Design And Simulation Of The Gantry Robot

Resently,with the rapid development of the automobile industry,the market of the auto-parts industry has been prosperous.The brake disc,one of the most significant part of the automobile,has also entered a rapid development period.Manual carrying has been widely used in the product line,which shows lower automated,heavier labor forces,higher labor cost and lower product quality.The advantages of manual work can not meet the development of the brake disc.According to the demand of automatic manufacture of Shandong Winhere Auto Parts Manufacturing Company Limited,a gantry robot used to carry the parts in the automatic product line of brake disc has been designed and analysised in this paper.First the technology demand is carried out and the two different configurations are provided according to the analysis of process and arrangement of the brake disc product line.Considering the deflects of different line drive units,the two-freedom gantry robot is confirmed to be the optimum scheme.As the brake disc is heavy and has a long distant to be conveyed in the processing,square steel is applied in the manipulator structural design including the column,beam and z-axis.Some special processing and structural design have been used in this machine,for example,two steel beams are welded on the fitting surface of the beam to make it more convenient to fix the slider,staggered welding method is used to avoid bending deformation,the four-bar mechanism is applied in the end-effector to realize synchronous grasp of the two ordinary cylinders.A 3D model of the gantry robot is created by the software SOLIDWORKS and the carrying process is simulated in the software ADAMS.Through the analysis and simulation,the force curves of the column,beam and other important parts in the carrying process are obtained.By using the finite element analysis software ABAQUS,the strength of the main bearing parts of the robot is analysised.Based on the analysis of stress nephogram,the reliability of the design scheme is obtained.Finally,the six-order modal vibration shape diagram is proposed based on the modal analysis of the robot?Moreover,the influence of vibration in structure is suggested.