The Design Of The Punching Robot For Textile Upper

As a key part of the shoe-making pipeline,punching the textile upper mark point has a profound impact on the entire process both for accuracy and efficiency.Punching into the textile uppers is a rapid impact dynamic process,under the effect of the punch,the upper fabric will produce elastoplastic deformation and fracture damage,so the dynamic response analysis and study of punching process has a crucial role and influence.In addition,the path planning study designed for punching operations at multiple locations has an equally crucial impact on the work efficiency of the textile upper punching process.This paper designs the punching robot and applies it to the punching process of textile uppers,and creates a three-degree-of-freedom punching robot model to achieve the requirements for multi-point punching motion in the plane;Then,through the use of impact dynamics simulation analysis to fully simulate the dynamic response process of the punching hole,it can obtain the critical value of the punching force for punching the textile uppers;And this paper achieves multi-point punching path planning for textile uppers through designing the algorithm.First of all,this paper has carried on the modular design and the scheme analysis selection to the textile upper punching robot,designs the main mechanical structure of the punching robot,carries on the design,analysis,calculation and verification of the crank connecting rod slider mechanism and linear guide mechanism,and each model Parts and structures are verified by finite element analysis.Solidworks is used to establish a three-degree-of-freedom punching robot model to meet the needs of multi-point punching movements.It can be used in the punching process of textile uppers to improve accuracy and efficiency while saving labor costs.Then,this paper analyzes the kinematics and dynamics of the end effector and simulates the complete punching process through the ANSYS simulation module to obtain the dynamic deformation and fracture response of the textile uppers during punch punching and the force between the punch and the bottom cloth.Combining the results obtained by the tensile test of the shoe upper material and the impact simulation results of the dynamic simulation,the critical value of the power required to achieve punching on the textile upper is calculated.And according to the required critical power to carry out the corresponding analysis and calculation of the drive motor,it can achieve a guaranteed yield while reducing power consumption costs.Finally,this paper designs the path planning algorithm for the multi-point punching of textile uppers.For the case of a small number of punching points,this paper proposes to use the recurrent neural network algorithm to obtain the path optimal solution of multi-point punching.In addition,according to the situation that the number of punching points is more and more complicated,a collaborative recurrent neural network algorithm is proposed to realize effective path planning,obtain an accurate optimal path,and verify the algorithm program results through experiments.By the software,the algorithm program can be run to achieve the optimal punching path,which can greatly improve punching efficiency.