Apparatus for manufacturing an object to be inserted and method for manufacturing an object to be inserted

Abstract

The present invention provides an apparatus and method for manufacturing an insertable object that can shorten the time required to pass an insertable object through multiple holes provided in an insertable object with low rigidity. [Solution] The insertion object manufacturing apparatus 1000 comprises a base 100, a first moving part 200, and a second moving part 300. The first moving part 200 includes a first movable part 210 and a first gripping part 220. The second moving part 300 includes a second movable part 310 and a second gripping part 320. The first gripping part 220 includes a guide member. The first moving part 200 is configured to insert the guide member into a plurality of holes. The second moving part 300 is configured to insert an object into one of the plurality of holes along the guide member while the guide member is inserted into one of the plurality of holes.

Description

Technical Field

[0006] , ,

[0001] The present invention relates to an object to be inserted manufacturing apparatus and an object to be inserted manufacturing method.

Background Art

[0002] Conventionally, an automatic shoelace attaching device described in Japanese Patent No. 6564093 (Patent Document 1) has been proposed. This automatic shoelace attaching device is configured to alternately pass both ends of the shoelace through race holes provided on both sides of the upper of the shoe by operating them synchronously.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above automatic shoelace attaching device, the reduction in the time required to pass the shoelace through each race hole is insufficient.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide an object to be inserted manufacturing apparatus and an object to be inserted manufacturing method capable of shortening the time required to pass an insert through a plurality of holes provided in an object to be inserted having low rigidity.

Means for Solving the Problems

[0006] The present invention relates to an object manufacturing apparatus for inserting objects, which manufactures an object by passing an insert through a plurality of holes provided in the object. The object manufacturing apparatus comprises a base configured to hold the object to be inserted, a first movable part configured to move the insert, and a second movable part configured to move the insert. The first movable part includes a first movable part attached to the base and a first gripping part attached to the first movable part. The second movable part includes a second movable part attached to the base and a second gripping part attached to the second movable part. The first gripping part includes a guide member for guiding the insert and is configured to grip the insert. The second gripping part is configured to grip the insert. The first movable part is configured to insert the guide member into one of the plurality of holes. The second movable part is configured to insert the insert along the guide member into one of the plurality of holes while the guide member is inserted into one of the plurality of holes. [Effects of the Invention]

[0007] According to the present invention's apparatus for manufacturing objects to be inserted, the time required to pass the object to be inserted through multiple holes provided in the object can be shortened. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic perspective view showing the configuration of the insertion object manufacturing apparatus according to Embodiment 1. [Figure 2] This is a schematic plan view showing the configuration of the insertion object manufacturing apparatus according to Embodiment 1. [Figure 3] This is a schematic front view showing the configuration of the insertion object manufacturing apparatus according to Embodiment 1. [Figure 4] This is a schematic side view showing the operation of the guide member of the insertion target manufacturing apparatus according to Embodiment 1. [Figure 5] This is a schematic diagram illustrating how the guide member of the insertion target manufacturing apparatus according to Embodiment 1 is inserted into the hole. [Figure 6]This is a schematic diagram illustrating the rotation of the guide member of the insertion object manufacturing apparatus according to Embodiment 1. [Figure 7] This is a schematic plan view showing how a needle is inserted along the guide member of the insertion target manufacturing apparatus according to Embodiment 1. [Figure 8] This is a schematic side view showing the operation of the first moving part of the insertion target manufacturing apparatus according to Embodiment 1. [Figure 9] This is a block diagram of the insertion object manufacturing apparatus according to Embodiment 1. [Figure 10] This is a flowchart of the manufacturing method for the object to be inserted according to Embodiment 1. [Figure 11] This is a schematic plan view showing the thread tightening operation of the method for manufacturing an object to be inserted according to Embodiment 1. [Figure 12] This is a schematic perspective view showing the configuration of the insertion object manufacturing apparatus according to Embodiment 2. [Figure 13] This is a schematic plan view showing the configuration of the insertion object manufacturing apparatus according to Embodiment 2. [Figure 14] This is a schematic plan view showing how a needle is inserted along the guide member of the object manufacturing apparatus according to Embodiment 3. [Figure 15] This is a schematic diagram illustrating the rotation of the guide member of the insertion object manufacturing apparatus according to Embodiment 3. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to the drawings. Unless otherwise specified, the same or corresponding parts in the following drawings will be denoted by the same reference numerals, and their descriptions will not be repeated.

[0010] (Embodiment 1) Referring to Figures 1 to 9, the configuration of the insertion object manufacturing apparatus 1000 according to Embodiment 1 will be described. The insertion object manufacturing apparatus 1000 is a manufacturing apparatus that manufactures the insertion object 1 by passing the insertion object 2 through one of a plurality of holes H provided in the insertion object 1.

[0011] In this embodiment, the object to be inserted 1 is, for example, a hard baseball 10. Also, in this embodiment, the insert 2 includes strings such as threads and cords. The insert 2 is, for example, a needle 21 and a thread 22 passed through the needle hole of the needle 21. The tip of the insert 2 is the needle 21. That is, in this embodiment, the object to be inserted manufacturing apparatus 1000 is a manufacturing apparatus that stitches together two pieces of leather of a hard baseball.

[0012] As shown in FIGS. 1 to 3, the object to be inserted manufacturing apparatus 1000 includes a base 100, a first moving part 200, a second moving part 300, and a camera 400.

[0013] The base 100 is configured to be able to hold the object to be inserted 1. The base 100 includes a base 110 and a slide part 120. The base 󠄀110 is configured to be installed on the floor of a factory or the like. The base 110 is configured to be able to hold the hard baseball 10. The base 100 includes a holding part 111. The holding part 111 is configured to be able to hold the object to be inserted 1. In this embodiment, the base 110 includes the holding part 111. The holding part 111 is configured to hold the hard baseball 10 by sandwiching it. The base 110 is configured to support the slide part 120.

[0014] The slide part 120 is configured to be slidable relative to the base 110. The slide part 120 is configured to pull the insert 2 by sliding while the insert 2 is locked. The slide part 120 is configured to apply tension to the insert 2 by pulling the insert 2. The slide part 120 includes a slide jig 121, a first slide 122, a second slide 123, a third slide 124, and a fourth slide 125.

[0015] The slide fixture 121 is positioned in the center of the base 100 in a first direction D1. The first direction D1 is the left-right direction in the front view of Figure 3. The slide fixture 121 is configured to be movable in a second direction D2. The second direction D2 is the front-back direction in the front view of Figure 3. The third direction D3 is the up-down direction in the front view of Figure 3.

[0016] The first slide 122, the second slide 123, the third slide 124, and the fourth slide 125 are arranged symmetrically with respect to the center of the base 110 in the first direction D1. In other words, the first slide 122, the second slide 123, the third slide 124, and the fourth slide 125 are positioned to the right and left, respectively, with respect to the center of the base 110.

[0017] The first slide 122 includes a first slide rail 122a and a first slide member 122b. The first slide rail 122a is configured to extend linearly in a second direction D2. The first slide member 122b is configured to slide along the first slide rail 122a in the second direction D2. The first slide 122 is configured to apply tension to the insert 2 by sliding with the thread 22 locked in place.

[0018] The second slide 123 includes a second slide rail 123a and a second slide member 123b. The second slide rail 123a is configured to extend linearly in a second direction D2. The second slide member 123b is configured to slide along the second slide rail 123a in the second direction D2. The second slide 123 is configured to apply tension to the insert 2 by sliding while the thread 22 is locked in place.

[0019] The third slide 124 includes a third slide rail 124a and a third slide member 124b. The third slide rail 124a is configured to extend linearly in a second direction D2. The third slide member 124b is configured to slide along the third slide rail 124a in the second direction D2. The third slide 124 is configured to apply tension to the insert 2 by sliding while the thread 22 is locked in place.

[0020] The fourth slide 125 includes a fourth slide rail 125a and a fourth slide member 125b. The fourth slide rail 125a is configured to extend linearly in a second direction D2. The fourth slide member 125b is configured to slide along the fourth slide rail 125a in the second direction D2. The fourth slide 125 is configured to grip the needle 21.

[0021] The camera 400 is attached to the base 100. Specifically, the camera 400 is attached to the base 110 of the base 100. The camera 400 is configured to capture images of the hard baseball 10. In this embodiment, the camera 400 is positioned to capture images of the hard baseball 10 from directly above.

[0022] The first movable part 200 is configured to move the insert 2. The first movable part 200 includes a first movable part 210 and a first gripping part 220. The first movable part 210 is attached to the base part 100. The first movable part 210 is configured to move the insert 2, which is gripped by the first gripping part 220, to a predetermined position in three-dimensional space. The first gripping part 220 is attached to the first movable part 210.

[0023] In this embodiment, the first movable part 210 includes a first slider 211 and a second slider 212. The first slider 211 is configured to move the second slider 212 in a first direction D1. The first slider 211 is configured to extend linearly in the first direction D1. In this embodiment, the first slider 211 is separated into two parts. That is, the first slider 211 includes one part 211a and the other part 211b.

[0024] The second slider 212 is connected to the first slider 211 and the first gripping portion 220. The second slider 212 is configured to move the first gripping portion 220 in a third direction D3 that is perpendicular to the first direction D1 and the second direction D2, respectively. The second slider 212 is configured to extend linearly in the third direction D3.

[0025] The second slider 212 includes one slider 212a and the other slider 212b. The one slider 212a and the other slider 212b are arranged apart from each other in a first direction D1. The one slider 212a is connected to one part 211a of the first slider. The other slider 212b is connected to the other part 211b of the first slider.

[0026] The first gripping portion 220 includes one gripping portion 220a and the other gripping portion 220b. One gripping portion 220a is connected to one slider 212a. The other gripping portion 220b is connected to the other slider 212b. The one gripping portion 220a and the other gripping portion 220b are arranged to sandwich the holding portion 111 in the first direction D1. The holding portion 111 is configured to allow the object to be inserted 1 to move in the second direction D2, which is perpendicular to the first direction D1. The holding portion 111 is configured to allow the object to be inserted 1 to rotate in the second direction D2 with the first direction D1 as the axis.

[0027] The second movable part 300 is configured to move the insert 2. The second movable part 300 includes a second movable part 310 and a second gripping part 320. The second movable part 310 is attached to the base part 100. The second movable part 310 is configured to move the insert 2, which is gripped by the second gripping part 320, to a predetermined position in three-dimensional space. The second gripping part 320 is attached to the second movable part 310.

[0028] In this embodiment, the second moving unit 300 is a multi-joint robot. The second movable unit 310 is configured to move the second gripping unit 320 in the first direction D1, the second direction D2, and the third direction D3. In other words, the second movable unit 310 is configured to move the second gripping unit 320 in three dimensions. The second movable unit 310 is a robot arm.

[0029] As shown in Figures 4 and 5, the first gripping portion 220 includes a guide member 221 for guiding the insert 2. In this embodiment, the guide member 221 is a pipe, and is configured so that a needle 21 and thread 22 can be inserted through the pipe. The guide member 221 may have a semicircular shape in a cross-section that intersects the longitudinal direction. The first gripping portion 220 is configured to grip the insert 2. The first gripping portion 220 includes a chuck member 222. The chuck member 222 is configured to grip the insert 2. The chuck member 222 is configured to be openable and closable, and is configured to grip the insert 2 when closed. The chuck member 222 is located behind the guide member 221. The first movable portion 200 is configured to insert the guide member 221 into one of the plurality of holes H.

[0030] As shown in Figures 1 and 6, the second gripping portion 320 is configured to grip the insert 2. The second gripping portion 320 is configured to be openable and closable, releasing the insert 2 when open and gripping the insert 2 when closed. The second moving portion 300 is configured to insert the insert 2 into one of the multiple holes H along the guide member 221 when the guide member 221 is inserted into one of the multiple holes H.

[0031] As shown in Figures 4 to 6, the first gripping part 220 is configured to rotate the guide member 221 so as to lift the tip of the guide member 221 when the guide member 221 is inserted into one of the multiple holes H. The first gripping part 220 is configured to rotate the guide member 221 by, for example, an angle of 90 degrees.

[0032] As shown in Figures 6 to 8, the guide member 221 rotates so that its tip is lifted, causing the leather 11 of the hard baseball 10 to be peeled back, and the insert 2 is inserted into the hole H along the guide member 221.

[0033] The first gripping portion 220 is configured such that the chuck member 222 grips the tip of the insert 2.

[0034] The first moving part 200 is configured to move the tip of the insert 2 away from the hole H into which the insert 2 is inserted, while the first gripping part 220 is gripping the tip of the insert 2 inserted into one of the multiple holes H. In this embodiment, the first gripping part 220 moves away from the hole H while gripping the needle 21.

[0035] As shown in Figures 1 and 9, the insertion object manufacturing apparatus 1000 includes a control device 500. The control device 500 includes a control unit 510, a holding unit drive unit 520, a sliding unit drive unit 530, a first moving unit drive unit 540, a second moving unit drive unit 550, and an image processing unit 560. The control unit 510 is configured to control the holding unit drive unit 520, the sliding unit drive unit 530, the first moving unit drive unit 540, and the second moving unit drive unit 550. The control unit 510 is configured to control the first moving unit drive unit 540 and the second moving unit drive unit 550 based on signals transmitted from the image processing unit 560.

[0036] The holding unit drive unit 520 is configured to drive the holding unit 111 based on instructions from the control unit 510. For example, the holding unit drive unit 520 is configured to drive the holding unit 111 by controlling the motor of the holding unit 111.

[0037] The slide drive unit 530 is configured to drive the slide unit 120 based on instructions from the control unit 510. For example, the slide drive unit 530 is configured to control the motors of the slide fixture 121, the first slide 122, the second slide 123, the third slide 124, and the fourth slide 125, respectively, in order to drive the slide fixture 121, the first slide 122, the second slide 123, the third slide 124, and the fourth slide 125.

[0038] The first moving unit drive unit 540 is configured to drive the first moving unit 200 based on instructions from the control unit 510. For example, the first moving unit drive unit 540 is configured to drive the first movable unit 210 and the first gripping unit 220 by controlling the respective motors of the first movable unit 210 and the first gripping unit 220.

[0039] The second moving unit drive unit 550 is configured to drive the second moving unit 300 based on instructions from the control unit 510. For example, the second moving unit drive unit 550 is configured to drive the second movable unit 310 and the second gripping unit 320 by controlling the motors of the second movable unit 310 and the second gripping unit 320, respectively.

[0040] The image processing unit 560 is configured to process the image captured by the camera 400 and transmit an image-based signal to the control unit 510.

[0041] The method for manufacturing an insertable object according to Embodiment 1 will be described with reference to Figures 1 to 11. As mainly shown in Figure 10, the method for manufacturing an insertable object according to this embodiment comprises a step S1 of holding the insertable object 1 on a base 100 and a step S2 of passing the insertable object 2 through a plurality of holes H provided in the insertable object 1. In step S2 of passing the insertable object 2 through a plurality of holes H provided in the insertable object 1, the insertable object 2 is passed through a plurality of holes H provided in the insertable object 1 held on the base 100 by a first moving part 200 and a second moving part 300 that move the insertable object 2.

[0042] In step S2, which involves passing the insert 2 through a plurality of holes H provided in the object to be inserted 1, a guide member 221 for guiding the insert 2 of the first moving part 200 is inserted into one of the plurality of holes H. With the guide member 221 inserted into one of the plurality of holes H, the second moving part 300 inserts the insert 2 into one of the plurality of holes H along the guide member 221. Specifically, the second gripping part 320 inserts the insert 2 into one of the plurality of holes H along the guide member 221.

[0043] Next, the method for manufacturing the object to be inserted according to Embodiment 1 will be explained in detail. First, the hardball baseball 10 is set up. The hardball baseball 10 is fixed to the base 110 of the base 100. Specifically, the hardball baseball 10 is set to its initial position by being held in the holding part 111 of the base 110.

[0044] With the baseball 10 in place, the hole H through which the string 22 passes is searched for. The image captured by the camera 400 is processed by the image processing unit 560 of the control device 500. A signal based on the image processed by the image processing unit 560 is transmitted to the control unit 510 of the control device 500, and the control unit 510 determines the coordinates of the hole H through which the string 22 passes in the baseball 10. This detects the hole H through which the string 22 passes in the baseball. In this embodiment, the camera 400 captures the hole H through which the string 22 passes in the baseball from directly above.

[0045] Next, the leather 11 of the baseball 10 is peeled back. The first moving unit 200 inserts the guide member 221 into the detected hole H from directly above. The first moving unit 200 inserts the guide member 221 from the surface side of the baseball 10 relative to the coordinates of the detected hole H on the baseball 10. The first gripping unit 220 of the first moving unit 200 rotates the guide member 221 so as to lift the tip of the guide member 221 while the guide member 221 is inserted into the detected hole H. As the guide member 221 rotates, the leather 11 of the baseball 10 is peeled back from the outside. The tip of the guide member 221 is stopped and fixed in a horizontal position. In other words, the guide member 221 is fixed in a state rotated at a 90-degree angle with respect to the vertical. This determines the coordinates of the tip of the guide member 221.

[0046] With the leather 11 of the hard baseball 10 peeled back, the needle 21 is passed through the hole H of the hard baseball 10 along the guide member 221. The second moving part 300 moves the needle tip, which is gripped by the second gripping part 320, relative to the coordinates of the tip of the guide member 221. The control device 500 checks from the rear side of the guide member 221 whether the needle tip has moved to a predetermined location. If the needle tip has moved to the predetermined location, the second moving part 300 inserts the needle 21 into the guide member 221. The first moving part 200 grasps the needle 21 with the chuck member 222 at the rear of the guide member 221 and pulls it out.

[0047] Next, the leather 11 of the other hardball 10 is peeled back. The first moving part 200 inserts the guide member 221 from the outside of the receiving side relative to the coordinates of the hole H on the opposite side. As the guide member 221 rotates, the leather 11 of the hardball 10 is peeled back from the outside. The tip of the guide member 221 is fixed in a horizontal position. In other words, the guide member 221 is fixed in a position rotated at a 90-degree angle. This determines the coordinates of the tip of the guide member 221.

[0048] The first gripping portion 220 of the first moving portion 200 rotates the guide member 221 so as to lift the tip of the guide member 221 while the guide member 221 is inserted into the hole H.

[0049] A needle 21 is passed through the hole H of a hard baseball 10. The second moving part 300 moves the needle tip relative to the coordinates of the tip of the guide member 221. The control device 500 checks from the rear side of the guide member 221 whether the needle tip has moved to a predetermined location. If the needle tip has moved to the predetermined location, the second gripping part 320 of the second moving part 300 inserts the gripped needle 21. The first gripping part 220 of the first moving part 200 grasps the needle 21 with a chuck member 222 located behind the guide member 221 and pulls the needle 21 out of the guide member 221.

[0050] Next, as mainly shown in Figure 11, the thread 22 is tightened. The first slide member 122b, the second slide member 123b, and the third slide member 124b each function as pulleys, and the direction of movement of the pulleys is defined as positive in the downward direction in Figure 11 and negative in the upward direction in Figure 11. The removed needle 21 is fixed in a predetermined position. In this embodiment, the first moving part 200 moves the removed needle 21 to the fourth slide 125. The fourth slide 125 grips the removed needle 21. The fourth slide 125 remains stationary with the needle 21 gripped, and the third slide member 124b moves in the positive direction on the third slide rail 124a of the third slide 124. As a result, the third slide member 124b pulls the thread 22 in the positive direction. The third slide member 124b moves in the positive direction more than the second slide member 123b. In this state, the thread 22 is secured to the third slide member 124b and the second slide member 123b.

[0051] The first slide member 122b moves in the positive direction on the first slide rail 122a of the first slide 122. The first slide member 122b moves in the positive direction more than the second slide member 123b. As a result, the first slide member 122b pulls the string 22 in the positive direction. The first slide member 122b moves on the first slide rail 122a of the first slide 122 with the string 22 locked in place so that it is positioned at an oblique angle to the hard baseball 10.

[0052] The sliding jig 121 is inserted from the front of the baseball 10 to prevent it from moving forward under load. The sliding jig 121 fixes the baseball 10 in place from the front.

[0053] The second slide member 123b moves in the negative direction on the second slide rail 123a of the second slide 123. This causes the second slide member 123b to pull the thread 22 in the negative direction. The second slide member 123b moves in the negative direction on the second slide rail 123a, pulling the thread 22 until a predetermined load for sewing the hard baseball 10 is applied. This tightens the thread 22. The first slide member 122b, the second slide member 123b, and the third slide member 124b each have a structure that reduces the contact area to prevent wax contained in the thread 22 from adhering to them. In addition, the first slide member 122b, the second slide member 123b, and the third slide member 124b each have a rotation mechanism and function as a pulley mechanism.

[0054] Next, the baseball 10 is rotated to sew the next hole H. The baseball 10 is rotated so that the next hole H to be sewn is directly above it. In this state, the baseball 10 is set on the base 110 of the base 100. Then the process of passing the thread 22 through the hole H is repeated. Once all sewing operations are complete, the baseball 10 is removed from the device and the ends of the thread 22 are finished by hand. In this way, the baseball 10 is manufactured by sewing it with the thread 22.

[0055] Next, the effects and advantages of this embodiment will be described. If the camera 400 simply photographs the hole H, searches for the hole H, and passes the needle 21 through the hole H, the position information in the global coordinate system will change if the shape of the object to be inserted 1 changes due to reasons such as low rigidity of the object to be inserted 1. Therefore, if the needle is moved to the hole H based on the information captured by the camera 400, it will be necessary to take the image with the camera 400 and update the position information of the hole H. As a result, the time required to pass the thread 22 through the hole H will be longer.

[0056] According to the insertion target manufacturing apparatus 1000 of Embodiment 1, the second moving unit 300 is configured to insert the thread 22 into one of the multiple holes H along the guide member 221 while the guide member 221 is inserted into one of the multiple holes H. Therefore, the thread 22 can be moved relative to the coordinates of the tip of the guide member 221. Consequently, the operation of taking images with the camera 400 and updating the position information of the holes H is unnecessary. Thus, the time required to pass the thread 22 through the multiple holes H provided in the hard baseball 10 can be shortened.

[0057] According to the insertion object manufacturing apparatus 1000 of Embodiment 1, the first movable part 210 includes a first slider 211 and a second slider 212. One gripping part 220a connected to one slider 212a of the second slider 212 and the other gripping part 220b connected to the other slider 212b of the second slider 212 are arranged to sandwich the holding part 111 in the first direction D1. Therefore, compared to the case where the first moving part 200 is a multi-joint robot, the speed at which the thread 22 is moved into the multiple holes H provided in the hard baseball 10 can be increased. Thus, productivity can be improved.

[0058] According to the insertion target manufacturing apparatus 1000 of Embodiment 1, the first gripping part 220 is configured to rotate the guide member 221 so as to lift the tip of the guide member 221 when the guide member 221 is inserted into one of the plurality of holes H. This makes it possible to peel back the leather 11 of the hard baseball 10. With the leather 11 of the hard baseball 10 peeled back, the guide member 221 guides the position for inserting the needle 21, making it easier to insert the needle.

[0059] According to the insertion object manufacturing apparatus 1000 of Embodiment 1, the first moving unit 200 is configured to move the tip of the insertion object 2 away from the hole H through which the insertion object 2 is inserted, while the first gripping unit 220 grasps the tip of the thread 22 inserted into one of the plurality of holes H. Therefore, the time required for the first moving unit 200 to pull the thread 22 away from the hole H through which the thread 22 is passed can be shortened.

[0060] According to the insertion object manufacturing apparatus 1000 of Embodiment 1, the slide portion 120 is configured to pull the thread 22 by sliding while the thread 22 is locked in place. Therefore, the slide portion 120 can move until a predetermined load for sewing the hard baseball 10 is applied, thereby pulling the thread 22.

[0061] According to the manufacturing method for the object to be inserted according to Embodiment 1, with the guide member 221 inserted into one of the multiple holes H, the second moving part 300 inserts the thread 22 into one of the multiple holes H along the guide member 221. Therefore, the thread 22 can be moved relative to the coordinates of the tip of the guide member 221. Consequently, the time required to pass the thread 22 through the multiple holes H provided in the hard baseball 10 can be shortened.

[0062] In the above example, the case in which the object to be inserted 1 is a baseball 10 is used as an illustration, but the object to be inserted 1 is not limited to a baseball 10. In another example, the object to be inserted 1 may be a shoe. In this case, the object to be inserted 2 is a shoelace. The tip of the object to be inserted 2 is the tip of the shoelace. In other words, in another example of this embodiment, the object to be inserted manufacturing apparatus 1000 is a shoe manufacturing apparatus.

[0063] (Embodiment 2) The apparatus and method for manufacturing an object to be inserted according to Embodiment 2 have the same configuration, manufacturing method, and effects as the apparatus and method for manufacturing an object to be inserted according to Embodiment 1, unless otherwise specified.

[0064] Referring to Figures 12 and 13, the configuration of the insertion object manufacturing apparatus 1000 according to Embodiment 2 will be described. The insertion object manufacturing apparatus 1000 according to Embodiment 2 differs from the insertion object manufacturing apparatus 1000 according to Embodiment 1 mainly in the configuration of the base 100 and the first moving part 200.

[0065] The first mobile unit 200 is a multi-joint robot. That is, the first mobile unit 200 and the second mobile unit 300 are both multi-joint robots. The first movable unit 210 is configured to move the first gripping unit 220 in a first direction D1, a second direction D2 perpendicular to the first direction D1, and a third direction D3 perpendicular to both the first direction D1 and the second direction D2. That is, the first movable unit 210 is configured to move the first gripping unit 220 in three dimensions. The first movable unit 210 is a robot arm. The second movable unit 310 is configured to move the second gripping unit 320 in a first direction D1, a second direction D2, and a third direction D3. That is, the second movable unit 310 is configured to move the second gripping unit 320 in three dimensions.

[0066] The method for manufacturing the object to be inserted according to Embodiment 2 is the same as the method for manufacturing the object to be inserted according to Embodiment 1.

[0067] Next, the effects and advantages of this embodiment will be described. In the insertion object manufacturing apparatus 1000 according to Embodiment 2, the first moving unit 200 and the second moving unit 300 are each articulated robots. Therefore, the insertion object manufacturing apparatus 1000 can be miniaturized.

[0068] (Embodiment 3) Embodiment 3 will be described with reference to Figures 1 to 11, 14 and 15. Referring to Figures 14 and 15, in Embodiment 3, the object to be inserted 1 is a shoe, and the object to be inserted 2 is a shoelace. Therefore, in Figure 1 and other figures, the object to be inserted 1 is shown as a shoe, and the object to be inserted 2 is shown as a shoelace.

[0069] Referring to Figures 1 to 9, the configuration of the insertion object manufacturing apparatus 1000 according to Embodiment 3 will be described. The insertion object manufacturing apparatus 1000 is a manufacturing apparatus that manufactures the insertion object 1 by passing the insertion object 2 through one of a plurality of holes H provided in the insertion object 1. In Embodiment 3, the plurality of holes H are the plurality of lace holes SH of a shoe S.

[0070] In this embodiment, the object to be inserted 1 is a shoe S. Also in this embodiment, the object to be inserted 2 is a shoelace SL. The tip of the object to be inserted 2 is the tip TP of the shoelace SL. In other words, in this embodiment, the object to be inserted manufacturing apparatus 1000 is a shoe manufacturing apparatus.

[0071] As shown in Figures 1 to 3, the insertion object manufacturing apparatus 1000 comprises a base 100, a first moving part 200, a second moving part 300, and a camera 400.

[0072] The base 100 is configured to hold the object to be inserted 1. The base 100 includes a base 110 and a sliding part 120. The base 110 is configured to be installed on the floor of a factory or the like. The base 110 is configured to hold the shoe S. The base 100 includes a holding part 111. The holding part 111 is configured to hold the object to be inserted 1. In this embodiment, the base 110 includes the holding part 111. The holding part 111 is configured to hold the shoe S by clamping it. The base 110 is configured to support the sliding part 120.

[0073] The slide section 120 is configured to slide relative to the base 110. The slide section 120 is configured to pull the insert 2 by sliding while the insert 2 is locked in place. The slide section 120 is configured to apply tension to the insert 2 by pulling it. The slide section 120 includes a slide jig 121, a first slide 122, a second slide 123, a third slide 124, and a fourth slide 125. However, since the shoelace SL is short, the slide section 120 does not necessarily need to include the second slide 123 and the third slide 124.

[0074] The slide fixture 121 is positioned in the center of the base 100 in a first direction D1. The first direction D1 is the left-right direction in the front view of Figure 3. The slide fixture 121 is configured to be movable in a second direction D2. The second direction D2 is the front-back direction in the front view of Figure 3. The third direction D3 is the up-down direction in the front view of Figure 3.

[0075] The first slide 122, the second slide 123, the third slide 124, and the fourth slide 125 are arranged symmetrically with respect to the center of the base 110 in the first direction D1. In other words, the first slide 122, the second slide 123, the third slide 124, and the fourth slide 125 are positioned to the right and left, respectively, with respect to the center of the base 110.

[0076] The first slide 122 includes a first slide rail 122a and a first slide member 122b. The first slide rail 122a is configured to extend linearly in a second direction D2. The first slide member 122b is configured to slide along the first slide rail 122a in the second direction D2. The first slide 122 is configured to apply tension to the insert 2 by sliding with the shoelace SL locked in place.

[0077] The second slide 123 includes a second slide rail 123a and a second slide member 123b. The second slide rail 123a is configured to extend linearly in the second direction D2. The second slide member 123b is configured to slide along the second slide rail 123a in the second direction D2. The second slide 123 is configured to apply tension to the insert 2 by sliding with the shoelace SL locked in place.

[0078] The third slide 124 includes a third slide rail 124a and a third slide member 124b. The third slide rail 124a is configured to extend linearly in a second direction D2. The third slide member 124b is configured to slide along the third slide rail 124a in the second direction D2. The third slide 124 is configured to apply tension to the insert 2 by sliding with the shoelace SL locked in place.

[0079] The fourth slide 125 includes a fourth slide rail 125a and a fourth slide member 125b. The fourth slide rail 125a is configured to extend linearly in a second direction D2. The fourth slide member 125b is configured to slide along the fourth slide rail 125a in the second direction D2. The fourth slide 125 is configured to grip the tip TP of the shoelace SL.

[0080] The camera 400 is attached to the base 100. Specifically, the camera 400 is attached to the base 110 of the base 100. The camera 400 is configured to capture images of the shoe S. In this embodiment, the camera 400 is positioned to capture images of the shoe S from directly above.

[0081] The first movable part 200 is configured to move the insert 2. The first movable part 200 includes a first movable part 210 and a first gripping part 220. The first movable part 210 is attached to the base part 100. The first movable part 210 is configured to move the insert 2, which is gripped by the first gripping part 220, to a predetermined position in three-dimensional space. The first gripping part 220 is attached to the first movable part 210.

[0082] In this embodiment, the first movable part 210 includes a first slider 211 and a second slider 212. The first slider 211 is configured to move the second slider 212 in a first direction D1. The first slider 211 is configured to extend linearly in the first direction D1. In this embodiment, the first slider 211 is separated into two parts. That is, the first slider 211 includes one part 211a and the other part 211b.

[0083] The second slider 212 is connected to the first slider 211 and the first gripping portion 220. The second slider 212 is configured to move the first gripping portion 220 in a third direction D3 that is perpendicular to the first direction D1 and the second direction D2, respectively. The second slider 212 is configured to extend linearly in the third direction D3.

[0084] The second slider 212 includes one slider 212a and the other slider 212b. The one slider 212a and the other slider 212b are arranged apart from each other in a first direction D1. The one slider 212a is connected to one part 211a of the first slider. The other slider 212b is connected to the other part 211b of the first slider.

[0085] The first gripping portion 220 includes one gripping portion 220a and the other gripping portion 220b. One gripping portion 220a is connected to one slider 212a. The other gripping portion 220b is connected to the other slider 212b. The one gripping portion 220a and the other gripping portion 220b are arranged to sandwich the holding portion 111 in the first direction D1. The holding portion 111 is configured to allow the object to be inserted 1 to move in the second direction D2, which is perpendicular to the first direction D1. The holding portion 111 is configured to allow the object to be inserted 1 to rotate in the second direction D2 with the first direction D1 as the axis.

[0086] The second movable part 300 is configured to move the insert 2. The second movable part 300 includes a second movable part 310 and a second gripping part 320. The second movable part 310 is attached to the base part 100. The second movable part 310 is configured to move the insert 2, which is gripped by the second gripping part 320, to a predetermined position in three-dimensional space. The second gripping part 320 is attached to the second movable part 310.

[0087] In this embodiment, the second moving unit 300 is a multi-joint robot. The second movable unit 310 is configured to move the second gripping unit 320 in the first direction D1, the second direction D2, and the third direction D3. In other words, the second movable unit 310 is configured to move the second gripping unit 320 in three dimensions. The second movable unit 310 is a robot arm.

[0088] As shown in Figures 4 and 5, the first gripping portion 220 includes a guide member 221 for guiding the insert 2. In this embodiment, the guide member 221 is a pipe and is configured to allow the shoelace SL to be inserted through it. The guide member 221 may have a semicircular shape in the cross-section that intersects the longitudinal direction. The first gripping portion 220 is configured to grip the insert 2. The first gripping portion 220 includes a chuck member 222. The chuck member 222 is configured to grip the insert 2. The chuck member 222 is configured to be openable and closable and is configured to grip the insert 2 when closed. The chuck member 222 is located behind the guide member 221. The first movable portion 200 is configured to insert the guide member 221 into one of the plurality of shoelace holes SH.

[0089] As shown in Figures 1 and 6, the second gripping portion 320 is configured to grip the insert 2. The second gripping portion 320 is configured to be openable and closable, releasing the insert 2 when open and gripping the insert 2 when closed. The second moving portion 300 is configured to insert the insert 2 into one of the multiple string-threading holes SH along the guide member 221 when the guide member 221 is inserted into one of the multiple string-threading holes SH.

[0090] As shown in Figures 4 to 6, the first gripping part 220 is configured to rotate the guide member 221 so as to lift the tip of the guide member 221 when the guide member 221 is inserted into one of the multiple string-threading holes SH. The first gripping part 220 is configured to rotate the guide member 221 by, for example, a 90-degree angle.

[0091] As shown in Figures 6 to 8, the guide member 221 rotates so that its tip is lifted, causing the area around the shoelace eyelet SH of the shoe S to be turned up, and the insert 2 is inserted into the shoelace eyelet SH along the guide member 221.

[0092] The first gripping portion 220 is configured such that the chuck member 222 grips the tip of the insert 2.

[0093] The first moving part 200 is configured to move the tip of the insert 2 away from the eyelet SH into which the insert 2 is inserted, while the first gripping part 220 is gripping the tip of the insert 2 which is inserted into one of the multiple eyelet holes SH. In this embodiment, the first gripping part 220 moves away from the eyelet SH while gripping the tip TP of the shoelace SL.

[0094] As shown in Figures 1 and 9, the insertion object manufacturing apparatus 1000 includes a control device 500. The control device 500 includes a control unit 510, a holding unit drive unit 520, a sliding unit drive unit 530, a first moving unit drive unit 540, a second moving unit drive unit 550, and an image processing unit 560. The control unit 510 is configured to control the holding unit drive unit 520, the sliding unit drive unit 530, the first moving unit drive unit 540, and the second moving unit drive unit 550. The control unit 510 is configured to control the first moving unit drive unit 540 and the second moving unit drive unit 550 based on signals transmitted from the image processing unit 560.

[0095] The holding unit drive unit 520 is configured to drive the holding unit 111 based on instructions from the control unit 510. For example, the holding unit drive unit 520 is configured to drive the holding unit 111 by controlling the motor of the holding unit 111.

[0096] The slide drive unit 530 is configured to drive the slide unit 120 based on instructions from the control unit 510. For example, the slide drive unit 530 is configured to control the motors of the slide fixture 121, the first slide 122, the second slide 123, the third slide 124, and the fourth slide 125, respectively, in order to drive the slide fixture 121, the first slide 122, the second slide 123, the third slide 124, and the fourth slide 125.

[0097] The first moving unit drive unit 540 is configured to drive the first moving unit 200 based on instructions from the control unit 510. For example, the first moving unit drive unit 540 is configured to drive the first movable unit 210 and the first gripping unit 220 by controlling the respective motors of the first movable unit 210 and the first gripping unit 220.

[0098] The second moving unit drive unit 550 is configured to drive the second moving unit 300 based on instructions from the control unit 510. For example, the second moving unit drive unit 550 is configured to drive the second movable unit 310 and the second gripping unit 320 by controlling the motors of the second movable unit 310 and the second gripping unit 320, respectively.

[0099] The image processing unit 560 is configured to process the image captured by the camera 400 and transmit an image-based signal to the control unit 510.

[0100] A method for manufacturing an insertable object according to Embodiment 3 will be described with reference to Figures 1 to 11. As mainly shown in Figure 10, the method for manufacturing an insertable object according to this embodiment comprises a step S1 of holding the insertable object 1 on a base 100 and a step S2 of passing the insertable object 2 through a plurality of string-threading holes SH provided on the insertable object 1. In step S2 of passing the insertable object 2 through a plurality of string-threading holes SH provided on the insertable object 1, the insertable object 2 is passed through a plurality of string-threading holes SH provided on the insertable object 1 held on the base 100 by a first moving part 200 and a second moving part 300 that move the insertable object 2.

[0101] In step S2, which involves passing the insert 2 through a plurality of string-threading holes SH provided in the object to be inserted 1, a guide member 221 for guiding the insert 2 of the first moving part 200 is inserted into one of the plurality of string-threading holes SH. With the guide member 221 inserted into one of the plurality of string-threading holes SH, the second moving part 300 inserts the insert 2 into one of the plurality of string-threading holes SH along the guide member 221. Specifically, the second gripping part 320 inserts the insert 2 into one of the plurality of string-threading holes SH along the guide member 221.

[0102] Next, we will explain in detail the method for manufacturing the object to be inserted according to Embodiment 3. First, the shoe S is set up. The shoe S is fixed to the base 110 of the base 100. Specifically, the shoe S is set to its initial position by being held by the holding part 111 of the base 110.

[0103] With the shoe S in place, the eyelets SH of the shoe S are searched for. The image captured by the camera 400 is processed by the image processing unit 560 of the control device 500. A signal based on the image processed by the image processing unit 560 is transmitted to the control unit 510 of the control device 500, and the control unit 510 determines the coordinates of the eyelets SH of the shoe S. This allows the eyelets SH of the shoe S to be detected. In this embodiment, the camera 400 captures the eyelets SH of the shoe S from directly above.

[0104] Next, the area around the eyelets SH of the shoe S is peeled back. The first moving unit 200 inserts the guide member 221 into the detected eyelets SH of the shoe S from directly above. The first moving unit 200 inserts the guide member 221 from the surface side of the shoe S relative to the coordinates of the detected eyelets SH of the shoe S. The first gripping unit 220 of the first moving unit 200 rotates the guide member 221 so as to lift the tip of the guide member 221 while the guide member 221 is inserted into the detected eyelets SH of the shoe S. As the guide member 221 rotates, the area around the eyelets SH of the shoe S is peeled back from the outside. The tip of the guide member 221 is stopped and fixed in a horizontal position. In other words, the guide member 221 is fixed in a state rotated at a 90-degree angle with respect to the vertical. This determines the coordinates of the tip of the guide member 221.

[0105] With the area around the eyelet SH of the shoe S turned up, the tip TP of the shoelace SL is passed through the eyelet SH of the shoe S along the guide member 221. The second moving part 300 moves the tip TP of the shoelace SL, which is gripped by the second gripping part 320, relative to the coordinates of the tip of the guide member 221. The control device 500 checks from the rear side of the guide member 221 whether the tip TP of the shoelace SL has moved to the predetermined position. If the tip TP of the shoelace SL has moved to the predetermined position, the second moving part 300 inserts the tip TP of the shoelace SL into the guide member 221. The first moving part 200 grasps the tip TP of the shoelace SL with the chuck member 222 at the rear of the guide member 221 and pulls it out.

[0106] Next, the area around the eyelet SH of the other shoe S is turned up. The first moving part 200 inserts the guide member 221 from the outside of the receiving side relative to the coordinates of the eyelet SH of the opposite shoe S. As the guide member 221 rotates, the area around the eyelet SH of the shoe S is turned up from the outside. The tip of the guide member 221 is fixed in a horizontal position. In other words, the guide member 221 is fixed in a position rotated at a 90-degree angle. This determines the coordinates of the tip of the guide member 221.

[0107] The first gripping portion 220 of the first moving portion 200 rotates the guide member 221 so as to lift the tip of the guide member 221 while the guide member 221 is inserted into the lace eyelet SH of the shoe S.

[0108] The tip TP of the shoelace SL is threaded through the eyelet SH of the shoe S. The second moving part 300 moves the tip TP of the shoelace SL relative to the coordinates of the tip of the guide member 221. The control device 500 checks from the rear side of the guide member 221 whether the tip TP of the shoelace SL has moved to the predetermined location. If the tip TP of the shoelace SL has moved to the predetermined location, the second gripping part 320 of the second moving part 300 inserts the gripped tip TP of the shoelace SL. The first gripping part 220 of the first moving part 200 grasps the tip TP of the shoelace SL with the chuck member 222 located behind the guide member 221 and pulls the tip TP of the shoelace SL out of the guide member 221.

[0109] Next, as mainly shown in Figure 11, the shoelace SL is tightened. The first slide member 122b, the second slide member 123b, and the third slide member 124b each function as pulleys, and the direction of movement of the pulleys is defined as positive in the downward direction in Figure 11 and negative in the upward direction in Figure 11. The tip TP of the removed shoelace SL is fixed in a predetermined position. In this embodiment, the first moving part 200 moves the tip TP of the removed shoelace SL to the fourth slide 125. The fourth slide 125 grips the tip TP of the removed shoelace SL. The fourth slide 125 remains stationary with the tip TP of the shoelace SL gripped, and the third slide member 124b moves in the positive direction on the third slide rail 124a of the third slide 124. As a result, the third slide member 124b pulls the shoelace SL in the positive direction. The third sliding member 124b moves in the positive direction more than the second sliding member 123b. In this state, the shoelace SL is locked to the third sliding member 124b and the second sliding member 123b.

[0110] The first slide member 122b moves in the positive direction on the first slide rail 122a of the first slide 122. The first slide member 122b moves in the positive direction more than the second slide member 123b. As a result, the first slide member 122b pulls the shoelace SL in the positive direction. The first slide member 122b on the first slide rail 122a of the first slide 122 moves with the shoelace SL locked in place so that it is positioned at an oblique angle to the shoe S.

[0111] The second slide member 123b moves in the negative direction along the second slide rail 123a of the second slide 123. This causes the second slide member 123b to pull the shoelace SL in the negative direction. The second slide member 123b continues to move in the negative direction along the second slide rail 123a, pulling the shoelace SL, until a predetermined load is applied (enough to pull the shoelace SL without any excess). This tightens the shoelace SL. In addition, the first slide member 122b, the second slide member 123b, and the third slide member 124b are each equipped with a rotation mechanism and function as a pulley mechanism.

[0112] Subsequently, the holding unit 111 moves in a second direction D2 so that the next shoelace eyelet SH of the shoe S is approximately directly below the camera 400. Then, the process of threading the shoelace SL through the shoelace eyelet SH of the shoe S is repeated. Once all the lacing operations are complete, the shoe S is removed from the device. In this way, the shoe S is manufactured by threading the shoelace SL through the shoelace eyelet SH of the shoe S.

[0113] Next, the effects and advantages of this embodiment will be described. If we simply use camera 400 to photograph the eyelets SH of shoe S, search for the eyelets SH of shoe S, and thread the tip TP of the shoelace SL through the eyelets SH of shoe S, the position information in the global coordinate system will change if the shape of the object to be inserted 1 changes due to reasons such as low rigidity of the object to be inserted 1. Therefore, if the tip TP of the shoelace SL is moved to the eyelets SH of shoe S based on the information captured by camera 400, it will be necessary to take the picture with camera 400 and update the position information of the eyelets SH. As a result, the time required to thread the shoelace SL through the eyelets SH of shoe S will increase.

[0114] According to the third embodiment of the insertion object manufacturing apparatus 1000, the second moving unit 300 is configured to insert the insertion object 2 into one of the multiple eyelets SH of the shoe S along the guide member 221 while the guide member 221 is inserted into one of the multiple eyelets SH of the shoe S. Therefore, the shoelace SL can be moved relative to the coordinates of the tip of the guide member 221. Consequently, the operation of taking pictures with the camera 400 and updating the position information of the eyelets SH of the shoe S becomes unnecessary. Thus, the time required to pass the insertion object 2 through the multiple eyelets SH provided in the shoe S can be shortened.

[0115] According to the third embodiment of the object manufacturing apparatus 1000, the first movable part 210 includes a first slider 211 and a second slider 212. One gripping part 220a connected to one slider 212a of the second slider 212 and the other gripping part 220b connected to the other slider 212b of the second slider 212 are arranged to sandwich the holding part 111 in the first direction D1. Therefore, compared to the case where the first moving part 200 is a multi-joint robot, the speed at which the object to be inserted 2 is moved into the multiple lace holes SH provided in the shoe S can be increased. Thus, productivity can be improved.

[0116] According to the third embodiment of the insertion object manufacturing apparatus 1000, the first gripping part 220 is configured to rotate the guide member 221 so as to lift the tip of the guide member 221 when the guide member 221 is inserted into one of the multiple eyelets SH of the shoe S. This allows the area around the eyelets SH of the shoe S to be peeled back. With the area around the eyelets SH of the shoe S peeled back, the guide member 221 guides the position for inserting the tip TP of the shoelace SL, making it easier to thread the laces.

[0117] According to the third embodiment of the insertion object manufacturing apparatus 1000, the first moving unit 200 is configured such that, with the first gripping unit 220 grasping the tip TP of the shoelace SL inserted into one of the multiple eyelets SH of the shoe S, it moves the tip TP of the shoelace SL away from the eyelet SH of the shoe S through which the shoelace SL is inserted. Therefore, the time required for the first moving unit 200 to pull the shoelace SL away from the eyelet SH of the shoe S through which the shoelace SL is threaded can be shortened.

[0118] According to the third embodiment of the insertion object manufacturing apparatus 1000, the sliding part 120 is configured to pull the shoelace SL by sliding while the shoelace SL is locked in place. Therefore, the sliding part 120 can move until the slack in the shoelace SL is eliminated and the shoelace SL is pulled.

[0119] According to the manufacturing method for the object to be inserted according to Embodiment 3, with the guide member 221 inserted into one of the multiple eyelets SH of the shoe S, the second moving part 300 inserts the shoelace SL into one of the multiple eyelets SH along the guide member 221. Therefore, the shoelace SL can be moved relative to the coordinates of the tip of the guide member 221. Consequently, the time required to pass the object to be inserted 2 through the multiple eyelets SH provided in the shoe S can be shortened.

[0120] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description and is intended to include all modifications in the sense and scope equivalent to the claims. [Explanation of symbols]

[0121] 1 Insertion target, 2 Insertion target, 10 Hard baseball, 11 Leather, 21 Needle, 22 Thread, 100 Base, 110 Base, 111 Holding part, 120 Slide part, 121 Slide jig, 122 First slide, 123 Second slide, 124 Third slide, 125 Fourth slide, 200 First moving part, 210 First arm, 220 First gripping part, 221 Guide member, 222 Chuck member, 300 Second moving part, 310 Second arm, 320 Second gripping part, 400 Camera, 500 Control device, 1000 Insertion target manufacturing device, H Hole, SH Lace-through hole, S Shoe, SL Shoelaces, TP Tip.

Claims

1. An object manufacturing apparatus for manufacturing an object to be inserted by passing the insert through a plurality of holes provided in the object to be inserted, A base configured to hold the object to be inserted, The first movable part is configured to allow the aforementioned insert to move, It comprises a second movable part configured to allow the aforementioned insert to move, The first movable part includes a first movable part attached to the base and a first gripping part attached to the first movable part. The second movable part includes a second movable part attached to the base and a second gripping part attached to the second movable part. The first gripping portion includes a guide member for guiding the insert and is configured to grip the insert. The second gripping portion is configured to grip the inserted object, The first movable part is configured to insert the guide member into one of the plurality of holes, The second moving part is configured to insert the insert into one of the plurality of holes along the guide member while the guide member is inserted into one of the plurality of holes, in an object manufacturing apparatus.

2. The base includes a holding portion configured to hold the object to be inserted, The first movable part includes a first slider and a second slider connected to the first slider and the first gripping part. The first slider is configured to move the second slider in a first direction, The holding portion is configured to be movable in a second direction perpendicular to the first direction for the object to be inserted. The second slider is configured such that the first gripping portion can move in a third direction perpendicular to the first and second directions, The second slider includes one slider and the other slider, which are arranged apart from each other in the first direction. The first gripping portion includes a gripping portion connected to the one slider and a gripping portion connected to the other slider, The one gripping portion and the other gripping portion are arranged so as to sandwich the holding portion in the first direction. The second mobile unit is a SCARA robot, The apparatus for manufacturing an object to be inserted, according to claim 1, wherein the second movable part is configured to move the second gripping part in the first direction, the second direction, and the third direction.

3. The first mobile unit and the second mobile unit are each SCARA type robots. The first movable part is configured to move the first gripping part in a first direction, a second direction perpendicular to the first direction, and a third direction perpendicular to both the first and second directions. The apparatus for manufacturing an object to be inserted, according to claim 1, wherein the second movable part is configured to move the second gripping part in the first direction, the second direction, and the third direction.

4. The insertion object manufacturing apparatus according to claim 1, wherein the first gripping portion is configured to rotate the guide member so as to lift the tip of the guide member when the guide member is inserted into one of the plurality of holes.

5. The apparatus for manufacturing an object to be inserted, according to claim 4, wherein the first moving part is configured to move the tip of the insert, which has been inserted into one of the plurality of holes, away from the hole into which the insert was inserted, while the first gripping part is gripping the tip of the insert.

6. The base includes a base and a sliding part configured to be slidable relative to the base. The apparatus for manufacturing an object to be inserted, according to any one of claims 1 to 5, wherein the sliding part is configured to pull the insert by sliding while the insert is locked in place.

7. A step of holding the object to be inserted at the base, The process includes passing the insert through a plurality of holes provided in the object to be inserted, which is held at the base, using a first moving part and a second moving part that move the insert, In the step of passing the insert through the plurality of holes provided in the object to be inserted, A guide member for guiding the insert of the first movable part is inserted into one of the plurality of holes, A method for manufacturing an object to be inserted, wherein the guide member is inserted into one of the plurality of holes, and the second moving part inserts the object to be inserted into one of the plurality of holes along the guide member.

Images