Design Of Upper Grinding System Based On Industrial Robot

China is a great power in the traditional footwear industry and footwear industry brings huge economic benefits to China every year.However,it is an indisputable fact that the technology of Chinese footwear industry is backward and the level of automation is low.These problems have greatly reduced the competitiveness of Chinese footwear industry in the world.Especially in the upper grinding process,because of backward production equipment,resulting in low production efficiency,poor product consistency and other issues.Based on the actual situation of Chinese footwear industry,this thesis puts forward and designs a scheme of using industrial robot and upper grinding process instead of manual grinding,which achieve the automation of upper grinding and obtain a good experimental results.Main research work and productions are listed as follows:(1)Perform cutter location planning and build robot kinematics model.Firstly,the process of upper grinding is analyzed,and the key points of industrial robot for upper sole grinding are summarized.Then position and posture of the end effector at the cutter location are planned.Finally,the D-H method is used to establish the Mitsubishi RV-7F industrial robot linkage coordinate system model,and the direct kinematics and inverse kinematics for robot are obtained.(2)A method for planning the grinding trajectory of the upper based on the secondary development of UG is realized.Using CAD/CAM software NX8.0 and Visual Studio 2017 build UG secondary development environment.Then using C++ and UG/Open API write grinding track information extraction program,and using Python Scikit-Learn optimize tangent vector.Finally,the program is packaged as a dynamic link library(DLL)and integrated into a UG tool to discretize the grinding track curve and extract the position and vector information at discrete points.(3)Write conversion program to turn grinding information into robot motion control program.The conversion program converts the grinding information extracted from the 3D model into the grinding information on the actual workpiece through the cutter location offset and coordinate system conversion,and combines the MELFA-BASIC V language and the robot's motion control instruction format convert grinding information to robot motion control program.(4)The experimental platform for industrial robot grinding upper was built and the system software was written by Qt framework.Finally,the grinding experiment was carried out.Experimental results show that the industrial robot-based upper grinding station can finish the grinding work of irregular curved surface well.