Robotic Shoe Upper Pulling with Force Control
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Solution Overview
Problem
Existing methods for automatically pulling a shoe upper onto a last lack precision and consistency, leading to potential distortion and tension issues, which affect the uniformity and symmetry of manufactured shoes.
Innovation Solution
A method utilizing a robot with a force/torque-controlled robot arm and gripper to carefully position and pull the shoe upper onto a last, employing a controlled sequence of movements to ensure perpendicular pressing forces and prevent transverse forces, changing the tensile force to compressive force after the heel part is seated, to achieve precise and distortion-free alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a robot is used to automatically pull the shoe upper onto the last, then productivity is improved, but manufacturing precision deteriorates due to potential distortion and tension issues
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting the force/torque parameters during the pulling process. The robot controller modifies force parameters in real-time to prevent distortion while maintaining automatic operation, resolving the contradiction between productivity and manufacturing precision.
Solution Approach 2:
The patent implements feedback control through force/torque sensors that continuously monitor the pulling process. The robot controller receives feedback data and adjusts the pulling force accordingly, ensuring uniformity and symmetry while maintaining automated high-speed operation.
2Manufacturing precision
If force/torque-controlled movement is used to pull the shoe upper, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The patent introduces force/torque sensors as intermediaries between the robot gripper and the shoe upper. These sensors act as mediators that provide precise force control without requiring complex control algorithms, simplifying the overall system while improving positioning accuracy.
3Reliability
If the shoe upper is pulled with high force to ensure it is securely seated, then reliability is improved, but the shoe upper may become distorted
Solution Approach 1:
The patent applies dynamics by using time-varying force parameters during the pulling process. The force is dynamically adjusted based on the stage of insertion and resistance encountered, ensuring reliable seating without excessive force that would cause distortion.
Solution Approach 2:
The patent employs periodic action through a multi-stage pulling process with distinct phases. The force is applied in controlled increments rather than continuously, allowing the shoe upper to seat progressively without distortion while ensuring reliable final positioning.
Data Source
AI summary
A method for automatically pulling a shoe upper onto a last using a robot which includes a robot controller, a robot arm controlled automatically by the robot controller, and a gripper which is moved by the robot arm and which is designed to hold a shoe upper.