Design Of The End Effector Device For The Moving Shoe Surface Transfer And Grabs Machine

In the field of sports shoes industrial production,it is often necessary to print a variety of patterns on the upper of the shoe,in which the heat transfer is a process of transferring the exquisite pattern on the transfer paper to the upper of the shoe by a heat transfer printer.But this process is still a labor-intensive process.The alignment of the marking points on the transfer paper,the marking point on the transfer paper and the mark point on the motion shoe upper of the transfer table is still completed manually.The mark point needs to be kept flat without wrinkle when the mark point is in position,otherwise it will affect the alignment accuracy and lead to the failure of the transfer.This manual operation is labor-intensive and inefficient.So it is necessary to automate this process.Based on the requirements of the thermal transfer printing process of the shoe upper,this paper designs the end effector device for the moving shoe surface transfer and grabs,instead of the manual paper fetching link.The upper end effector motion capture transfer device is mainly composed of a sorting mechanism and a paper fetching device.The paper taking device is designed with flat sucker,which can absorb super flexible material like transfer paper,and ensure that the deformation of transfer paper is within acceptable range.The distribution mechanism is designed by the paper storage device,pick-up,separation,alignment and transport mechanism,which can separate the transfer paper from a pile to ensure the single grab.In order to make the vacuum sucker more stable to adsorb the transfer paper and reduce the deformation of the transfer paper,this paper analyses the position distribution of the vacuum suction disc,the design of the lip,the suction point group and the pressure design,and finally determines the concrete structure of the vacuum sucker.Due to the excessive influence factors of transfer printing paper,the orthogonal experiment is designed and simulated by ANSYS.The mathematical model between the deformation and the influencing factors of the transfer paper is obtained through experimental data,which confirms the rationality of the design.According to the extremism calculated by the mathematical model,the original design of the suction point position distribution,the suction point group and the pressure were optimized to ensure the tiny deformation of the transfer paper.In the design of the separation mechanism,in order to store more transfer paper in the storage bin,reduce the frequency of manual paper feeding,and improve the transfer efficiency,a new paper placement technology was designed.The analysis and design of pickup mechanism,separation mechanism,counterpart mechanism,transport mechanism and so on are fully taken into account of the shape of transfer paper and the factors that cause the automatic feeding of paper in the process of automatic feeding.Using Solid works software to build three-dimensional model and optimize the above institutions,and finally get a stable operation of the separation mechanism.