Research And Design Of Mechanical System Of Operating Robot For Two-Color Sole Molding

The two-color sole molding production process usually requires closing the cavity mold,injection,curing,removing the flying edge residue,opening the mold piece,closing the mold piece,re-injection,re-curing,de-flying edge residue,mold opening,inspection and retrieval and other process links,in addition to injection,the above processes are completed manually,labor intensity,low productivity,poor quality stability,low qualified product rate,it is difficult to adapt to market demand,urgently call for automation of sole production.In order to solve the above problems,this paper uses system engineering principles,robotics,optimization theory,modular design,bionic principles,norm algorithms,etc.to study and design robots that can replace manual operations,improve production efficiency and quality,automate and have certain intelligence,focusing on the research and design of robot transmission systems and end effectors.Using the principle of system engineering,optimization theory and modular design methods,in the systematic analysis of the existing manual operation of two-color sole molding process,functional performance and production cycle requirements,put forward and design to adapt to the two-color sole molding circular turntable production line and replace the overall layout of the workers’ operation of the Cartesian coordinate type operation robot,the transmission system consists of three moving mechanisms and two rotating mechanisms,with the goal of minimized deflection and design of the horizontal movement mechanism(arm)optimization layout and by the main module,The work robot structure built by the turntable module,the end-effector fast wrist module and the end-effector module provides a structural guarantee for the reliable operation of the robot.The D-H matrix method is used to establish a kinematic model of the two-color sole molding operation robot,to study and analyze the positive and negative problems of the kinematics of the operation robot,to obtain the displacement,speed and acceleration of the reference point of the robot arm,and on this basis,the transmission system of the arm is designed to provide kinematic guarantee for the reliable operation of the robot.Using robotics,biomimicry and norm algorithms,etc.,research and design mold opening and closing to replace manual operation,remove flash residue,check and retrieve end-effectors,and wrists that realize rapid conversion of end-effectors to achieve corresponding operation processes.Using imitation crocodile mouth action,research and design of the collision type double fulcrum mold flip end effector of the opening and closing mold;imitation octopus octopus principle research and design of the guided linkage-double slider to remove the flying edge residue end effector,in the limited space theoretically 100% complete the manual difficult to completely remove the flying edge residue operation.According to the sole,bow and heel correspondingly divided into three areas,based on the "plum blossom" lattice method with fewer representative measurement points and represented by different matrices,to provide an effective method for fine measurement of the entire sole;on this basis,the ideal model-tolerance model-error detection triple model of the measured model is proposed and constructed,the pressure sensing technology and double norm algorithm are used to accurately measure and calculate the molding error of the shoe sole parts,and the research and design position adjustable-24-point contact error test end actuator,Realize the effective inspection of molded parts of sizes 35-45 two-color soles.Using the principle of adsorption,the air pressure adsorption type shoe sole parts collection device is designed on the error inspection end effector;through the clever integration of the error inspection device and the pickup device,the workpiece is quickly and reliably inspected and sucked in the same space.Using Solid Works software,optimization theory and optimization design to design and optimize the three-dimensional modeling design and optimization of each module of the two-color shoe sole molding operation robot,the robot virtual prototype is established accordingly;The virtual prototype is simulated by Adams simulation software,and the kinematics and dynamic characteristics of the designed operation robot are further studied and optimized,so as to provide guarantee for improving and verifying the design of the operation robot.