Machine Design Of 5-DOF Dispensing Robot For Shoe-Marking Industry

In view of lower degree of automation, poor working conditions and other issues in adhesive application process of shoe-making, the paper presents 5-DOF dispensing robot for shoe-making industry, using robot technology to complete the shoe-making industry automatic adhesive process, improve product quality and production efficiency, reduce toxic gas emissions, reach green production.After introducing the status of China's shoe-making industry, the paper proposed the using of robot technology to finish adhesive application process is the developing trends and an urgent requirement of the shoe-making industry.The paper designs the body of the 5-DOF Cartesian robot using for adhesive application process, analyses the structures and optimizes it using ADAMS. The Robot's overall structure is determined based on the design specifications and the work conditions. The kinematics analysis is done using D-H method, further analysis of the relationship in displacement, velocity and acceleration between robot'end effector and the robot'five joints is done.The appropriate drive is selected according to the journey, operating speed and accuracy. The robot'three linear movement joints and two rotary joints'concrete structures are designed; three types of dispensing actuators are designed correspond to three kinds of adhesive method; the adjustable fixtures and spaces transfer structure are designed to meet the demand of fixing various shoe and increasing production efficiency.The robot'virtual prototype is set up according to the designed structure in order to shorten product development cycles and realize one-time design. Based on the virtual prototype, the robot kinematics and dispensing process are simulated, the robot's structure are optimized according to the simulating results. Robot'joints torque demands are also simulated to ensure a smooth working condition.Finally, the robot'performance parameters are measured after assembling the prototype, and a series of dispensing experiments are done. The results show that the 5-DOF robot meets the design specifications very good and can be completed finishing dispensing work.