components are set forth, for example, on January 23, 2014. The U.S. Patent Application Serial No. 14/162,271, the disclosure of which is incorporated herein by reference in its entirety in its entirety in its entirety in the entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire all all all all all all
舉例而言，各個單獨的鞋部件(例如，共同形成鞋面總成的全部或一部分的鞋部件)可根據預設相對位置而在堆疊站處擷取並臨時組裝，以形成部件堆疊。所述部件及/或部件堆疊可被擷取成使各鞋部件的相對定位得到保持並置於縫製機中以藉由對部件進行縫製而更永久地附裝，進而形成鞋總成及/或裝飾性縫製。擷取裝置可包括物料處理系統，或者可將部件或部件堆疊遞送至物料處理系統。物料處理系統可在部件或部件堆疊被置於縫製機之前、之時、或之後嚙合所述部件或部件堆疊。物料處理系統可在縫製製程的全部或一部分期間維持嚙合所述部件或部件堆疊。 For example, individual shoe components (eg, shoe components that collectively form all or a portion of the upper assembly) can be picked up and temporarily assembled at the stacking station according to a preset relative position to form a component stack. The components and/or component stacks can be drawn such that the relative positioning of the various shoe components is maintained and placed in a sewing machine to be more permanently attached by sewing the components to form a shoe assembly and/or decoration Sexual sewing. The picking device can include a material handling system or can deliver a component or component stack to a material handling system. The material handling system can engage the component or component stack before, during, or after the component or component stack is placed in the sewing machine. The material handling system can maintain engagement of the component or component stack during all or a portion of the sewing process.
在組裝及接合製程的某些部分中，使用例如靜態貼附、減低空氣壓力(即「真空」)、其他空氣位移技術、離心力或類似技術等方法來保持或移動部件可能是可接受的，所述技術可維持部件相對於裝備的位置及/或部件相對於彼此的位置。在各種製造站、傳送製程、及/或視覺檢查點中，可能期望以更直接地控制部件的張力及/或位置的方式抓握部件或部件堆疊。舉例而言，在縫製操作或其他接合操作期間，部件可受到物理拉動、推動或以可對部件或部件堆疊造成不期望的重新定位或重新張緊(re-tensioning)的方式受到其他操縱。舉例而言，在縫製期間，由於由縫針及/或縫製絲線施加的力，部件或部件堆疊可趨於移動、 聚攏、拉動或自身回折。若此種趨勢並非在部件與部件之間以實質上相同的方式表現，則此可成為縫線的完整度、佈置或外觀出現變化的來源。 In some parts of the assembly and joining process, it may be acceptable to use a method such as static attachment, reduced air pressure (ie "vacuum"), other air displacement techniques, centrifugal force or the like to hold or move the part. The techniques can maintain the position of the components relative to the equipment and/or the position of the components relative to one another. In various manufacturing stations, transport processes, and/or visual inspection points, it may be desirable to grasp the components or component stacks in a manner that more directly controls the tension and/or position of the components. For example, during a sewing operation or other joining operation, the component may be physically pulled, pushed, or otherwise manipulated in a manner that may cause undesirable repositioning or re-tensioning of the component or component stack. For example, during sewing, the component or component stack may tend to move due to the force exerted by the needle and/or the sewing thread, Gather, pull, or fold back on your own. If such a trend is not manifested in substantially the same manner between the component and the component, this can be a source of variation in the integrity, placement or appearance of the suture.
一種示例性物料處理系統可包括導軌。所述導軌可具有第一端及第二端。第一保持元件可被可移動地定位於沿所述導軌的第一部分的路徑中。所述第一保持元件可沿第一保持元件路徑移動。所述第一保持元件的所述路徑可延伸於所述導軌的所述第一端與所述第二端之間。所述導軌的第一部分可自所述導軌的中點延伸至所述導軌的第一端。第二保持元件可被可移動地定位於沿所述導軌的第二部分的路徑中。所述第二保持元件可為可沿第二保持元件路徑移動的。所述第二保持元件的所述路徑可延伸於所述導軌的第一端與第二端之間。所述導軌的第二部分可自所述導軌的中點延伸至所述導軌的第二端。 An exemplary material processing system can include a rail. The rail can have a first end and a second end. The first retaining element can be movably positioned in a path along the first portion of the rail. The first retaining element is moveable along a first retaining element path. The path of the first retaining element may extend between the first end and the second end of the rail. A first portion of the rail may extend from a midpoint of the rail to a first end of the rail. The second retaining element can be movably positioned in a path along the second portion of the rail. The second retaining element can be moveable along a second retaining element path. The path of the second retaining element can extend between the first end and the second end of the rail. A second portion of the rail may extend from a midpoint of the rail to a second end of the rail.
每一保持元件可包括第一抓握元件及相對的第二抓握元件。所述第一抓握元件為可相對於所述第二抓握元件移動，或者所述第二抓握元件為可相對於所述第一抓握元件移動，或者所述第一抓握元件與所述第二抓握元件二者為可相對於彼此移動。 Each retaining element can include a first gripping element and an opposing second gripping element. The first gripping element is movable relative to the second gripping element, or the second gripping element is movable relative to the first gripping element, or the first gripping element is Both of the second gripping elements are moveable relative to each other.
多軸式機械手臂可與所述導軌耦合。所述多軸式機械手臂可將所述物料處理系統作為整體而移動。所述物料處理系統可包括用於移動第一保持元件的驅動機構。所述驅動機構可與第一保持元件進行機械嚙合。所述驅動機構可有效地使所述第一保持元件沿所述第一保持元件路徑移動。第二驅動機構可與所述第二 保持元件進行機械嚙合。所述第二驅動機構可有效地使所述第二保持元件沿所述第二保持元件路徑移動。所述第一驅動機構及/或所述第二驅動機構可為電性致動器、氣動致動器、液壓致動器或帶式驅動機。 A multi-axis robotic arm can be coupled to the rail. The multi-axis robotic arm moves the material handling system as a whole. The material handling system can include a drive mechanism for moving the first retaining element. The drive mechanism is mechanically engageable with the first retaining element. The drive mechanism is effective to move the first retaining element along the first retaining element path. a second drive mechanism and the second The holding elements are mechanically engaged. The second drive mechanism is effective to move the second retaining element along the second retaining element path. The first drive mechanism and/or the second drive mechanism may be an electric actuator, a pneumatic actuator, a hydraulic actuator or a belt drive.
所述第一保持元件路徑可為所述第二保持元件路徑的鏡像。所述第一保持元件路徑與所述第二保持元件路徑中的一者或二者可為線性的。所述第一保持元件的第一抓握元件及/或第二抓握元件的移動可正交於所述第一保持元件路徑。所述第二保持元件的第一抓握元件及/或第二抓握元件(作為整體的所述物料處理系統的第三抓握元件及/或第四抓握元件)的移動可正交於所述第二保持元件路徑。 The first retention element path may be a mirror image of the second retention element path. One or both of the first retention element path and the second retention element path may be linear. The movement of the first gripping element and/or the second gripping element of the first retaining element may be orthogonal to the first retaining element path. The movement of the first gripping element and/or the second gripping element of the second retaining element (the third gripping element and/or the fourth gripping element of the material handling system as a whole) may be orthogonal to The second retention element path.
一種以自動化方式製造鞋部件的系統可包括製造站及物料處理系統。所述系統可更包括與物料處理系統電性連接的視覺檢查系統。 A system for manufacturing shoe components in an automated manner can include a manufacturing station and a material handling system. The system can further include a visual inspection system electrically coupled to the material handling system.
一種製造鞋的方法可包括：使用物料處理系統嚙合部件或部件堆疊。嚙合部件或部件堆疊可包括以第一保持元件及第二保持元件固定所述部件或部件堆疊。嚙合所述部件或部件堆疊可更包括在所述部件或部件堆疊已被固定之後將所述第一保持元件遠離所述第二保持元件移動。所述方法可包括在製造站對所述部件或部件堆疊執行組裝操作。所述方法可包括將所述部件或部件堆疊自所述物料處理系統脫離嚙合。所述組裝操作可包括鉚接、黏合劑結合、內聚性結合、焊接、釘合或縫製中的一或多者。所 述方法可包括對所述部件或部件堆疊進行視覺檢查。可在所述組裝操作之後對所述部件或部件堆疊進行視覺檢查。在對所述部件或部件堆疊進行視覺檢查的同時，所述物料處理系統可嚙合所述部件或部件堆疊。所述方法可包括將所述部件或部件堆疊移動至第二製造站。在所述部件或部件堆疊被移動至第二製造站的同時，所述物料處理系統可保持嚙合所述部件或部件堆疊。 A method of making a shoe can include engaging a component or component stack using a material handling system. The engagement member or component stack can include securing the component or component stack with the first retention element and the second retention element. Engaging the component or component stack can further include moving the first retention element away from the second retention element after the component or component stack has been secured. The method can include performing an assembly operation on the component or component stack at a manufacturing station. The method can include disengaging the component or component stack from the material handling system. The assembly operation may include one or more of riveting, adhesive bonding, cohesive bonding, welding, stapling, or sewing. Place The method can include visual inspection of the component or stack of components. The component or component stack can be visually inspected after the assembly operation. The material handling system can engage the component or component stack while visually inspecting the component or component stack. The method can include moving the component or component stack to a second manufacturing station. The material handling system can remain engaged with the component or component stack while the component or component stack is moved to the second manufacturing station.
10‧‧‧物料處理系統 10‧‧‧Material Processing System
20‧‧‧步進馬達 20‧‧‧stepper motor
30‧‧‧軸 30‧‧‧Axis
40‧‧‧驅動帶 40‧‧‧ drive belt
50‧‧‧保持元件 50‧‧‧Retaining components
50a‧‧‧外側的保持元件 50a‧‧‧ outside holding element
50b‧‧‧中間的保持元件 50b‧‧‧Intermediate holding element
50c‧‧‧外側的保持元件 50c‧‧‧ outside holding element
70‧‧‧上臂 70‧‧‧ upper arm
80‧‧‧下臂 80‧‧‧ Lower arm
90‧‧‧導軌 90‧‧‧rails
100‧‧‧第一保持元件/保持元件 100‧‧‧First holding element/holding element
110‧‧‧第二保持元件/保持元件 110‧‧‧Second holding element / holding element
120‧‧‧保持元件/中心保持元件 120‧‧‧Retaining element/center holding element
130‧‧‧打開位置 130‧‧‧Open location
140‧‧‧閉合位置 140‧‧‧Closed position
150‧‧‧機械手臂 150‧‧‧ Robotic arm
160‧‧‧中間板 160‧‧‧Intermediate board
170‧‧‧部件 170‧‧‧ Parts
180‧‧‧製造站 180‧‧‧Manufacture station
190‧‧‧水平支撐件 190‧‧‧ horizontal support
200‧‧‧方法 200‧‧‧ method
210、220、230‧‧‧步驟 210, 220, 230‧ ‧ steps
240‧‧‧脫離嚙合 240‧‧‧Disengagement
250‧‧‧修改 250‧‧‧Modification
255‧‧‧傳送部件 255‧‧‧Transfer parts
260‧‧‧額外操作 260‧‧‧Additional operation
以下將參照附圖詳細闡述本發明的說明性態樣，所述附圖併入本案供參考，且附圖中：圖1是適合在以自動化方式組裝及縫製鞋部件的系統中使用的示例性物料處理系統的立體圖。 The illustrative aspects of the invention are explained in detail below with reference to the accompanying drawings in which: FIG. 1 is in the accompanying drawings, in which: FIG. 1 is an exemplary one suitable for use in a system for assembling and sewing shoe components in an automated manner. A perspective view of the material handling system.
圖2是適合在以自動化方式組裝及縫製鞋部件的系統中使用的示例性物料處理系統的側視圖。 2 is a side view of an exemplary material handling system suitable for use in a system for assembling and sewing shoe components in an automated manner.
圖3是例如圖1及圖2所示的系統的示例性保持元件的側視圖。 3 is a side elevational view of an exemplary retaining element of the system illustrated in FIGS. 1 and 2, for example.
圖4是圖3所示示例性保持元件的側視圖，其顯示抓握臂的示例性移動。 4 is a side view of the exemplary retaining element of FIG. 3 showing an exemplary movement of the grab arm.
圖5是圖1所示示例性物料處理系統相對於示例性製造站的立體圖。 5 is a perspective view of the exemplary material handling system of FIG. 1 relative to an exemplary manufacturing station.
圖6至圖7是說明使用物料處理系統的示例性方法的流程圖。 6 through 7 are flow diagrams illustrating an exemplary method of using a material processing system.
圖8是適合在以自動化方式組裝及縫製鞋部件的系統中使用 的示例性物料處理系統的立體圖。 Figure 8 is suitable for use in systems that assemble and sew shoe components in an automated manner A perspective view of an exemplary material handling system.
現在將具體地闡述本發明主題以滿足法定要求。但是，本說明自身並非旨在界定何者被視為本發明，本發明是由申請專利範圍界定。所主張的主題可包括與其他當前技術或未來技術結合的、與本文中所述者相似的不同元件或元件組合。除非明確地指明，否則不應將術語解釋為隱含著各種元件之間的任何特定次序。 The subject matter of the present invention will now be specifically described to meet statutory requirements. However, the description itself is not intended to define what is considered to be the invention, and the invention is defined by the scope of the claims. The claimed subject matter can include different elements or combinations of elements that are similar to those described herein in connection with other current or future technologies. Unless explicitly stated otherwise, terms are not to be construed as implying any particular order of the various elements.
本揭露內容是有關於鞋部件的自動化組裝及縫製，且具體而言，是有關於在用於組裝及縫製鞋部件的設備或系統中所使用的物料處理系統。如上所述，用於以自動化方式組裝及縫製鞋部件的系統可由各種組件構成，所述各種組件例如為製造站、傳送機構、視覺系統及共享的控制系統。一個或一系列物料處理系統可與該些子組件中的任意組件一起使用，尤其是但不限於與用於對鞋的部件進行切割、成形及/或接合的製造站一起使用。物料處理系統可形成傳送機構的一部分，在一或多個製造站處及/或之間維持與部件或部件堆疊的嚙合。物料處理系統可與特定製造站相關聯，在單一製造操作或步驟中嚙合部件或部件堆疊。物料處理系統可在任一製造或傳送步驟的全部或一部分期間嚙合部件或部件堆疊，或者可在製造或傳送步驟的一部分期間嚙合、在製造或傳送步驟的一部分期間脫離嚙合、並在同一製造或傳送步驟的一部分期間重新嚙合。出於本揭露內容的目的，當特定任務已完 成(例如自較大的物料切出一部件、組裝部件堆疊、或縫製部件或部件堆疊)時，分立的製造步驟便結束，且當傳送系統將部件或部件堆疊(包括上部鞋總成或已組裝的鞋)遞送至新的裝備時，分立的傳送步驟便結束，而無論傳送機構是否在任何特定裝備處完全自部件或部件堆疊脫離嚙合。 The present disclosure relates to automated assembly and sewing of shoe components and, in particular, to material handling systems used in equipment or systems for assembling and sewing shoe components. As noted above, the system for assembling and sewing shoe components in an automated manner can be constructed from a variety of components, such as manufacturing stations, transport mechanisms, vision systems, and shared control systems. One or a series of material handling systems can be used with any of the subassemblies, particularly but not limited to, with a manufacturing station for cutting, forming, and/or joining components of the shoe. The material handling system can form a portion of the transfer mechanism that maintains engagement with the component or component stack at and/or between one or more manufacturing stations. The material handling system can be associated with a particular manufacturing station to engage components or component stacks in a single manufacturing operation or step. The material handling system can engage the component or component stack during all or a portion of any manufacturing or transporting step, or can be engaged during a portion of the manufacturing or transporting step, disengaged during a portion of the manufacturing or transporting step, and manufactured or transferred at the same time Re-engage during part of the step. For the purposes of this disclosure, when a specific task has been completed Separate manufacturing steps are completed when the component is cut out from a larger material, assembled component stack, or stitched component or component stack, and when the conveyor system stacks the component or component (including the upper shoe assembly or has When the assembled shoe) is delivered to the new equipment, the discrete transfer steps are completed regardless of whether the transport mechanism is completely disengaged from the component or component stack at any particular equipment.
物料處理系統可特別(但不限於)適用於涉及到縫製或其他接合方法(例如鉚接；黏合劑結合或內聚性結合；以熱、超音波或其他方式進行的焊接；釘合；等)的製造操作。在此等操作中，維持所述部件或部件堆疊的位置及/或所述部件或部件堆疊中的張力常常頗為重要，且操作自身可趨於引起所述部件或部件堆疊的移動或張力變化。 Material handling systems may be particularly, but not limited to, suitable for use in sewing or other joining methods (eg, riveting; adhesive bonding or cohesive bonding; welding by heat, ultrasonic or other means; tacking; etc.) Manufacturing operations. In such operations, maintaining the position of the component or component stack and/or the tension in the component or component stack is often important, and the operation itself may tend to cause movement or tension changes in the component or component stack. .
圖1繪示示例性、非限定性物料處理系統10。如圖所示，物料處理系統10包括兩個步進馬達20。步進馬達20分別連接至軸30，且軸30分別連接至驅動帶40。沿驅動帶40可移動地定位有保持元件50，保持元件50具有抓握臂60。如圖所示，在驅動帶中的一者上存在兩個保持元件50，然而在某些實施例中，每一保持元件可沿單獨的驅動帶定位，或者一或多個保持元件可固定至物料處理系統10而不連接至驅動帶，如圖2中所示。亦如圖所示，保持元件50分別具有兩個抓握臂60：上臂70及下臂80。抓握臂可為呈兩個、或三個、或更多個部件形式的叉形(叉子或三叉)。抓握臂60被示出為具有相似的大小及構造，然而與特定保持元件50相關聯的各抓握臂60可為不同的。舉例而言，上臂70 可具有兩個叉，而下臂80可具有一個叉。再舉例而言，上臂70可具有一個叉，而下臂80可具有兩個叉。再舉例而言，上臂70的長度與下臂80的長度可不同。當上臂與下臂不對稱時，上臂與下臂可相對於彼此對齊中心或偏離中心。不同的保持元件50可具有不同的抓握臂構造。舉例而言，一個保持元件可具有較其他保持元件短的抓握臂。如圖8所示，中間的保持元件50b具有較外側的保持元件50a及50c短的抓握臂。作為另一種選擇，保持元件50a可具有較保持元件50b及50c短的抓握臂，或者保持元件50c可具有較其他保持元件短的抓握臂，抑或一個保持元件可具有較其他保持元件長的抓握臂，或者所有三個保持元件可具有為不同長度的抓握臂。 FIG. 1 illustrates an exemplary, non-limiting material handling system 10. As shown, material handling system 10 includes two stepper motors 20. Stepper motors 20 are coupled to shafts 30, respectively, and shafts 30 are coupled to drive belts 40, respectively. A retaining element 50 is movably positioned along the drive belt 40, the retaining element 50 having a gripping arm 60. As shown, there are two retaining elements 50 on one of the drive belts, however in some embodiments each retaining element can be positioned along a separate drive belt, or one or more retention elements can be secured to Material handling system 10 is not coupled to the drive belt as shown in FIG. As also shown, the retaining members 50 each have two grip arms 60: an upper arm 70 and a lower arm 80. The gripping arms can be forked (fork or trigeminal) in the form of two, or three, or more components. The grab arms 60 are shown as having similar sizes and configurations, however each of the grab arms 60 associated with a particular retaining element 50 can be different. For example, the upper arm 70 There may be two forks and the lower arm 80 may have one fork. By way of further example, the upper arm 70 can have one fork and the lower arm 80 can have two forks. By way of further example, the length of the upper arm 70 can be different than the length of the lower arm 80. When the upper arm is asymmetrical to the lower arm, the upper and lower arms may be centered or off center with respect to each other. Different retaining elements 50 can have different grip arm configurations. For example, one retaining element can have a shorter grip arm than the other retaining elements. As shown in Figure 8, the intermediate retaining element 50b has a grip arm that is shorter than the outer retaining elements 50a and 50c. Alternatively, the retaining element 50a can have a shorter gripping arm than the retaining elements 50b and 50c, or the retaining element 50c can have a shorter gripping arm than the other retaining elements, or one retaining element can have a longer length than the other retaining elements. The grab arms, or all three retaining elements, can have grip arms of different lengths.
返回圖1，其示出三個保持元件50，然而並非必須為三個保持元件50。兩個保持元件50可適當地發揮效能，且若需要，可使用多於三個保持元件50。適用於給定應用中的保持元件50的數目及抓握臂構造可例如相依於部件或部件堆疊的大小、欲對部件或部件堆疊執行的一或多個操作、以及欲對部件或部件堆疊執行的所述一或多個操作的位置或路徑。舉例而言，對於特定部件或部件堆疊而言，保持元件的不同數目及/或構造可允許不同的縫製路徑。換言之，在各種態樣中可實作不同數目的保持元件及/或不同長度的抓握臂，以適應原本將會受到干擾性保持元件及/或抓握臂的干擾或因所述干擾性保持元件及/或抓握臂而變得低效的具體操作(例如，縫製、焊接、黏合、及切割)。因此，假若工具 路徑或其他操作路徑受到組件妨礙或其他方式的干擾，則預期在示例性態樣中會改變、移除、或重新定位所述組件中的一或多者以消除潛在干擾。 Returning to Figure 1, three retaining elements 50 are shown, but not necessarily three retaining elements 50. The two retaining elements 50 can function properly and more than three retaining elements 50 can be used if desired. The number of retaining elements 50 suitable for a given application and the gripping arm configuration can be, for example, dependent on the size of the component or stack of components, one or more operations to be performed on the stack of components or components, and the stacking of components or components. The location or path of the one or more operations. For example, different numbers and/or configurations of retaining elements may allow for different sewing paths for a particular component or stack of components. In other words, different numbers of retaining elements and/or different lengths of gripping arms can be implemented in various aspects to accommodate or be disturbed by the disturbing retaining element and/or the gripping arm. Specific operations (eg, sewing, welding, bonding, and cutting) that become inefficient due to components and/or gripping arms. Therefore, if the tool The path or other operational path is interfered with by the component or otherwise, it is contemplated that one or more of the components may be changed, removed, or repositioned in an exemplary aspect to eliminate potential interference.
如圖1中所示，步進馬達20、軸30、驅動帶40及保持元件50全部被直接或間接地附裝至導軌90。在替代實施例中，每一保持元件或保持元件的子組合(subcombination)可附裝至單獨的一或多個導軌、或者附裝至替代支撐件(例如機械手臂、垂直板或類似支撐件)。如圖所示，導軌90是大致線性的及平面的，然而在特定的物料處理系統中，可能期望為保持元件中的一者或至少一者或全部提供彎曲的及/或非平面的導軌。 As shown in FIG. 1, the stepper motor 20, the shaft 30, the drive belt 40, and the retaining member 50 are all attached directly or indirectly to the guide rail 90. In an alternative embodiment, each retaining element or subcombination of the retaining element may be attached to a separate one or more rails, or attached to an alternate support (eg, a robotic arm, vertical plate, or the like) . As shown, the rails 90 are generally linear and planar, however in certain material handling systems, it may be desirable to provide curved and/or non-planar rails for one or at least one or all of the retaining elements.
如圖2中所示，驅動帶40可移動，以將保持元件100與保持元件110相對於彼此重新定位。驅動帶40與步進馬達(圖2中未示出)一起使用以將保持元件100及110重新定位。可使用任何適宜的驅動機構，包括但不限於電性致動器、氣動致動器、液壓致動器、帶式驅動機或其組合。如圖2中所示，一組三個保持元件中兩個在橫向上處於最外側(相對於導軌90的中點而言)的保持元件100、110分別沿同一軸線在相反的方向上移動大約相等的距離。第一保持元件100在第一保持元件路徑上向外朝導軌90的第一橫向端移動，且可沿第一保持元件路徑或沿替代路徑在第二方向上向內移動至甚至超過其初始起始位置。第二保持元件110在第二保持元件路徑上向外朝導軌90的第二橫向端移動，且可沿第二保持元件路徑或沿替代路徑在第二方向上向內移動至甚 至超過其初始起始位置。如圖所示，中心保持元件120是固定的。然而，如需要，保持元件120亦可連接至驅動機構，所述驅動機構是保持元件120獨有的驅動機構或者是與另一保持元件(例如保持元件100或保持元件110)共享的驅動機構。作為物料處理系統10中的第三保持元件的保持元件120可獨立於保持元件100、110中的一或多者移動，或者可與一或多個其他保持元件協調地移動(例如，沿大致同一路徑移動，儘管可能並不移動至相同的程度)。 As shown in Figure 2, the drive belt 40 is movable to reposition the retaining element 100 and the retaining element 110 relative to one another. Drive belt 40 is used with a stepper motor (not shown in Figure 2) to reposition retaining elements 100 and 110. Any suitable drive mechanism can be used including, but not limited to, an electric actuator, a pneumatic actuator, a hydraulic actuator, a belt drive, or a combination thereof. As shown in Figure 2, two of the three sets of retaining elements are laterally outermost (relative to the midpoint of the rail 90), respectively, moving in opposite directions along the same axis. Equal distance. The first retaining element 100 moves outwardly toward the first lateral end of the rail 90 in the path of the first retaining element and is movable inwardly along the first retaining element path or along the alternate path in the second direction to or even beyond its initial Starting position. The second retaining element 110 moves outwardly toward the second lateral end of the rail 90 in the second retaining element path and is movable inwardly along the second retaining element path or along the alternate path in the second direction Up to its initial starting position. As shown, the central retention element 120 is fixed. However, if desired, the retaining element 120 can also be coupled to a drive mechanism that is a drive mechanism that is unique to the retaining element 120 or that is shared with another retaining element (eg, retaining element 100 or retaining element 110). The retaining element 120, which is the third retaining element in the material processing system 10, can move independently of one or more of the retaining elements 100, 110, or can move in unison with one or more other retaining elements (eg, along substantially the same The path moves, although it may not move to the same extent).
各保持元件的移動可在與保持元件嚙合部件或部件堆疊之前的起始位置、或導軌90的中點的絕對距離方面近似相等。各保持元件可在獨立控制下由單獨的馬達驅動，以達成各保持元件的對稱或不對稱移動。舉例而言，保持元件110可較保持元件100移動更多或更少的量。在某些情況下，可能期望改變一或多個保持元件在製造操作期間的位置，例如以改變在所述操作期間部件或部件堆疊的位置或所述部件或部件堆疊的僅一部分中的張力。保持元件的位置可預先確定或者可在操作期間調節，例如針對每一單獨部件或部件堆疊、或者針對一系列部件或部件堆疊進行調節。舉例而言，對於給定類型的鞋，保持元件可具有固定的起始位置及結束位置。作為另一種選擇，可基於例如來自操作人員或視覺控制系統的視覺觀察而針對給定的部件或給定系列的部件計算保持元件的位置。為達成部件或部件堆疊的所期望位置、或部件或部件堆疊中的所期望張力而需要的保持元件移動可能極小， 甚至在某些情況下不會被裸眼注意到。在某些態樣中，保持元件的移動可大於0毫米且小於2毫米，或者介於0.5毫米與1毫米之間(包含端點值)。在另一非限定性替代態樣中，可對保持元件的位置加以調節，以對部件或部件堆疊施加規定的力或者以在部件或部件堆疊中獲得規定的張力。若需要，則物料處理系統可配備有力量測裝置(例如彈簧或荷重元(load cell))，以評估施加至部件或部件堆疊的力或者部件或部件堆疊內的張力。力量測裝置可與例如馬達20及/或保持元件50的臂相關聯。換言之，可基於保持元件50中的一或多者移動的距離來控制保持元件50的移動，或者可基於由所述一或多個保持元件的移動產生的張力來控制保持元件50的移動。 The movement of each of the retaining elements may be approximately equal in terms of the initial position prior to stacking of the retaining member engaging members or components, or the absolute distance of the midpoint of the guide rail 90. Each retaining element can be driven by a separate motor under independent control to achieve symmetrical or asymmetrical movement of each retaining element. For example, the retention element 110 can move more or less than the retention element 100. In some cases, it may be desirable to change the position of one or more retention elements during a manufacturing operation, such as to change the position of the component or component stack during the operation or the tension in only a portion of the component or component stack. The position of the retaining element can be predetermined or can be adjusted during operation, for example for each individual component or component stack, or for a series of components or component stacks. For example, for a given type of shoe, the retaining element can have a fixed starting position and an ending position. Alternatively, the position of the retaining element can be calculated for a given component or a given series of components based on, for example, visual observations from an operator or visual control system. The retention element movement required to achieve the desired position of the component or component stack, or the desired tension in the component or component stack, may be minimal, Even in some cases it will not be noticed by the naked eye. In some aspects, the movement of the retaining element can be greater than 0 mm and less than 2 mm, or between 0.5 mm and 1 mm (inclusive of endpoint values). In another non-limiting alternative, the position of the retaining element can be adjusted to apply a prescribed force to the component or component stack or to achieve a specified tension in the component or component stack. If desired, the material handling system can be equipped with a force measuring device (such as a spring or load cell) to evaluate the force applied to the component or component stack or the tension within the component or component stack. The force measuring device can be associated with an arm such as motor 20 and/or retaining element 50. In other words, the movement of the retaining element 50 can be controlled based on the distance by which one or more of the retaining elements 50 move, or the movement of the retaining element 50 can be controlled based on the tension generated by the movement of the one or more retaining elements.
如圖2中所示，所述一或多個保持元件的移動可為線性的，及/或可在橫向平面中為線性的。亦涵蓋垂直移動及/或多軸移動，且不同的保持元件可在不同路徑及/或平面中移動。在某些實施例中，兩個或更多個保持元件可在同一方向或大致在同一方向移動。儘管示出及闡述三個保持元件，然而可使用大於或等於二的任何期望數目的抓握器。各保持元件的起始間距及製程中間距(in-process spacing)可但非必須為等距的、對稱的、及/或相對於導軌90或其他機械設備對齊中心的，並且可加以調節以適合於特定部件、製程及所用裝備。在某些實施例中，可能期望使保持元件在嚙合部件或部件堆疊之前、期間或之後彼此不等距地間隔開。若使用多於兩個保持元件，則其他保持元件可為可移動的或 固定的，且可位於其他保持元件之間或以外。 As shown in Figure 2, the movement of the one or more retaining elements can be linear and/or linear in a transverse plane. Vertical movement and/or multi-axis movement are also contemplated, and different retention elements can be moved in different paths and/or planes. In some embodiments, two or more retaining elements can move in the same direction or generally in the same direction. Although three retaining elements are shown and described, any desired number of grippers greater than or equal to two can be used. The initial spacing and in-process spacing of each retention element may, but need not be equidistant, symmetrical, and/or aligned with respect to the rail 90 or other mechanical device, and may be adjusted to fit For specific parts, processes and equipment used. In certain embodiments, it may be desirable to have the retaining elements are not equally spaced apart from each other before, during, or after the mating components or components are stacked. If more than two holding elements are used, the other holding elements may be movable or It is fixed and can be located between or outside the other holding elements.
圖3及圖4示出保持元件50的側視圖。保持元件50具有為平面的且對稱的部件接觸表面。若需要，則保持元件50可配備有紋理化表面，所述紋理化表面具有例如凸脊、呈任意形狀或分佈的凸起區域或降低區域、或齒以助於抓持部件或部件堆疊。若保持元件50是紋理化的，則紋理可對應於部件或部件堆疊的紋理。保持元件50可具有打開位置130及閉合位置140。在某些實施例中，可能期望在操作期間調節閉合位置140，例如以允許部件或部件堆疊的有限重新定位或重新張緊。舉例而言，若視覺觀察辨識出錯位，則可能期望對部件或部件堆疊進行重新定位或重新張緊。圖4表明藉由降低上臂70而達成閉合位置140，然而亦可提升下臂80來與上臂70會合，或者所述兩個臂可朝中心移動以達成閉合位置140。若所述兩個臂皆移動，則所述臂可移動相似的距離後到達所述臂之間的中心點，或者一個臂可較另一個臂移動得多。舉例而言，可將上臂70朝下臂80下降，且下臂80可極輕微地向上移動以與上臂70會合。上臂70或下臂80可在另一個臂圍繞部件或部件堆疊閉合是保持靜止。如上文所論述，關於初始位置及製程中位置、大小、形狀、移動性、紋理等，不同的保持元件可以相同或不同的方式進行定位或構造。舉例而言，下臂80可具有矩形輪廓，及/或下臂80可具有平的底部。下臂80上的平的底部可有助於相對於工作表面(例如水平支撐件190(示出於圖5中))獲得一致的間隙距離(clearance distance)。 3 and 4 show a side view of the retaining element 50. The retaining element 50 has a planar and symmetrical component contact surface. If desired, the retaining element 50 can be provided with a textured surface having, for example, ridges, raised or reduced regions in any shape or distribution, or teeth to assist in gripping the component or component stack. If the retaining element 50 is textured, the texture may correspond to the texture of the component or component stack. The retaining element 50 can have an open position 130 and a closed position 140. In certain embodiments, it may be desirable to adjust the closed position 140 during operation, for example to allow for limited repositioning or re-tensioning of the component or component stack. For example, if a visual observation identifies an error bit, it may be desirable to reposition or re-tension the component or component stack. 4 illustrates that the closed position 140 is achieved by lowering the upper arm 70, but the lower arm 80 can also be raised to meet the upper arm 70, or the two arms can be moved toward the center to achieve the closed position 140. If both arms are moved, the arms can move a similar distance to reach a center point between the arms, or one arm can move much more than the other. For example, the upper arm 70 can be lowered toward the lower arm 80, and the lower arm 80 can be moved slightly upward to meet the upper arm 70. The upper arm 70 or lower arm 80 can remain stationary while the other arm is closed around the component or component stack. As discussed above, different retention elements can be positioned or constructed in the same or different manner with respect to initial position and position, size, shape, mobility, texture, etc. in the process. For example, the lower arm 80 can have a rectangular profile and/or the lower arm 80 can have a flat bottom. The flat bottom on the lower arm 80 can help achieve a consistent clearance distance relative to the working surface (e.g., horizontal support 190 (shown in Figure 5)).
圖5在示例性上下文中示出示例性物料處理系統10，其中多軸式機械手臂150經由中間板160而連接至導軌90。一系列三個保持元件50在製造站180處分別嚙合部件170。如圖5中所示，製造站180可包括水平支撐件190。水平支撐件190可支撐製造或傳送操作及/或可有助於維持部件170的位置。在某些實施例中，水平支撐件190可被構造成接觸一或多個保持元件50的下臂80的底部。在此種構造中，水平支撐件190可降低保持元件50以橫向軸線為中心進行的任何意外旋轉的功能影響(functional effect)及/或可能由例如部件170的重量造成的保持元件50的變形的功能影響。作為另外一種選擇，可對每一保持元件附裝調平機構或水平尺(level)(即，用於建立水平線或水平平面的裝置，例如藉由雷射對準或使用液體中的氣泡)，以確保相對於所期望水平平面的任何偏差均是可容忍的。作為另外一種選擇，可將保持元件50以限制旋轉移動的方式固定至導軌90。作為再一種選擇，可將保持元件50可旋轉地耦合至導軌90，且可控制保持元件50的旋轉位置。保持元件的過度旋轉或變形可負面地影響部件或部件堆疊的位置或部件與部件之間的位置均勻性。何種程度為過度將相依於裝備、部件或部件堆疊的特性、所執行的操作及對特定操作的輸出的變動的容忍度。在某些實施例中，下臂80不接觸製造站180或水平支撐件190的表面。使部件或部件堆疊保持於恰好製造站180或水平支撐件190的表面上方可降低因下臂80與製造站180或水平支撐件190的交互作用而產生的噪聲，及/或可改 良製程的控制及/或靈活性。舉例而言，若製造站180是縫製站，則使下臂80接觸水平面190可限制可供用於執行縫製操作的空間(高度)及/或促進部件或部件堆疊中的褶皺的形成。多軸式機械手臂150可用於將與部件170嚙合的物料處理系統10移動至其他製造站及/或檢查站(圖中未示出)，進而實質上使多軸式機械手臂150與物料處理系統10的組合成為傳送系統。作為另外一種選擇，具體的多軸式機械手臂150及具體的物料處理系統10可僅與一個製造站180、與用以在不同的製造站及/或檢查站(若使用多個站)之間移動部件170的單獨傳送系統(圖中未示出)一起使用。作為另外一種選擇，在部件被單獨的傳送系統傳送至不同的站的同時，物料處理系統10可保持嚙合。 FIG. 5 illustrates an exemplary material processing system 10 in an exemplary context in which a multi-axis robotic arm 150 is coupled to a rail 90 via an intermediate plate 160. A series of three retaining elements 50 engage the component 170 at the manufacturing station 180, respectively. As shown in FIG. 5, manufacturing station 180 can include a horizontal support 190. The horizontal support 190 can support manufacturing or transfer operations and/or can help maintain the position of the component 170. In certain embodiments, the horizontal support 190 can be configured to contact the bottom of the lower arm 80 of one or more retention elements 50. In such a configuration, the horizontal support 190 can reduce the functional effect of any accidental rotation of the retaining element 50 about the transverse axis and/or the deformation of the retaining element 50 that may be caused by, for example, the weight of the component 170. Functional impact. Alternatively, a leveling mechanism or level can be attached to each of the retaining elements (i.e., means for establishing a horizontal or horizontal plane, such as by laser alignment or use of air bubbles in the liquid), To ensure that any deviation from the desired horizontal plane is tolerable. Alternatively, the retaining element 50 can be secured to the rail 90 in a manner that limits rotational movement. As a further alternative, the retaining element 50 can be rotatably coupled to the rail 90 and the rotational position of the retaining element 50 can be controlled. Excessive rotation or deformation of the retaining element can negatively impact the position of the component or component stack or the positional uniformity between the component and the component. To what extent is excessively dependent on the characteristics of the equipment, component or component stack, the operations performed, and the tolerances for changes in the output of a particular operation. In certain embodiments, the lower arm 80 does not contact the surface of the manufacturing station 180 or the horizontal support 190. Maintaining the component or component stack above the surface of the manufacturing station 180 or horizontal support 190 may reduce noise generated by the interaction of the lower arm 80 with the manufacturing station 180 or the horizontal support 190, and/or may change Good process control and / or flexibility. For example, if the manufacturing station 180 is a sewing station, having the lower arm 80 contact the horizontal plane 190 can limit the space (height) available for performing the sewing operation and/or facilitate the formation of wrinkles in the component or component stack. The multi-axis robotic arm 150 can be used to move the material handling system 10 engaged with the component 170 to other manufacturing stations and/or inspection stations (not shown), thereby substantially enabling the multi-axis robotic arm 150 and the material handling system. The combination of 10 becomes the transmission system. Alternatively, the particular multi-axis robotic arm 150 and the particular material handling system 10 can be used with only one manufacturing station 180, and with different manufacturing stations and/or checkpoints (if multiple stations are used) A separate transport system (not shown) of the mobile component 170 is used together. Alternatively, material handling system 10 can remain engaged while components are being transported to different stations by separate transport systems.
在物料處理系統10嚙合部件170時，物料處理系統10以處於打開位置130的抓握臂60接近部件170，進而將部件170安置於相對的上臂70與下臂80之間。抓握臂60被移動至閉合位置140，以將部件170固定於保持元件50中。接著將第一保持元件100與第二保持元件110間隔開，此可藉由將第一保持元件100遠離第二保持元件110移動、將第二保持元件110遠離第一保持元件100移動、或將第一保持元件100與第二保持元件110遠離彼此移動來達成。移動第一保持元件及第二保持元件會增大部件170中的張力，此有助於避免在製造站及檢查站處的故障。舉例而言，在縫製操作期間，保持元件在部件或部件堆疊上產生的橫向張力對部件或部件堆疊與穿透所述部件的針之間的摩擦黏合 (frictional adhesion)提供阻力。再舉例而言，橫向張力可有助於防止部件或部件堆疊折疊、聚攏或以可導致部件在視覺檢查站中表現出缺陷或者可在進一步的處理步驟中造成故障(例如，穿過本不應包含於特定縫製路徑中的下折層(folded-under layer)進行縫製)的方式進行其他移動。抓握臂60可在與保持元件路徑正交的方向上朝彼此移動，此可降低抓握臂60對部件170中的橫向張力的影響，進而能夠使用保持元件路徑而更輕易且更佳地控制部件170中的橫向張力。 As the material handling system 10 engages the component 170, the material handling system 10 approaches the component 170 with the gripping arms 60 in the open position 130, thereby placing the component 170 between the opposing upper and lower arms 70, 80. The grab arm 60 is moved to the closed position 140 to secure the component 170 in the retaining element 50. The first retaining element 100 is then spaced apart from the second retaining element 110 by moving the first retaining element 100 away from the second retaining element 110, moving the second retaining element 110 away from the first retaining element 100, or The first retaining element 100 and the second retaining element 110 are moved away from each other to achieve. Moving the first retaining element and the second retaining element increases the tension in the component 170, which helps to avoid malfunctions at the manufacturing station and the inspection station. For example, during the sewing operation, the transverse tension generated by the retaining element on the component or component stack is bonded to the friction between the component or component stack and the needle penetrating the component. (frictional adhesion) provides resistance. By way of further example, lateral tension can help prevent the component or component stack from being folded, gathered, or can cause the component to exhibit defects in the visual inspection station or can cause malfunctions in further processing steps (eg, through this should not Other movements are performed in a manner in which a folded-under layer included in a specific sewing path is sewn. The grip arms 60 are movable toward each other in a direction orthogonal to the path of the retaining elements, which reduces the effect of the gripping arms 60 on the lateral tension in the member 170, which in turn enables easier and better control using the retaining element path. Lateral tension in component 170.
藉由將上臂70與下臂80遠離彼此移動至打開位置130、或者直至部件170落下、滑動、或者可自抓握臂60拉出或以其他方式移出，將物料處理系統10自部件170脫離嚙合。抓握臂60可完全返回至打開位置130，或者可打開至打開位置130與閉合位置140的中間的位置。在某些情形中，可能期望將保持元件100、110朝彼此移動，以在打開抓握臂60之前緩解或完全釋放部件170中的任何橫向張力。可藉由將抓握臂60打開以使部件170保持安置於上臂70與下臂80之間、但可相對於抓握臂60移動或重新定位而使物料處理系統10局部地自部件170脫離嚙合。 Material handling system 10 is disengaged from component 170 by moving upper arm 70 and lower arm 80 away from each other to open position 130, or until component 170 is dropped, slid, or can be pulled out or otherwise removed from grasping arm 60. . The grab arm 60 can be fully returned to the open position 130 or can be opened to a position intermediate the open position 130 and the closed position 140. In some cases, it may be desirable to move the retention elements 100, 110 toward each other to relieve or completely release any lateral tension in the component 170 prior to opening the capture arm 60. The material handling system 10 can be partially disengaged from the component 170 by opening the gripping arm 60 to maintain the component 170 between the upper arm 70 and the lower arm 80, but can be moved or repositioned relative to the gripping arm 60. .
已參照鞋部件的自動化組裝及縫製闡述了所述系統。可使用所述物料處理系統進行組裝的鞋的類型是廣泛的，包括但不限於跑鞋(running shoes)、舞蹈鞋、籃球鞋、橄欖球鞋(American football shoes)、足球鞋、訓練鞋(cross-training shoes)、棒球鞋、高爾夫球鞋、滑板鞋、滑雪板鞋、網球鞋、裸足鞋(studio wrap shoes) 及便鞋(street shoes)。所涉及的縫製可為功能性縫製或美觀性縫製或二者。縫製可作為單一製造操作來進行，或者作為兩個或更多個製造操作來進行。舉例而言，可在一個操作中在一個製造站中縫製鞋面總成的一部分，並可在單獨的操作中在另一製造站中縫製鞋面總成的另一部分。作為其他實例，功能性縫製可在與美觀性縫製分開的站中進行，或者使用不同種類的縫製或不同種類的絲線的功能性縫製及/或美觀性縫製可在單獨的站中或作為單獨的操作進行。 The system has been described with reference to automated assembly and sewing of shoe components. The types of shoes that can be assembled using the material handling system are broad, including but not limited to running shoes, dance shoes, basketball shoes, American football shoes, soccer shoes, and training shoes (cross-training). Shoes), baseball shoes, golf shoes, skate shoes, snowboard shoes, tennis shoes, barefoot shoes (studio wrap shoes) And casual shoes (street shoes). The sewing involved may be functional sewing or aesthetic sewing or both. Sewing can be performed as a single manufacturing operation or as two or more manufacturing operations. For example, a portion of the upper assembly can be sewn in one manufacturing station in one operation, and another portion of the upper assembly can be sewn in another manufacturing station in a separate operation. As a further example, functional sewing may be performed in a station separate from aesthetic sewing, or functional sewing and/or aesthetic sewing using different kinds of sewing or different kinds of threads may be in a separate station or as separate The operation is carried out.
鞋部件可由單一部件或多個組裝在一起的部件構成。舉例而言，鞋部件可由一或多層物料(例如皮革、聚合物、織物、橡膠、泡棉、網片、熱塑性聚氨酯(thermoplastic polyurethane，TPU)或其組合)構成。此外，鞋部件可具有各種特性或特性組合，例如呈剛性、延展性、多孔性、非多孔性等。鞋部件可包含有利於在組裝期間(例如在縫製之前)將一個部件黏附至另一部件的預先層壓的組成物，例如熱熔黏合劑。在一個示例性態樣中，鞋部件代表在對鞋面進行模製之前所欲組裝的附裝至其他鞋部件上的鞋面部材。本文中所繪示及闡述的形狀及組合僅為示例性的。 The shoe component can be constructed from a single component or a plurality of components that are assembled together. For example, the shoe component can be constructed from one or more layers of material (eg, leather, polymer, fabric, rubber, foam, mesh, thermoplastic polyurethane (TPU), or combinations thereof). Further, the shoe component can have various characteristics or combinations of characteristics such as rigidity, ductility, porosity, non-porosity, and the like. The shoe component can include a pre-laminated composition that facilitates adhering one component to another component during assembly, such as prior to sewing, such as a hot melt adhesive. In one exemplary aspect, the shoe component represents a shoe face material that is attached to other shoe components that are to be assembled prior to molding the upper. The shapes and combinations illustrated and described herein are merely exemplary.
物料處理系統可適用於例如用於鞋部件的自動化組裝及縫製的較大系統中。用於鞋部件的自動化組裝及縫製的系統可包括一或多個製造站、一或多個傳送系統、及/或一或多個視覺檢查系統。構成對鞋部件進行自動化組裝及縫製的系統(「自動化鞋組裝系統」)的所選站或系統可涉及人工操作，然而所述站或系統中 的至少某些是自動化的。在某些自動化鞋組裝系統中，所有子站及子系統均是自動化的。自動化鞋組裝系統可包括用於製造完整的鞋的製程，或者可包括用於組裝鞋的一部分(例如鞋面總成)的製程，或者可包括用於組裝鞋的部件的子部件(例如鞋頭及鞋面皮、或鞋面、抑或鞋頭(或內包頭)、鞋面皮、鞋面、金屬圈(或替代的扣件)、及類似子部件的組合)的製程。自動化鞋組裝系統可製備單一的整體式部件以供後續組裝至鞋子總成或完整的鞋中。舉例而言，可在將整體式鞋面總成或鞋面總成的一部分接合至其他鞋部件之前，出於功能性目的及/或美觀性目的而對所述整體式鞋面總成或所述鞋面總成的一部分進行縫製。 The material handling system can be adapted for use in, for example, larger systems for automated assembly and sewing of shoe components. A system for automated assembly and sewing of shoe components can include one or more manufacturing stations, one or more delivery systems, and/or one or more visual inspection systems. A selected station or system that constitutes a system for automated assembly and sewing of shoe components ("automated shoe assembly system") may involve manual operation, however in the station or system At least some of them are automated. In some automated shoe assembly systems, all substations and subsystems are automated. The automated shoe assembly system can include a process for making a complete shoe, or can include a process for assembling a portion of the shoe (eg, an upper assembly), or can include sub-assemblies (eg, toe caps) for assembling components of the shoe. And the process of the upper, or the upper, or the toe (or inner), the upper, the upper, the ferrule (or an alternative fastener), and a combination of similar sub-assemblies. The automated shoe assembly system can produce a single, unitary component for subsequent assembly into a shoe assembly or a complete shoe. For example, the integral upper assembly or assembly may be used for functional purposes and/or aesthetic purposes prior to joining the integral upper assembly or a portion of the upper assembly to other footwear components. A part of the upper assembly is sewn.
製造站可被構造成執行分立的任務，例如自原料流切割出鞋部件，或者可被構造成執行多個任務的組合，例如自原料流切割出鞋部件並對鞋部件施加黏合劑。示例性製造站可提供原料；自原料切割出部件、對部件進行造型或成形；堆疊或以其他方式臨時組裝各部件；及/或將各分立的部件接合於一起以形成完整的鞋、鞋組件總成、或具有兩個或更多個子部件的新部件。該些僅為實例，且既不需要包括所有該些示例性站、亦非將可能的站限制於該些實例。在某些系統中，製造站可存在，但在製造某些鞋時不加以使用。舉例而言，在組裝一種類型的鞋部件時可使用黏合劑施加站，但在組裝不同類型的鞋部件時可不使用所述黏合劑施加站。不同鞋部件的組裝可使用不同的製造站，或者可以不同的次序使用相同的製造站或相同的製造站的子集。 The manufacturing station can be configured to perform discrete tasks, such as cutting a shoe component from a feed stream, or can be configured to perform a combination of tasks, such as cutting a shoe component from a feed stream and applying a bond to the shoe component. An exemplary manufacturing station can provide a feedstock; cut a component from a feedstock, shape or shape the component; stack or otherwise temporarily assemble the components; and/or join the discrete components together to form a complete shoe, shoe component Assembly, or new part with two or more subassemblies. These are merely examples, and neither need to include all of the exemplary stations nor limit the possible stations to the examples. In some systems, manufacturing stations may be present but not used in the manufacture of certain shoes. For example, an adhesive application station can be used when assembling one type of shoe component, but the adhesive application station can be omitted when assembling different types of shoe components. The assembly of the different shoe components may use different manufacturing stations, or the same manufacturing station or a subset of the same manufacturing stations may be used in a different order.
傳送系統可包括任何適宜的部件移動設備，包括但不限於機械手臂、傳送機、由馬達驅動的轉台、X-Y平面移動台、X-Y-Z空間移動台或其組合。傳送系統包括拾取工具，所述拾取工具可包括物料處理系統或由物料處理系統組成。作為對物料處理系統的替代或者除物料處理系統外，傳送系統亦可包括下列或由下列組成：抓持工具、鏟取工具、空氣位移工具或「真空」類的工具或其組合。示例性的傳送系統闡述於例如美國專利公開案第2013/0127193 A1號中。 The transport system can include any suitable component mobile device including, but not limited to, a robotic arm, a conveyor, a motor-driven turret, an X-Y plane mobile station, an X-Y-Z space mobile station, or a combination thereof. The transport system includes a picking tool, which may include or consist of a material handling system. As an alternative to or in addition to the material handling system, the conveyor system may also comprise or consist of: a gripping tool, a scooping tool, an air displacement tool or a "vacuum" type of tool or combination thereof. An exemplary delivery system is described, for example, in U.S. Patent Publication No. 2013/0127193 A1.
傳送系統經由自動化鞋組裝系統的不同元件而各別地或以2個或更多個部件或部件堆疊為群組對部件或部件堆疊進行擷取及再定位。舉例而言，傳送系統可對部件或部件堆疊進行成形或修改的製造站或自視覺檢查站擷取部件或部件堆疊，並將所述部件或部件堆疊遞送至另一製造站或視覺檢查站。視覺檢查站可被構造用於人工檢查(例如，藉由裸眼，或者藉助小型放大鏡(loupe)；放大鏡；光；濾光片；成像系統，包括靜止照相機或視訊攝影機及電荷耦合裝置；或其組合)或者用於自動化檢查(例如在無人工干預情況下實施的檢查，例如藉由電腦分析數位照片並與規格(specification)進行比較)。自動化鞋組裝系統可包括多於一個視覺檢查站，且所述視覺檢查站可為人工的、自動化的、或者若存在多於一個站，可為人工的與自動化的組合。視覺檢查站可用於偵測部件或部件堆疊的存在、位置、定向、大小及/或形狀。部件或部件堆疊的位置及/或定向可相對於傳送系統、製造站、 物料處理系統、另一部件或部件堆疊、或者組件或其組合進行評估。 The delivery system retrieves and repositions the component or component stack individually or in groups of two or more components or components via different components of the automated shoe assembly system. For example, the delivery system can take a component or component stack from a manufacturing station that shapes or modifies a component or component stack and delivers the component or component stack to another manufacturing station or visual inspection station. The visual inspection station can be configured for manual inspection (eg, by naked eye, or by means of a small magnifying glass; magnifying glass; light; filter; imaging system, including still camera or video camera and charge coupled device; or a combination thereof Or for automated inspections (eg inspections performed without human intervention, such as analyzing digital photos by computer and comparing them with specifications). The automated shoe assembly system can include more than one visual inspection station, and the visual inspection station can be manual, automated, or if there is more than one station, it can be a combination of manual and automated. A visual inspection station can be used to detect the presence, location, orientation, size and/or shape of a component or component stack. The position and/or orientation of the component or component stack can be relative to the transport system, the manufacturing station, The material handling system, another component or component stack, or components or a combination thereof are evaluated.
來自視覺檢查系統的資訊可用於中斷對不可修復地超出規格的部件或部件堆疊的處理，或者用於改變對超出規格的部件或部件堆疊的進一步處理。舉例而言，來自視覺檢查系統的資訊可被人工地或自動地饋送至製造站中的縫製操作，進而容許修改縫製圖案以補償錯誤的定位(mispositioning)或其他可修復的缺陷。舉例而言，可由視覺系統在藉助或不藉助電腦幫助的情況下將部件或部件堆疊的表示形式與缺設的或預設的縫製圖案進行比較。可將缺設的縫製圖案以虛擬方式(例如以數位方式)上覆於(例如投射於)實際部件或部件堆疊的表示形式上，進而使電腦及/或視覺系統確定所述預設縫製圖案將導致至少一個縫線偏移超出可接受的變化範圍。換言之，若所述預設縫製圖案偏離所述部件或部件堆疊上的所期望相對位置(例如靠近邊緣或交疊位置)，則確定需要改變所述預設縫製圖案。計算系統及/或視覺系統可針對特定的部件或部件堆疊產生經過改變的縫製圖案，且所述經過改變的縫製圖案可被部署於記憶體中(例如可程式化邏輯控制器(PLC)或其他計算系統中)或者與所述記憶體相關聯並維護於所述記憶體中以供後續使用。作為另外一種選擇，所述計算系統及/或視覺系統可為傳送機構產生經過改變的路徑或行為以針對部件或部件堆疊中的變化進行調節。 Information from the visual inspection system can be used to interrupt the processing of components or component stacks that are irreparably out of specification, or to change further processing of components or component stacks that are out of specification. For example, information from a visual inspection system can be manually or automatically fed to a sewing operation in a manufacturing station, thereby allowing the sewing pattern to be modified to compensate for mispositioning or other repairable defects. For example, the representation of the component or component stack can be compared to the missing or preset stitching pattern by the vision system with or without the aid of a computer. The missing stitching pattern may be overlaid (eg, projected) on the actual component or representation of the component stack in a virtual manner (eg, in a digital manner), thereby causing the computer and/or vision system to determine that the predetermined stitching pattern will Causes at least one stitch offset to exceed an acceptable range of variation. In other words, if the predetermined stitching pattern deviates from a desired relative position on the component or component stack (eg, near an edge or an overlapping position), it is determined that the predetermined stitching pattern needs to be changed. The computing system and/or vision system can produce a modified stitching pattern for a particular component or component stack, and the altered stitching pattern can be deployed in a memory (eg, a programmable logic controller (PLC) or other The computing system is either associated with the memory and maintained in the memory for subsequent use. Alternatively, the computing system and/or vision system can generate a modified path or behavior for the transport mechanism to adjust for changes in the component or component stack.
在鞋製造的上下文中，可使用計算裝置來確定各種鞋製 造工具的操作。舉例而言，可使用計算裝置來控制部件拾取工具或者用於將鞋部件自一個位置傳遞至另一位置的傳送機。此外，可使用計算裝置來控制用於將一個鞋部件附裝(例如，黏合、縫製等)至另一鞋部件的部件附裝工具。 In the context of shoe manufacturing, computing devices can be used to determine various shoe systems The operation of the tool. For example, a computing device can be used to control a component pick-up tool or a conveyor for transferring a shoe component from one location to another. Additionally, a computing device can be used to control a component attachment tool for attaching (eg, bonding, sewing, etc.) one shoe component to another shoe component.
圖6及圖7是使用物料處理系統來製造鞋的示例性方法的流程圖。圖6示出一種方法200，方法200包括步驟210，接收部件或部件堆疊，此可在分段區域(staging area)、先前製造站、傳送系統或視覺檢查站處進行。步驟220，使所述物料處理系統在製造站或視覺檢查站處嚙合所述部件或部件堆疊，或者步驟220也可以是嚙合所述部件或部件堆疊並將所述部件或部件堆疊傳送至製造站或視覺檢查站。步驟230，對所述部件或部件堆疊執行操作-例如組裝步驟、傳送步驟、或視覺檢查。視需要，所述物料處理系統可在所述操作的執行期間脫離嚙合、或者脫離嚙合並重新嚙合所述部件或部件堆疊(圖中未示出)。在所述操作完成後，所述物料處理系統可自所述部件或部件堆疊脫離嚙合240。圖7說明藉由在物料搬運系統自所述部件或部件堆疊脫離嚙合240之前視需要增加一或多個步驟如傳送部件255及額外操作步驟260而對圖6所示方法進行的修改250。額外操作步驟260可包括在各製造站之間進行的額外傳送(圖中未示出)。如在圖6所示的方法中一般，物料處理系統可在所述額外操作中的任意操作或所有操作的執行期間視需要脫離嚙合、或者脫離嚙合並重新嚙合所述部件或部件堆疊(圖中未示出)。 6 and 7 are flow diagrams of an exemplary method of making a shoe using a material handling system. Figure 6 illustrates a method 200 that includes a step 210 of receiving a component or component stack, which may be performed at a staging area, a prior manufacturing station, a transport system, or a visual inspection station. Step 220, causing the material handling system to engage the component or component stack at a manufacturing station or visual inspection station, or step 220 may also be to engage the component or component stack and transfer the component or component stack to a manufacturing station Or visual inspection station. At step 230, operations are performed on the component or component stack - such as an assembly step, a transfer step, or a visual inspection. If desired, the material handling system can disengage or disengage and re-engage the component or component stack (not shown) during execution of the operation. After the operation is completed, the material handling system can be disengaged from the component or component stack. Figure 7 illustrates a modification 250 to the method of Figure 6 by adding one or more steps, such as transfer member 255 and additional operational steps 260, as needed before the material handling system is disengaged from the component or component stack. Additional operational steps 260 may include additional transfers (not shown) between the various manufacturing stations. As is generally the case in the method illustrated in Figure 6, the material handling system can disengage, or disengage, and re-engage the component or component stack as needed during any or all of the additional operations. Not shown).
在不背離下文申請專利範圍的範圍的條件下，可存在所繪示的各種組件以及未示出的組件的許多不同排列。已闡述的本發明技術的示例性態樣旨在為說明性的而非限制性的。在閱讀本揭露內容之後，其他態樣將對本揭露內容的讀者變得顯而易見。可在不背離下文申請專利範圍的範圍的條件下完成用於實施上述內容的其他途徑。某些特徵及子組合具有實用性且可在不引用其他特徵及子組合的條件下採用，並且涵蓋於申請專利範圍的範圍內。 Many different arrangements of the various components shown and components not shown may be present without departing from the scope of the claims below. The exemplary aspects of the present technology that have been described are intended to be illustrative and not restrictive. Other aspects will become apparent to readers of this disclosure after reading this disclosure. Other approaches for implementing the above may be made without departing from the scope of the claims below. Some of the features and sub-combinations are of utility and may be employed without reference to other features and sub-combinations and are intended to be included within the scope of the claims.
10‧‧‧物料處理系統 10‧‧‧Material Processing System
20‧‧‧步進馬達 20‧‧‧stepper motor
30‧‧‧軸 30‧‧‧Axis
40‧‧‧驅動帶 40‧‧‧ drive belt
50‧‧‧保持元件 50‧‧‧Retaining components
70‧‧‧上臂 70‧‧‧ upper arm
80‧‧‧下臂 80‧‧‧ Lower arm
90‧‧‧導軌 90‧‧‧rails
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| US3608118A (en) * | 1969-05-26 | 1971-09-28 | Usm Corp | Apparatus for assembling articles of commerce |
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| US3608118A (en) * | 1969-05-26 | 1971-09-28 | Usm Corp | Apparatus for assembling articles of commerce |
| TWM533897U (en) * | 2015-04-22 | 2016-12-21 | Nike Innovate Cv | Material handling system and system for manufacturing shoe parts in an automated manner |
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| TWI665977B (en) | 2019-07-21 |
| TWM533897U (en) | 2016-12-21 |
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