Automated assembly and stitching of shoe parts.

(54) Title: ASSEMBLY AND AUTOMATED SEWING OF PARTS OF THE SHOE.

(54) Title: AUTOMATED ASSEMBLY AND STITCHING OF SHOE PARTS.

(57) Summary

The manufacture of a shoe or a portion of a shoe is improved by carrying out various shoe manufacturing processes in one form. For example, the shoe parts can be temporarily retrieved and assembled in accordance with preset relative positions to form stacks of parts. Stacks of parts can be retrieved with the relative position of the shoe parts held and placed in a sewing machine for more permanent engagement through sewing of the parts to form a shoe assembly. Movement during sewing of a transport mechanism that transfers the stack of parts from the stacking surface to the sewing machine and movement of a needle associated with the sewing machine can be controlled by a shared control mechanism, so that the movements are synchronized with each other. Vision systems can be leveled to achieve movement and position information between and on machines and at different locations.

(57) Abstract

Manufacturing of a shoe or a portion of a shoe is enhanced by executing various shoe-manufacturing processes in an automated manner. For example, shoe parts may be retrieved and temporarily assembled according to preset relative positions to form part stacks. The part stacks may be retrieved with the relative positioning of the shoe parts being maintained and placed at a stitching machine for more permanent attachment via stitching of the parts to form a shoe assembly. Movement during stitching of a conveyance mechanism that transfers the part stack from the stacking surface to the stitching machine and movement of a needle associated with the stitching machine may be controlled by a shared control mechanism such that the movements are synchronized with respect to one another. Vision systems may be leveraged to achieve movement and position Information between and at machines and locations.

ASSEMBLY AND AUTOMATED SEWING OF PARTS OF THE

SHOE

Field of the Invention

The present invention relates to automated shoe manufacturing. More particularly, the present invention relates to assembling and stitching parts of the shoe, for example, parts of the shoe that collectively form all or part of the upper structure of the shoe, in an automated manner.

Background of the Invention

The manufacture of a shoe typically requires several stages of assembly, such as cutting, forming, assembling, bonding and / or stitching of various parts of the shoe together. Some methods of completing these stages, such as those based on manual execution, can be intensive and can be highly variable.

Brief description of the invention

This summary provides a high-level review of the invention and various aspects of the invention and introduces a selection of concepts that are also described in the following detailed description. This summary is not intended to identify the key characteristics or essential features of the claimed matter, nor is it intended to be used as an isolated aid in determining the scope of the claimed matter.

Briefly and to a high standard, this invention describes, inter alia, assembling and stitching parts of a shoe in an automated manner. For example, the individual parts of the shoe (for example, parts of the shoe that collectively form all or part of the shoe upper frame assembly) can be temporarily retrieved and assembled at a stacking station in accordance with the preset relative positions to form the stacks of parts. The stacks of parts are retrieved with the relative positioning of the shoe parts that are held and placed in a sewing machine for more permanent engagement by sewing the parts together to form the shoe assembly. Movement during sewing of the transport mechanism that transfers the stack of parts to the stacking surface to the sewing machine and the movement of the needle associated with the sewing machine can be controlled by a shared control mechanism, so that movements are synchronized with respect to each other.

An exemplary system that assembles and sews shoe parts in an automated manner can comprise various components, such as manufacturing stations, transport mechanisms, vision systems, and a shared control system. In an exemplary aspect, the system includes a first transport mechanism having an associated first capture tool, which can retrieve the shoe parts from at least one manufacturing station and transfer the recovered shoe parts to another manufacturing station, which includes a stacking surface where the recovered shoe parts are placed, at least one shoe part overlaps over at least a portion of another shoe part in a relative preset position to form a wedge of parts. A first vision system can determine the position of the shoe parts recovered by the first transport mechanism relative to the first capture tool, the Position Information is used to assist in locating the shoe parts on the stacking surface. A second viewing system can determine the position of the individual of the recovered shoe parts relative to the stacking surface and can determine the position of the parts stacking relative to the stacking surface. A second transport mechanism including a second associated capture tool can retrieve the stack of parts from the stacking surface and transfer the stack to another manufacturing station, this includes a sewing machine that can sew at least part of the portions overlapping parts of the shoe included in the stacking of parts. The second vision system can determine the position of the recovered stack of parts relative to the second pickup tool and the second transport mechanism can place the stack of parts in position for sewing relative to the needle associated with the pick-up machine. sew. A shared control system uses a processor, which communicates with a computer storage medium and can synchronize the movement of the stack of parts relative to the sewing machine needle by the second transport mechanism with the movement of the needle during sewing.

An exemplary method for assembling and sewing shoe parts in an automated manner can comprise several steps. For example, a first part of the shoe can be recovered with the use of the first transport mechanism, which includes the first capture tool. With the use of the first vision system, the position of the first part of the shoe can be determined relative to the first capture tool and with the use of the second vision system, the position of the base part of the shoe can be determined with relative to the stacking surface. Using the position of the first part of the shoe relative to the first capture tool and the position of the base part of the shoe relative to the stacking surface, the first part of the shoe can be placed on the surface of the stacking, such that at least a portion of the first shoe portion overlaps over at least a portion of the shoe base portion in a preset relative position to form a stack of parts. With the use of the second viewing system, the position of the stack of parts relative to the stacking surface can be determined. The stack of parts can be retrieved from the stacking surface with the use of the second transport mechanism, which includes a second pickup tool, and the stack of parts can be placed in the sewing machine. At least part of the overlapping portions of the first shoe part and the shoe base part can be sewn together. The movement, by the second transport mechanism, of the stack of parts relative to the sewing machine and the movement of a needle associated with the sewing machine can be controlled by a shared control system, so that the respective movements are synchronized.

In another exemplary method of assembling and sewing shoe parts into a shape, the first part of the shoe can be retrieved with the use of the first transport mechanism, which includes a first capture tool. With the use of the first vision system, the position of the first part of the shoe relative to the first capture tool can be determined and the first part of the shoe can be placed on the stacking surface. With the use of the second vision system, the position of the first part of the shoe relative to the stacking surface can be determined. Again, with the use of the first transport mechanism, the second part of the shoe can be retrieved, and with the use of the first vision system, the position of the second part of the shoe relative to the first capture tool can be determined. An adhesive can be applied to at least part of the second part of the shoe. Using the position of the first part of the shoe relative to the stacking surface and the position of the second part of the shoe relative to the first capture tool, the second part of the shoe can be located on the stacking surface , such that at least a portion of the second part of the shoe overlaps on at least a portion of the first part of the shoe in a preset relative position to form the stack of parts, the portion of the second part of the shoe overlaps the portion of the first part of the shoe that includes the part of the second part of the shoe to which the adhesive is applied. With the use of the second vision system, the position of the shoe part in relation to the stacking surface can be determined and the stack of parts can be retrieved from the stacking surface with the use of the second transport mechanism, which includes a second capture tool. The stack of parts can be placed in a sewing machine and at least a part of the overlapping portions of the first part of the shoe and the second part of the shoe can be sewn together. The movement, by the second transport mechanism, of the stack of parts relative to the sewing machine and the movement of the needle associated with the sewing machine can be controlled by a shared control system, so that the respective movements are synchronized.

In certain aspects, the stacking surface used in the systems and methods described above may comprise an adjustable surface for use in the manufacture of shoe parts. The adjustable surface may include a support structure having an essentially flat support surface and a plurality of adjustable members coupled with the support structure. Each of the plurality of support members can be independently adjusted in at least one direction relative to the flat support surface.

Other aspects relate to an exemplary method of manufacturing shoe parts in an automated manner which may include placing a first part of the shoe on an essentially flat upper surface, the upper surface being formed by a plurality of adjustable members supported by a supporting surface. essentially flat, when each of the plurality of adjustable members are in an extended position. The method may also include adjusting one or more of the plurality of members to a retracted position, creating at least one opening to receive the shoe processing tool, where the part of the shoe essentially remains in position on the one or more tight limbs.

Brief description of the drawings

Illustrative aspects of the present invention are described in detail below with reference to the accompanying figures, which are incorporated herein by reference and wherein:

Figures 1 and 2 illustrate schematic diagrams of a top view of an exemplary system for assembling and sewing shoe parts into a shape, in accordance with the exemplary aspects of the present invention.

Figures 3 to 26 are schematic diagrams illustrating, in sequence, exemplary assembly and sewing of two parts of the shoe, in accordance with exemplary aspects of the present invention. More particularly, Figure 3 is a schematic diagram of a perspective view of an exemplary system for assembling and sewing parts of the shoe into one shape, the system having a first part of the shoe located in the first manufacturing station, in accordance with exemplary aspects of the present invention.

Fig. 4 is a schematic diagram of a perspective view of a first stage of the exemplary system of Fig. 3, illustrating the first capture tool associated with the first transport mechanism that retrieves the first part of the shoe shown in Fig. 3, in accordance with the exemplary aspects of the present invention.

Fig. 5 is a schematic diagram of a perspective view of a vacuum plate as the first exemplary capture tool that can be used in accordance with the exemplary aspects of the present invention, the vacuum plate has recovered the first part of the shoe of figure 3.

Figure 6 is a schematic diagram of a perspective view of the first stage of the exemplary system of Figure 3, illustrating the examination by the first vision system of the first part of the shoe recovered by the first capture tool, in accordance with exemplary aspects of the present invention.

Fig. 7 is a schematic diagram of a perspective view of a first stage of the exemplary system of Fig. 3, illustrating the first capture tool passing through an adhesive application station, in accordance with exemplary aspects of the present invention.

Figure 8 is a schematic diagram of a side view of the adhesive application station of Figure 7, illustrating that because the part of the shoe processed by the system of Figures 3 to 9 is a first part of the shoe or the base part, no adhesive is applied to it, in accordance with the exemplary aspects of this

Invention.

Figure 9 is a schematic diagram of a perspective view of a first stage of the exemplary system of Figure 3, which illustrates the placement, by the first capture tool, of the first part of the shoe on the part stacking surface. , in accordance with the exemplary aspects of the present invention.

Fig. 10 is a schematic diagram of a perspective view of the first stage of the exemplary system of Fig. 3, illustrating the first part of the shoe located on the parts stacking surface and a second part of the shoe located on the first manufacturing station, in accordance with the exemplary aspects of the present Invention.

Figure 11 is a schematic diagram of a perspective view of the first stage of the exemplary system of Figure 3, illustrating the first capture tool that retrieves the second part of the shoe shown in Figure 10 from the first manufacturing station , in accordance with the exemplary aspects of the present invention.

Fig. 12 is a schematic diagram of a perspective view of the vacuum plate as a first capture tool that can be used in accordance with exemplary aspects of the present invention, the vacuum plate has recovered the second part of the shoe from figure 10.

Figure 13 is a schematic diagram of a perspective view of the first stage of the exemplary system of Figure 3, illustrating the examination by the first vision system of the second part of the shoe recovered by the first capture tool, in accordance with exemplary aspects of the present invention.

Fig. 14 is a schematic diagram of a perspective view of the first stage of the exemplary system of Fig. 3, illustrating the first capture tool passing through the adhesive application station, in accordance with the exemplary aspects. of the present invention.

Figure 15A is a schematic view of a side view of the adhesive application station of Figure 14, which illustrates that because the part of the shoe is processed by the system of Figures 10 to 17, it is a second part or part of the non-base shoe, the adhesive is applied thereto, in accordance with the exemplary aspects of the present invention.

Figure 15B is a schematic diagram of a side view of the exemplary adhesive application station of Figures 14 and 15A, illustrating that the adhesive application station includes a dispensing mechanism to distribute the applied adhesive over at least one portion of the surface of the second part of the shoe, in accordance with the exemplary aspects of the present invention.

Figure 16A is a schematic diagram illustrating the application of the adhesive in accordance with Figures 15A and 15B, before (or in the absence) of contact with the dispensing mechanism, in accordance with exemplary aspects of the present invention.

Figure 16B is a schematic diagram illustrating the application of the adhesive in accordance with Figures 15A and 15B, after contact with the dispensing mechanism, in accordance with exemplary aspects of the present invention.

Figure 17 is a schematic diagram illustrating a perspective view of the first stage of the exemplary system of Figure 3, illustrating the placement, first by the first capture tool, of the second part of the shoe on the stacking table in the preset position in relation to the first part of the shoe, in accordance with the exemplary aspects of the present invention.

Fig. 18 is a schematic diagram of a perspective view of the first stage of the exemplary system of Fig. 3, illustrating the second part of the shoe located on a portion of the first part of the shoe, in the preset position relative to the first part of the shoe, after releasing the second part of the shoe by the first capture tool, which creates a stack of parts, in accordance with the exemplary aspects of the present invention.

FIG. 19 is a schematic diagram of a perspective view of the second stage of the exemplary system of FIG. 3, illustrating examination of the second part stack viewing system at the stacking station in accordance with aspects exemplary of the present invention.

Fig. 20 is a schematic diagram of a perspective view illustrating examination by the second part stack viewing system at the second stacking or manufacturing station, in accordance with exemplary aspects of the present invention.

Figure 21A is a schematic diagram of a side view of the second manufacturing or stacking station, illustrating the stacking surface including a plurality of independently adjustable members, all members are in the position "Up" in the illustrated view, creating an essentially flat top surface in accordance with exemplary aspects of the present invention.

Figure 21B is a schematic diagram of a side view of the second stacking or manufacturing station of Figure 21A with various adjustable stacking surface members remaining in the "up" position and others moved to the "toward" position. below ”, in accordance with the exemplary aspects of the present invention.

Fig. 21C is a schematic diagram of a top view of the exemplary second manufacturing or stacking station similar to that of Fig. 21A, with various adjustable stacking surface members that can be slidably adjusted in the direction toward the front / back, in accordance with exemplary aspects of the present invention.

Figure 21D is a schematic diagram of a top view of the second stacking or manufacturing station similar to that of Figure 21A with several adjustable stacking surface members arranged in a grid-like orientation having a plurality of rows and a plurality of columns, which form an array of independently adjustable members, in accordance with exemplary aspects of the present invention.

Fig. 22 shows a schematic diagram of a perspective view illustrating examination by a second viewing system of the part stack at the stacking station, after several adjustable members thereof have been moved to the "toward" position. below ”, illustrating that the stack of parts remains essentially in position on one or more adjustable members to be adjusted, in accordance with exemplary aspects of the present invention.

Figure 23 is a schematic diagram of a perspective view of the second stage of the exemplary system of Figure 3, illustrating the second capture tool associated with a second transport mechanism that retrieves the stack of parts from the stacking table that utilizes the openings created by the member fits formed in the stacking surface, in accordance with exemplary aspects of the present invention.

Fig. 24 is a schematic diagram of a perspective view of the second stage of the exemplary system of Fig. 3, illustrating the placement by the second pick-up tool of the stack of parts in the sewing machine, in accordance with the exemplary aspects of the present invention.

Fig. 25 is a schematic diagram of a perspective view of the second stage of the exemplary system of Fig. 3, illustrating sewing of the stack of parts by the sewing machine while the stack of parts moves in accordance with a pattern appropriate stitching by the second transport mechanism, in accordance with the exemplary aspects of the present invention.

Figures 26A and 26B are perspective views of the second capture tool illustrating the nature of changeability thereof, in accordance with the exemplary aspects of the present invention.

Figure 27 is a schematic diagram illustrating the movement of the second capture tool as it rotates during sewing to maintain a consistent angle of the sewing needle relative to a third vision system, in accordance with exemplary aspects of the present invention.

FIG. 28A is a schematic diagram illustrating a preset sewing pattern in accordance with exemplary aspects of the present invention.

Fig. 28B is a schematic diagram illustrating a slightly deformed second part of the shoe with the preset stitching pattern superimposed thereon, in accordance with exemplary aspects of the present invention.

Fig. 28C is a schematic diagram illustrating an adjusted sewing pattern relative to the preset sewing pattern, adjustments having been made based on feedback received from the third vision system, in accordance with exemplary aspects of the present invention .

Figures 29 and 30 are flow charts illustrating methods for manufacturing shoe parts in an automated fashion, in accordance with exemplary aspects of the present invention.

FIG. 31 is a block diagram illustrating the exemplary computing device that can be used with the systems and methods, in accordance with the exemplary aspects of the present invention.

Detailed description of the invention

The subject matter of certain aspects of the present invention is described with respect to certain mandatory requirements. The description itself is not intended to define what is considered an invention, which relates to the claims. The claimed subject matter may comprise different elements or combinations of elements, similar to those described in this document, together with other present or future technologies. The terms are not to be construed as implying any particular order between the different elements described here, unless otherwise specified.

The subject matter described herein relates to automated assembly and sewing of parts of the shoe, and Figures 1 and 2 illustrate schematic diagrams of an exemplary assembly and sewing system 100. For example, Figures 1 and 2 illustrate an aerial perspective of exemplary shoe manufacturing stations and an exemplary method of movement, through exemplary transport mechanisms between them. The configuration of the manufacturing stations in system 100 is exemplary and may be arranged in other configurations. As an example only, system 100 may be comprised of a circular track (eg, transport system) having arms or spokes (eg, other transport systems) that supply within a central circular track. In another exemplary system, a main track may be arranged in a zlg-zag pattern that runs from one station to the other. Again, these described configurations are merely exemplary and a variety of other configurations can be used.

The assembly and sewing system 100 includes a first, second and third manufacturing stations 110, 112, 114 (respectively), an adhesive application station 116, first and second conveyor mechanisms 118 and 120, respectively, and a system 172 for shared control. As illustrated, the first manufacturing station 110 comprising a shoe part retrieval station from which the shoe parts can be retrieved prior to assembly, the second manufacturing station 112 comprises a stacking station for assembling or stacking shoe parts in the preset relative positions to form stacks of parts and the third manufacturing station 114 comprises a sewing station for sewing together the shoe parts which comprise the stacks of parts. The list of shoe making stations is exemplary only and system 100 may also comprise other stations. In addition, specific stations can be added, removed, energized, turned off based on a certain style or type of shoe to be manufactured. For example, although the adhesive application station 116 can be used when processing a type of shoe part (for example, the non-base shoe part), the adhesive application station 116 may be turned off or removed when the system 100 is processing a different type of shoe part (for example, the first shoe part or the base part), as described later. Furthermore, the manufacturing steps described herein as being carried out at one station may be carried out at another manufacturing location or facility that differs from the other stations. Furthermore, one or more stations can be combined so that the manufacturing steps associated with the individual stations are combined into the combined stations. Any and all variations and any combination thereof are contemplated within the scope of the invention.

The illustrated first and second exemplary transport mechanisms 118 and 120 comprise robotic arms. However, the transport mechanisms illustrated here are only exemplary and any suitable moving parts apparatus (eg, a transport mechanism, a motor driven lathe, a XY flat motion table, an XYZ spatial motion table, can be used, etc.), within the scope of the aspects of the invention. The first transport mechanism 118 includes a first capture tool 122 associated therewith to capture or retrieve the shoe parts, for example, from the first shoe part manufacturing or retrieval station 110. In the illustrated embodiment, the first capture tool 122 comprises a vacuum plate that includes one or more openings therein through which air flows inward to temporarily hold the part of the shoe to be captured or recovered, as Describe in more detail later. In one aspect, the first capture tool comprises a part capture tool such as that described in the United States of America patent publication no. 2013/0127193 A1, which is titled “MANUFACTURING

VACCUM TOOL ”(Vacuum Tool Manufacturing), with file number NIKE 182096, which is incorporated herein by reference in its entirety. However, it should be understood and appreciated that the first capture tool may comprise any capture tool including but not limited to, a clamping tool, a circular motion tool, an electrostatic based tool, and the like.

As illustrated by the dotted line, the first transport mechanism 118 is configured to retrieve shoe parts from the first shoe making or recovery station 110 and temporarily hold the shoe parts as they move through the first system 124 of vision (refer to FIG. 2), they move through the adhesive application station 116 and are placed in the second manufacturing or stacking station 112 . The second manufacturing station 112 includes a stacking surface 126 associated therewith for positioning and / or stacking various parts of the shoe at least partially on top of each other in preset relative positions to prepare them for downstream processing, as will be described later . For ease of explanation only, the exemplary portion of system 100 through which the first transport mechanism 118 moves (i.e., the portion of system 100 through which the movement of the first transport mechanism 118 through the Dotted line in Figure 1) is referred to herein as the first stage of system 100.

Referring now to Figure 2, the second transport mechanism 120 includes a second capture tool 128 associated therewith. In the illustrated aspect, the second capture tool 128 comprises an interchangeable clamping tool. However, it should be appreciated that the nature of the second capture tool is not intended to limit its aspects and any appropriate capture tool may be used, without limiting, a circular motion tool, a vacuum tool, etc. As illustrated by the dotted line, the second transport mechanism 120 is configured to retrieve the stacked shoe parts from the second manufacturing or stacking station 112 and moves the stacked parts to the third manufacturing or stitching station 114. In the illustrated aspect, the third manufacturing station 114 comprises a sewing machine 130 associated therewith for sewing the different parts of the shoe, as described in more detail below. For ease of explanation only, the exemplary portion of system 100 through which the second transport mechanism 120 moves (i.e., the portion of system 100 through which the movement of the second transport movement 120 is illustrated by the dotted line in FIG. 2) is referred to herein as the second stage of system 100.

Referring now to Figures 3 through 26, schematic diagrams are shown illustrating, in sequence, the assembling and stitching of two shoe parts together, in accordance with aspects of the present invention. It should be understood that aspects thereof are not limited to the assembly and sewing of only two parts of the shoe, rather they can be used to sew any number of shoe parts and / or assemblies of shoe parts. In one aspect, the unit of flat pre-cut upper shoe parts can be assembled and sewn together in an automated fashion to form semi-finished upper shoe structures. It is also contemplated that one or more of the illustrated sequential steps may be omitted, additional steps may be inserted, and one or more steps may be rearranged in a sequential order in accordance with aspects thereof.

FIG. 3 is a schematic diagram of an exemplary system 100 for assembling sewn shoe parts in an automated manner shown in FIGS. 1 and 2, system 100 has a first shoe part 132 located at the first manufacturing station 110 or recovery parts of the shoe. Before being placed in the first manufacturing station 110, the parts of the shoe (eg, the first part 132 of the shoe) can be held in a parts loading station (not shown). An exemplary part loading station can be a non-moving surface, such as a table or counter from which parts are transferred to part supply apparatus. For example, parts can be loaded automatically or manually onto part supply devices. Furthermore, an exemplary part loading station may be comprised of a conveyor belt or other automated apparatus for moving the parts. For example, the part loading station can move the shoe parts over the part supply apparatus in one way. An exemplary system comprising parts charging stations and parts supplying apparatus is illustrated and described in the United States of America patent publication no. 2013/0125319 A1, which is titled AUTOMATED MANUFACTURING OF SHOE PARTS, with file number NIKE: 162499, which is incorporated herein by reference in its entirety.

The parts of the shoe (eg, the first part 132 of the shoe) can be cut or otherwise prepared to be incorporated or assembled within another part of the shoe. For example, in one aspect, the shoe parts may have been automatically cut from the raw material with the use of an automatic capture tool (n shown). An exemplary automatic capture tool may comprise a sharp edge that is shaped to coincide with the outer line of the shoe part and is pressed into the raw material. When using an automatic capture tool, the system 100 can derive a part identification, a part location, a part rotation and / or part size from the automatic capture tool. For example, an automatic capture tool can record the size and shape of the cut pattern used to create the shoe part and communicate the recorded information to system 100, which informs system 100 of the identification and / or size of the shoe. the part of the shoe cut. Furthermore, the automatic capture tool can record the location in which the cutting stage was executed, as well as the rotation of the cutting instrument when the cutting stage is executed and communicate this recorded information to system 100, which informs the system. 100 on the orientation (eg, coordinate positions and rotation) of the cut part of the shoe within the system. In an exemplary aspect, this Part Identification information and Part Orientation Information, which can be derived from a capture tool, can be used to determine the position at which the system 100 places the part and engages the part.

The parts of the shoe, such as the first part 132 of the shoe, may be composed of a single part or of a plurality of assembled parts. For example, the shoe parts can be composed of one or more layers of material, such as leather, polymers, textiles, rubber, foam, mesh, TPU and / or the like. Furthermore, the shoe parts can have a variety of features or combinations of features, such as rigid, malleable, porous, non-porous, etc. Furthermore, the parts of the shoe can be composed of a pre-laminated composition (for example, hot-melt) that helps to facilitate the adherence of one part to another part before sewing. In an exemplary aspect, the shoe parts represent different parts of the upper structure of a shoe to be assembled before molding the upper structure of the shoe for engagement with other parts of the shoe. The shapes and combinations illustrated by the shoe parts here are only exemplary.

Referring to Figure 4, the first stage of the exemplary system 100 of Figure 3 is illustrated and the first capture tool 122 associated with the first transport mechanism 118 is shown retrieving the first part of the shoe shown in Figure 3 (cover by the first capture tool 122 and is therefore not visible in Figure 4) from the first shoe part manufacturing or retrieval station 110. As shown in Figure 5, the illustrated system 100 includes a vacuum plate as a first capture tool 122, the vacuum plate includes one or more openings 134 therein through which air flows inward into the direction of the arrows to temporarily hold the first part 132 of the shoe after recovery. In one aspect, the first capture tool 122 comprises a part capture tool such as that described in United States of America Patent Application no. 13 / 299,934, which is titled MANUFACTURING VACUUM TOOL (Vacuum Tool Manufacturing), with attorney docket number NIKE 162096, which is incorporated herein by reference in its entirety. It should be understood and appreciated, however, that the first capture tool comprises any appropriate capture tool, including, without limitation, a clamping tool, a circular motion tool, an electrostatic based tool, and the like.

Once recovered by the first capture tool 122, the first transport mechanism 118 moves the recovered part of the shoe (covered by the first capture tool and is therefore not visible in the view of Figure 6) to a first system 124 of vision, where the position of the first part of the shoe is determined in relation to the first capture tool 122. In one aspect, the position of the first shoe part 132 relative to the first capture tool 122 may include information about the position of the first shoe part 132, as well as, for example, the position and / or orientation. of the first part 132 of the shoe. Such position and orientation information can be particularly useful when the first part 132 of the shoe has an irregular shape, as illustrated. In certain aspects, the first vision system 124 includes an image capture device (eg, a camera, a video recorder, a device coupled with the load, etc.) which is configured to capture one or more images of the first part 132 of the shoe and its location (including orientation and / or position) relative to the first capture tool 122. In certain aspects, the first vision system 124 may also include a computer system (not shown) having vision software functionality, the computer system is coupled with the image capturing device to use the captured images, and the information, as well as, in an exemplary aspect, the part identification and / or part orientation information that can be derived from a capture tool and is provided to system 100 as set forth above, to derive the assembly and sewing information for further processing.

Referring now to Figure 7, the first transport mechanism 118 continues the movement of the first part of the shoe (covered by the first capture tool and therefore not visible in the view of Figure 7) through the first capture tool 122 to adhesive station 116. As will be better seen in the view of FIG. 8, the adhesive application station 116 includes an adhesive supply mechanism 136, for example, a nozzle configured to supply the adhesive over the portion 132 of the shoe held by the first tool 122 catch. The adhesive application station 116 also includes an adhesive distribution mechanism configured to distribute the applied adhesive over at least part of the surface of the appropriate shoe part and more evenly distribute the adhesive with an essentially uniform thickness. Such an adhesive distribution improves the adhesion of multiple parts of the shoe to each other after contact.

Generally speaking, there are two exemplary types of shoe parts that utilize the system 100 of Figures 3 to 26 base shoe parts (i.e., the shoe parts or shoe assemblies that are placed directly on the surface of the shoe). stacking for assembly better than at least another part of the shoe partially on top of another) and parts of the non-base shoe (i.e. shoe parts or part assemblies to be placed on the stacking surface 126 so that at least a portion thereof overlaps over at least a portion of the base shoe part or part assembly already present in stacking surface 126). Although the present example is limited to two parts, it is contemplated that any number of parts can be used in any combination that can utilize aspects of the present invention. In the example illustrated in Figures 3 to 26, the first part 132 of the shoe comprises a part of the base shoe. Accordingly, in the aspect shown, no adhesive is applied to the first part 132 of the shoe as it is a part of the base shoe and itself does not adhere to another part of the shoe in the illustrated step of processing. As such, the adhesive application station 116 is turned on or otherwise not activated, as the first transport mechanism 118 moves the first capture tool 122 with the first shoe part 132 through the station 116. adhesive application without applying adhesive.

Referring now to Figure 9, the first transport mechanism 118 continues the movement of the first capture tool 122 and accordingly, the first shoe part 132 to the second stacking or manufacturing station 112, where the First part 132 of the shoe is located on the stacking surface 126. The position and orientation can be determined, in part, based on the position of the first shoe part 132 relative to the first capture tool 122 determined by the first vision system 124 and / or any part identification information and / or part orientation that can be derived, for example, from the capture tool or is otherwise provided to system 100. As illustrated in FIG. 10, after releasing the first shoe part 132 of the first capture tool 122 onto the stacking surface 126, the second vision system 146 examines the first shoe part 132 on the stacking surface 126 and determines the position of the first part 132 of the shoe relative to the stacking surface 126. Furthermore, the first transport mechanism 118 returns to the first part recovery or manufacturing station 110, where the second part 140 of the shoe is placed for recovery.

As illustrated in Figure 11, the first capture tool 122 associated with the first transport mechanism 118 retrieves the second part of the shoe (covered by the first capture tool and is therefore not visible in the view of Figure 11 ) from the first part manufacturing or recovery station 110. As shown in Figure 12, the first capture tool comprises a vacuum plate, such as the first capture tool 122, as described above with reference to Figure 5. The first capture tool 122 includes a plurality of openings 134 therein through which air flows inward in the direction of the arrows temporarily holding the second part of shoe 130 after recovery.

Once recovered by the first capture tool 122, the first transport mechanism 118 moves the recovered second part of the shoe (covered by the first capture tool 122 and is therefore not visible in the view of Figure 13) to the vision system 124, where the position of the second part of the shoe in relation to the first capture tool 122 is determined. As set forth with reference to FIG. 6 above, in one aspect, the position of the second shoe part 140 relative to the first capture tool 122 may include information about the position of the second shoe part 140 such as , the position and / or orientation of the second part 140 of the shoe. Position and orientation information can be particularly useful when the second part 140 of the shoe is irregularly shaped, as illustrated.

With reference to Figure 14, the first transport mechanism 118 continues the movement of the second part of the shoe (covered by the first capture tool 122 and is therefore not visible in the view of Figure 14), through the first capture tool 122 to the adhesive application station 116. As described above with reference to Figure 8, there are two basic types of shoe parts that will be used with the system 100 of Figures 3 through 16 - shoe parts (i.e., the shoe parts or assemblies of parts that will be placed directly on the stacking surface 126 for assembly, rather than partially overlapping on another part of the shoe) and parts of the non-base shoe (i.e. the parts of the shoe or part assemblies to be placed on the stacking surface 126, such that at least a portion thereof overlaps over at least a portion of the part of the shoe or other part assembly already present in stacking surface 126). As in the example illustrated in Figures 3 to 26, the first part 132 of the shoe is already located on the stacking surface 126, the second part 140 of the shoe is a non-base part of the shoe. Accordingly, the adhesive is applied to the second part 132 of the shoe at the adhesive application station 116 to assist, at least temporarily, in the adhesion of the second part of the shoe to at least a portion of the first shoe parts 132 or base part.

In one aspect and as can best be seen in view of Figures 15A and 15B, the adhesive application station may include an adhesive supply mechanism 136, for example, a spray nozzle, which supplies the adhesive onto the surface of the second part 140 of the shoe. The first transport mechanism 118 moves the first capture tool 122 and thus the second part 140 of the shoe in a direction relative to the adhesive application station 116, so that the adhesive is supplied over at least a portion from the surface of the second part 140 of the shoe. After application of the adhesive, the surface of the second shoe portion 140 on which the adhesive is applied is in contact with the adhesive delivery mechanism 138 (see FIG. 15B). As adhesive distribution mechanism 138 contacts the second surface portion of shoe portion 140, the adhesive is more evenly distributed over at least a portion of the surface with an essentially uniform thickness. Figures 16A and 16B illustrate exemplary distribution of adhesive 142 (shown in dotted line) without the use of adhesive distribution mechanism 138 (Figure 16A) and with the use of adhesive distribution mechanism 138 (Figure 16B). As stated above, such adhesive distribution improves the adhesion of two shoe parts to each other after contact.

As described above, in certain aspects, the shoe parts may comprise a pre-laminated composition (eg, hot melt) that helps facilitate adhesion of one part of the shoe to another. In such cases, it should be noted that the adhesive application station 116 can be turned off or otherwise absent from the system 100, since the application of the adhesive will not be necessary.

Referring now to Figure 17, the first transport mechanism 118 continues the movement of the first capture tool 122 and accordingly, the second shoe portion 140 to the second stacking or manufacturing station 112, where the Second shoe part 140 is located on stacking surface 126 such that it overlaps at least a portion of the first shoe part 132 in a predetermined relative position. The first and second shoe parts assembled so that second shoe part 140 overlaps at least partially over at least a portion of the first shoe part 132, which forms a stack of parts or assembly 144 on the surface Stacking 126, as shown in figure 18. The position and positioning orientation of the second shoe part 140 over at least a portion of the first shoe part 132 can be determined in part, based on the position of the second shoe part relative to the first tool 122 of capture determined by the first vision system 124, the first part 132 of the shoe relative to the stacking surface 126 determined by the second vision system 146 and / or any part identification and / or part orientation information that may be derived, for example, from the capture or otherwise provided to system 100. After releasing the second shoe part 140 from the first capture tool 122 onto the stacking surface 126 in the preset position relative to the first shoe part 132, the first transport mechanism 118 returns to the first manufacturing station 110 , where another part of the shoe (not shown) may be placed on the recovery or in the off or preset position to await the recovery of another instruction.

Referring now to FIG. 19, a schematic diagram of the second stage of the exemplary system 100 of FIG. 3 is illustrated illustrating examination by the second viewing system 146 of the stack 144 of parts at the stacking surface 126. The second viewing system 146 examines the part stack 144 on the stacking surface 126 to determine the position of the part stack 144 relative to the stacking surface 126. Optional light emitting devices 145 are introduced in Figures 19 and 20 for exemplary purposes. The light emitting devices 145 are illustrated as configured to illuminate at least a portion of the stacking surface 126, in an exemplary aspect. The light emitting device 145 can be any light source that provides a wavelength of light of any intensity, such as incandescent lights, light emitting diodes, and / or fluorescent lights, which provide illumination in the visible spectrum, in the spectrum Infrared and / or in the ultraviolet spectrum, for example. Any number or configuration of light emitting devices can be implemented in various respects provided herein. The light emitting device 145, in an exemplary aspect, can enhance the ability of the second vision system 146 to identify features, lines, intersections, joints, contours, dimensions, position, and the like of one or more components, such as the battery 144 parts. This enhancement provided by the light emitting device 145 may be convenient for lower contrast detections, for faster visual detection by electronic detection means, and / or for increased confidence in feature / edge detection, for example. An enlarged view of this portion of system 100 is illustrated in Figure 20.

In one aspect, the position of the stack of parts 144 relative to the stacking surface 126 may include information about the location of the stack of parts 144, as well as for example, the position and / or orientation of the stack 144 of parts. Such position and orientation information may be particularly useful when the stack of parts has an irregular shape, such as the stack 144 of parts illustrated in Figures 19 and 20. In certain respects, the second vision system 146, such as the first vision system 124, includes an Image capture device (eg, a camera, a video recorder, a charge-coupled device, etc.), which It is configured to capture one or more images. The second vision system 146 may be configured to capture images of the stack 144 of parts and their location (which includes orientation and position) relative to the stacking surface 126. In certain aspects, the second vision system 146 may also include a computing system (not shown) coupled with the image capturing device to use the captured images to determine the Retrieval and Sewing Information for downstream processing.

Furthermore, by leveling the second vision system 146 to determine the position of the stack 144 of parts relative to one or more components, it is contemplated that the second vision system 146 can be operated to virtually position and adjust the preset sewing pattern in one or more portions of the stack 144 of parts, which can be used by the sewing apparatus afterwards. As will be described in more detail later with respect to Figures 27 and 28, a preset stitching pattern may be based on the nature of the parts of the shoe that comprise the stack 144 of parts to be stitched (that is, the known information with respect to the type of shoe part assembly to be processed, the design of the shoe part assembly to be processed, the materials comprising the shoe parts to be sewn together, and the like). At certain times, however, for example, when there is a defect in one of the parts of the shoe comprising the stack of parts or when there is some slippage during the positioning of the parts of the shoe and / or the stack of parts during Assembled and before sewing, adjustments can be made to the preset sewing pattern as appropriate. This is the sewing pattern positioning and adjustment that the second vision system 146 can use to perform these functions.

In an exemplary aspect, it is contemplated that the second vision system alone or in combination with the computing system is configured to capture a representation of the stack of parts. The second vs system and / or the computation system can be associated with a preset stitch pattern with the captured representation of the part stack. For example, a sewing pattern is kept in memory, which has the desired pattern for an optimal part stack can be laid out, virtually (eg digitally) (eg projected) on the captured representation of the pile of parts, which allows the computer system and / or the vision system to determine that the preset sewing pattern results in a displacement of at least one seam through the stack of parts relative to the edge of a portion of one of the parts of the shoe that overlaps a portion of another part of the shoe that is outside the desired deviation range. In other words, when the preset sewing pattern deviates from the desired relative location in the part stack (for example, proximity to edge or an overlapping location), the preset sewing pattern is determined not to require alteration. As a result, it is contemplated that the computer system and / or the second vision system will then generate a tight sewing pattern, which maintains the displacement of the seams within the desired deviation range. This adjusted sewing pattern can then be associated with and kept in memory for the particular part stack and subsequent sewing operation. For example, the adjusted sewing path may define one or more movements to be made by a transport mechanism and / or for the sewing machine to stitch on the stack of parts in accordance with the adjusted sewing path.

In an exemplary aspect, the sewing pattern that is virtually placed and adjusted in the 144 stack of parts is kept in the memory of the computer system (for example, PLC) so that when the 144 stack of parts is placed in the sewing apparatus, the transport mechanism moves the stack 144 of parts with an appropriate movement that causes the stack of parts 144 to be sewn in determined locations with the help of the second vision system 146, in an exemplary aspect. This function is also described later in an alternative / additional aspect, which uses a third vision system 170. As you can see, any combination or individual vision system can be used to determine the sewing pattern.

The stacking surface 126 of the exemplary system 100 of Figures 3 to 26 may be essentially on a plane parallel to the support surface of the third manufacturing station 112. As illustrated, the stacking surface 126 includes a plurality of adjustable members 148, each of the members being independently adjustable, in at least one direction relative to the plane through hydraulics, electromagnets, tires, and the like. . In one aspect, the plurality of adjustable members can be aligned essentially parallel to each other, such that the longitudinal axes thereof are perpendicular to the plane of the stacking surface 126 and each member 148 can be independently adjusted by at least a direction perpendicular to the plane of the stacking surface 126. In other aspects, one or more of the plurality of members 148 may be adjustable in the direction parallel to the plane of the stacking surface 126 (eg, slidably adjustable in the forward / backward or side-to-side direction) or in any other appropriate direction. Although the sequential process illustration of Figures 3 through 26 primarily shows the row or column configurations for independently adjustable members 148, it is contemplated that any other relative relationship of the independently operable members can be used. Independent. For example, the plurality of members 148 may be arranged in a grid-like orientation having a plurality of rows and a plurality of columns, which form an array of independently adjustable members 148, as shown in Figure 21D. any and all variations and any combination thereof are contemplated within the scope of aspects thereof.

In certain aspects, each adjustable member 148 comprises a stacking surface 126 having an extended position and a retracted position. When all of the members 148 are in their respective extended positions, an essentially flat top surface is formed on the stacking surface 126. When one or more of the members 148 is in their respective retracted positions, one or more openings can be created that are configured to receive one or more tools used in automated manufacturing downstream of shoe parts, as described in more detail below .

In certain respects, the second vision system 146 is configured to utilize the determined position information of the stack of parts 144 relative to the stacking surface 126 (and, where applicable, any additional information provided to the system 100 regarding the shoe parts to be assembled) to generate instructions for some of the plurality of members 148 to be adjusted (eg, with the use of hydraulics, tires, and / or the like) to accommodate retrieval of the stack of parts 144 from the stacking surface 126. In one aspect, the plurality of adjustable members can be aligned essentially parallel to each other, so that the respective longitudinal axes thereof are perpendicular to the plane of the stacking surface 126 and each member 148 can be independently adjusted by at least a direction perpendicular to the plane of the stacking surface 126. Such an aspect is illustrated in Figures 21A and 21B. Figure 21A illustrates all members 148 that are in an "up" or extended position as they were stacked from the first and second shoe parts 132 and 140 to form the stack 144 of parts (see Figure 20). Figure 21B illustrates various adjustable members 148 that remain in the "up" or extended position and others to be moved to the "down" or retracted position after receiving Instructions from the second vision system 146 and based on the determined position. of the stack 144 of parts relative to the stacking surface 126 (and any other information received by the system 100, as applicable). FIG. 22 illustrates examination by the second part stack viewing system 146 relative to stacking table 126, similar to FIG. 20, but after several adjustable members 148 have been moved to the "down" position. or retracted in accordance with the aspect illustrated in Figure 21B. In other words, the members 148 fits can be selectively retracted to form an opening into which a portion of the capture tool can be inserted without altering the stack 144 of parts before securing the stack 144 of parts with the portion of the capture tool. The adjustable members 148 can be selectively adjusted based on the Identified position of the part stack and the configuration of the identified or known pickup tool such that different adjustable members 148 can be retracted for similar part stacks due to to a change in the position of the stack of parts relative to the stacking surface 126 or to a difference in the configuration of the capture tool.

In another aspect, one or more of the plurality of members 148 can be adjustable in the direction parallel to the plane of the stacking surface 126, for example, can be slidably adjusted in the forward / backward direction, as shown in Figure 21C; after receiving instructions from the second viewing system 146 and based at least in part on the determined position of the stack 144 of parts relative to the stacking surface 126.

Fig. 23 is a schematic diagram illustrating the second capture tool 128 associated with the second transport mechanism 120, which retrieves the stack 144 of parts from the stacking surface 126, using openings 150 in surface 126. of stacking created by the adjustments of member 148. As illustrated, the second pickup tool 128 comprises a holding tool having two tines 152 spaced apart from each other by a fixed distance. The adjustable members 148 of the stack pile 126 have been adjusted so that the tines 152 fit between the adjustable members to retrieve the stack 144 of parts from the stacking surface 126. Although the tines 152 of the exemplary clamping tool comprising the second capture tool 128 are at a fixed distance apart from each other, the capture tool 128 itself can be interchanged and can be released and replaced by yet another capture tool suitable for retrieving a given stack of parts and transfers the stack of parts to third manufacturing station 112 for further processing.

Referring to Figures 26A and 26B, two different cutting tools 128A and 128B, respectively, are illustrated as coupled with the second transport mechanism 120. The second capture tool 128 can be exchanged based on the information concerning the assembly of parts of the shoe to be processed and / or based on the information derived from the second vision system 146, for example, the location of the appropriate openings on the stacking surface 126 that can be used for the recovery of the stack 144 of parts, the information concerning the position of the stack of parts 144 with respect to the stacking surface 126 and the like. Any and all variations and any combinations thereof are contemplated as being within the scope of aspects thereof. In one aspect, the second capture tool 128 can be changed automatically and without human intervention. Furthermore, it is contemplated that the second capture tool 128 can be dynamically adjusted, so that the width between the tines can be adjusted based on the stack 144 of parts to be manipulated. The contact surface of the stack of parts of different cutting tools can incorporate various materials that provide the desired clamping force, while preventing damage to one or more surfaces of the stack of parts 144. For example, it is contemplated that the first contact surface with the stack of parts can be formed with polyurethane, vinii-ethylene acetate, rubber, silicone, paper sandpaper, and other appropriate materials. It is also contemplated that an upper contact surface of the stack of parts may use a different material than the lower contact surface of the stack of parts of the capture tool. For example, the aesthetic sensitivity of the top stack for a stack of parts may require a more protective material than the bottom surface of the stack of parts, in an exemplary aspect.

Referring again to Fig. 23, once the second capture tool 128 has retrieved the stack 144 of parts from the stacking surface 126, the second viewing system 146 examines the stack 144 of parts in clamping the second capture tool 128 to determine the position of the stack 144 of parts relative to the second capture tool 128. In this way, any slippage or other movement caused by the retrieval of the stack 144 of parts from the stacking surface 126 can be determined and accounted for prior to the start of downstream processing, as will be described in more detail below.

After the recovery of the stack 144 of parts from the stacking surface 126 by the second capture tool 128, the second transport mechanism 120 can transfer the pile 144 of parts (by the second capture tool 128) to the third station Manufacturing 112 for sewing together the first and second parts of the shoe 132, 140, comprising the stack 144 of parts in the sewing machine 130, as illustrated in FIG. 24. In one aspect, the second transport mechanism 120 places the stack 144 of parts in position for sewing relative to the sewing machine 130, that is, places the stack 144 of parts such that the location in the stack 144 of parts, where the sewing is to start (the first sewing position) is located below the needle 154 associated with the sewing machine 130. Sewing of the first and second shoe parts 132, 140 comprising the stack 144 of parts can then be started.

As illustrated in the schematic diagram of FIG. 25, the stack 144 of parts can be placed in position with respect to the needle 154 of the sewing machine 130, so that the stack 144 of parts is in position for sewing. The movement of the stack 144 of parts relative to the sewing machine 130 is controlled by the second capture tool 128 of the second transport mechanism 120, which itself is controlled by the shared control system 172, which synchronizes the movement of the second transport mechanism 120 (and therefore of the second capture tool 128) and the movement of the needle 154 of the sewing machine 130. Thus, when needle 154 engages with stack 144 of parts (ie, when needle 154 is in the "down" position), the second transport mechanism 120 does not have to move stack 144 of parts and when the needle is decoupled from the stack 144 of parts (that is, when the needle 154 is in the "up" position), the second transport mechanism 120 moves the stack 144 of parts relative to the needle 154 in accordance with an adjusted or pre-set sewing path, as described in more detail below. The position of the needle can be determined by a sensor, such as a photoelectric sensor, operatively coupled with the shared control system 172. In one aspect, the stack 144 of parts moves along the appropriate sewing path each time the needle 154 is decoupled from the stack 144 of parts.

The third manufacturing station 114 includes a third vision system 170 associated therewith. Like the first and second vision systems 124, 126, the third vision system 170 includes an image capture device (eg, camera, video recorder, charge-coupled device, etc.). The image capturing device of the third vision system 170 may be configured to capture one or more images of the stack 144 of parts and their location (including orientation and / or position) relative to the sewing machine 130. In certain aspects, the third vision system 170 may also include a computer system (not shown) coupled with the image capture device to use the captured images to derive information for downstream processing. As illustrated, the third vision system 170 also includes a light emitting device 174 (eg, an LED, a fluorescent light bulb, a broad spectrum light bulb, a color specific light bulb, etc.). ) to assist in capturing the image.

In one aspect, the third vision system 170 can examine the stack 144 of parts in position on the sewing machine 130 and determine the position of the stack 144 of parts relative to the sewing machine 130, as it relates to the preset sewing pattern. A preset stitching pattern may be based on the nature of the shoe parts comprising the stack 144 of stitched parts (i.e., known information regarding the type of shoe part assembly to be processed, the design of the shoe assembly). parts of the shoe to be processed, the materials that comprise the parts of the shoe to be sewn and the like). However, at certain times, for example, when there is a defect in one of the shoe parts that comprise the stack of parts or when there is a certain amount of slippage during the placement of the shoe parts and / or the stack of parts during assembly and prior to sewing, certain adjustments to the preset sewing pattern may be desirable.

Referring to FIG. 28A, an exemplary shoe portion 156 is illustrated with a preset stitch pattern 158, shown in dotted lines therein. Figure 28A depicts an ideal situation for shoe part 156 shown - the situation where preset stitch pattern 158 provides stitching along appropriate part contours while maintaining proper displacement for sewing, in order to allow a consistent margin between the edge 160 of the shoe part 156 and the preset stitch pattern 158. FIG. 28B depicts a situation where there are a pair of defects 162 in the illustrated non-base shoe portion 164, which will cause stitching in accordance with preset stitch pattern 158 to generate offset edge-shifted seams 166 of part 164 of the shoe. Such inappropriate shifts can create a margin that in the worst case will produce an unusable stitched part of the shoe and in a best case will produce an aesthetically unpleasant stitched part of the shoe. As such, in certain aspects thereof, adjustments can be made to the preset sewing pattern 158 before sewing is started to create a tight sewing pattern 158, which maintains proper seam offsets and margins. A tight sewing pattern 168 is illustrated in FIG. 28C. Such adjustments can be made using the second vision system 145 of Figure 19 and / or the third vision system illustrated in Figure 25.

In an exemplary aspect, the setting of the preset sewing pattern can be achieved with a series of steps. For example, one of the vision systems may capture an image of the parts stack (either before being secured by the second transport mechanism or before being secured) for use in a pattern matching function. The pattern matching function can identify the location of the part stack for a first sewing position. The process can continue with the vision application that performs the edge identification function, which identifies an edge between the layered materials within the stack of parts, from which the margin is established. Once the edge is identified and the first sewing position is located, a computational process can identify a location for the subsequent seam, which is within a tolerable margin from the edge and satisfies the preset sewing pattern, in an exemplary aspect. It is also contemplated that additional steps can be implemented, for example, a preset sewing pattern can be logically projected onto the stack of parts, as oriented by the first located sewing position. The position of subsequent seams can be verified on the fly or in advance with the use of vision software logic to ensure that one or more seams are within the tolerable range.

Adjustments in preset sewing pattern 158 can also be carried out after sewing starts on the third vision system 170, which determines that continuing to sew in accordance with the preset sewing pattern will lead to undesirable sewing offsets and / or or unacceptable. In one aspect, the image capturing device associated with the third vision system 170 can capture an image from the stack 144 of parts after each seam and compares the image with the already adjusted or preset sewing pattern, in order to determine if additional adjustments are necessary to maintain the desired margin of error. Adjustments can be made correspondingly on a seam-by-seam basis to obtain a return stitch on the rail with the sewing pattern used or can be made on the rest of the sewing pattern, as required.

In one aspect, the second capture tool 128 rotates along a path that resembles the sewing path, so that the edge line 176 of the part of the shoe to be sewn remains perpendicular to the image capturing device. of the third vision system 170, as shown in FIG. 27. In this way, an unobstructed view from the image capturing device of the third vision system 170 to the needle 154 of the sewing machine 130 is maintained to better maintain proper seam offsets and margins during sewing. . However, it is contemplated that the implementation of the third vision system, as described, can be omitted, for example, in part, in the exemplary aspects. For example, when the second vision system is used to determine the sewing path for the stack of parts, the third vision system may not be used in general, or may not be used for sewing path identification in some respects. . Therefore, it is contemplated that certain aspects may level the third vision system and some aspects may omit the third vision system, as appropriate. In a further aspect, the third vision system can be used for position or orientation identifications of the part stack or for other features / components not used for the determination of the sewing path, for example.

Referring now to FIG. 29, a flowchart illustrating an exemplary method 2900 for manufacturing shoe parts in a fashion, in accordance with aspects of the present invention, is illustrated. As indicated in block 2910, a first part of the shoe can be recovered with the use of the first transport mechanism, for example, the first transport mechanism 118 of Figure 3, which includes a first capture tool, for example , the first capture tool 122 of FIG. 3. As indicated in block 2912, the relative position of the first shoe part with the first capture tool can be indicated in block 2912, the relative position of the first shoe part and the first capture tool can be determined with the use of the first vision system, for example the first vision system 124 of FIG. 3. The position of the base shoe portion relative to the stacking surface can be determined using the second vision system (eg, the second vision system 146 of FIG. 3), as indicated in block 2914. . As indicated in block 2916, with the use of the position of the first shoe part relative to the first capture tool determined by the first vision system and the position of the base shoe part relative to the surface stacking determined by the second vision system, the first part of the shoe can be placed on the stacking surface, such that at least a portion of the first shoe portion overlaps over at least a portion of the base shoe portion at a preset relative position to form a stack of parts. As indicated in block 2918, with the use of the second vision system, the position of the shoe portion relative to the stacking surface can be determined. As indicated in block 2920, the stack of parts can be retrieved from the stacking surface, which uses a second transport mechanism (eg, the second transport mechanism 120 of Figure 3), which includes the second capture tool (for example, the second capture tool 128 of FIG. 3). As indicated in block 2922, the stack of parts may be located in the sewing machine (eg, the sewing machine 130 of FIG. 3), the sewing machine has a needle associated therewith. The base shoe part and the first shoe part can be sewn together, as indicated in block 2924. In one aspect, the movement by the second transport mechanism of the stack of parts relative to the sewing machine and the movement of the needle of the sewing machine are controlled by a shared control system, for example the system Shared control 172 of FIG. 3, so that the respective movements are synchronized.

Referring now to FIG. 30, a flowchart is illustrated showing another exemplary method 3000 for manufacturing shoe parts in one shape, in accordance with aspects of the present invention. As indicated in block 3010, a first part of the shoe can be recovered with the use of the first transport mechanism (for example, the first transport mechanism 118 of Figure 3), the first transport mechanism includes a first removal tool capture (eg, the first capture tool 122 of FIG. 3). As indicated in block 3012, with the use of the first vision system (eg, the first vision system 124 of Figure 3) the position of the first part of the shoe relative to the first capture tool can be determined . The first part of the shoe may be located on the stacking surface, for example, the stacking bracket 126 of FIG. 3, as indicated in block 3014. As indicated in block 3016, the position of the first part of the shoe relative to the stacking surface can be determined with the use of a second vision system, for example, the second vision system 146 of Figure 3. As indicated in block 3018, the second part of the shoe can be retrieved with the use of the first transport mechanism (eg, the first transport mechanism 118 of Figure 3). With the use of the first vision system, the position of the second part of the shoe relative to the first capture tool can be determined, as indicated in block 3020. As indicated in block 3022, an adhesive, for example A liquid adhesive can be applied to at least part of the second part of the shoe to help adhere, at least temporarily, the first and second parts of the shoe together. As indicated in block 3024, with the use of the position of the first part of the shoe in relation to the stacking surface determined by the second vision system and the position of the second part of the shoe in relation to the first tool of capture determined by the first vision system, the second part of the shoe can be placed on the stacking table, such that at least a portion of the second shoe portion overlaps over at least a portion of the first shoe portion in the preset relative position to form the stack of parts. The portion of the second shoe portion that overlaps the portion of the first shoe portion may include the portion of the second shoe portion to which the adhesive is applied. Using the second vision system, the position of the stack of parts relative to the stacking surface can be determined, as indicated in block 3026. As indicated in block 3028, the stack of parts can be retrieved from the stacking surface with the use of the second transport mechanism, for example, the second transport mechanism 120 of Figure 3, which has a second capture tool for example, the second capture tool 128 of FIG. 3. The stack of parts can be placed in the sewing machine (eg, the sewing machine 130 of FIG. 3), the sewing machine has a needle associated with it, as indicated in block 3030. As indicated at block 3032, at least a portion of the overlapping portions of the first shoe portion and the second shoe portion may be located together. In one aspect, the movement, by the second transport mechanism, of the stack of parts relative to the sewing machine and the movement of the needle associated with the sewing machine can be controlled by a shared control system (for example , the shared control system 172 of FIG. 3), so that the respective movements are synchronized.

Once the plurality of shoe parts have been assembled and sewn, a variety of other shoe manufacturing processes can be carried out by system 100 and / or by other complementary systems (not shown). For example, an upper structure, a midsole and an outsole can be assembled, quality checks can be carried out. In addition, other parts can be added to the assembly, such as laces or certain aesthetic elements. In addition, processes (eg, packaging, cleaning, etc.) can be carried out by system 100 (and / or by another complementary system), which prepares the shoe for transportation or shipment to another location.

As described above, the technology described here may comprise, among other things, a method, a system, or a group of instructions stored on one or more computer-readable media. The information stored on the computer readable medium can be used to direct the operations of a computing device and an exemplary computing device 3100 is illustrated in Figure 31. The computing device 3100 is only an example of an exemplary computing system and is not intended to suggest any limitation on the scope of its use or functionality of the innovative aspects thereof. The 3100 computer system should also not be construed as having any dependencies or requirements related to any one or a combination of illustrated components. Furthermore, the aspects of the invention can also be practiced in distributed computing systems, where tasks are carried out separately or in remote processing devices that are linked through a communication network. Exemplary computing systems may include personal computers, distributed computing systems, programmable logic controllers, and other industrial computing systems, for example.

The computing device 3100 has a conductive bar 3110 that couples, directly or indirectly, the following components: a memory 3112, one or more processors 3114, one or more display components 3116, input / output ports 3118 (l / O), 3120 l / O components and an illustrative 3122 power supply. Conductive bar 3110 represents what can be found on one or more conductive bars (such as an address bar, a data bar, or a combination thereof). Although the different blocks in Figure 31 are shown with lines for reasons of clarity, in reality, outlining the different components is also not clear and metaphorically, the lines will be more accurate in gray. For example, processors may have a memory.

The computing device 300 typically includes a variety of computable readable media. Computer readable media can be any available media that can be accessed by the 3100 computer system and includes volatile and nonvolatile media, removable and nonremovable media. As an example and without intent to limit, computer readable media may comprise computer storage media and communication media. Computer storage media includes volatile and non-volatile and removable and non-removable media in any Information storage method or technology, such as computer-readable instructions, data structures, program modules, or other data.

Computer storage media include, by way of example and without limitation, a random access memory (RAM), read only memory (ROM), programmable, electronically erasable read only memory (EEPROM), flash memory or other memory technologies, CD-ROMs, digital versatile discs (DVDs), or other optical or holographic media, magnetic cartridges, magnetic tape, magnetic disk storage or other magnetic storage devices. Computer storage media does not comprise a propagated data signal.

The communication media typically incorporate computer readable instructions, data structures, program modules, or other data into a modulated data signal, such as a carrier wave or other transport mechanism, and includes any means of information delivery. The term "modulated data signal" means a signal that has one or more of its characteristics fixed or changed in such a way as to encode the information into the signal. As an example and without intent to limit, the media includes wired media, such as a wired network or direct wired connection, and wireless media, such as acoustic, RF, infrared, and other wireless media. Combinations of any of the above may also be included within the scope of the media.

The computing device 3100 is illustrated to have one or more processors 3114 that read data from various entities, such as memory 3112 and / or 1320 l / O components. Exemplary data that is read by a processor may comprise computational code or machine-usable instructions, which may be computer-executable instructions, such as program modules, to be executed by a computer and another machine. In general, program modules such as routines, programs, objects, components, data structures, etc., refer to code that performs particular tasks or that implements particular abstract data types.

The display components 3116 display the data prompts to the user or another device. Exemplary display components are a display device, a horn, a printing component, a light-emitting component, etc. The 3118 l / O ports allow the 3100 computing device to be logically coupled with other devices that include 3120 l / O components, some of which may be built-in.

In the shoe manufacturing context, the computing device 3100 can be used to determine the operations of various shoe making tools. For example, the computing device can be used to control a part capture tool (for example, the first or second part cutting tools shown in Figure 3). Furthermore, the computing device can be used to control the part coupling tool, which couples (eg adheres, sews, etc.) one part of the shoe to another part of the shoe.

Most of the different configurations of the different illustrated components, as well as the components not shown, are possible without departing from the scope of the claims below. The exemplary aspects of the present technology have been described with the intention of being illustrative, rather than restrictive. Alternative aspects will be apparent to readers of this invention before and after reading it. Alternative means for implementing the above can be completed without departing from the scope of the claims below. Certain features and sub-combinations will be useful and can be used without reference to other features or sub-combinations and are contemplated as being within the scope of the claims.