Design And Research Of Gantry Manipulator

With the increase of market demand in the shipbuilding industry,the rapid development of marine diesel engine related industries has been driven.Among them,the cylinder head assembly with a relatively complex structure is the key component of the diesel engine,and the quality of its assembly process is important to the working performance of the whole engine influence.At present,most marine diesel engine manufacturers still use manual transportation and assembly in the production process of their cylinder heads.This method has problems such as high labor intensity,high labor cost,slow production speed and unstable product quality,which restricts business development.Therefore,in order to ensure the accuracy of product assembly and improve labor production efficiency,this paper designs a gantry type manipulator for the assembly of a certain type of diesel engine cylinder head,which realizes the positioning and assembly of various parts on the cylinder head and improves the work of the cylinder head production line efficiency.Combined with the design and related simulation analysis of this type of gantry manipulator,the main research contents of this paper are as follows:(1)On the basis of consulting domestic and foreign literature,combined with the functions and actual working environment of the gantry manipulator involved in this article,the working process of the equipment is determined,and the working requirements for the positioning and installation of components on the cylinder head are analyzed.According to the working characteristics of the gantry-type manipulator,the final design scheme of the gantry-type manipulator is completed by comparing and analyzing the advantages and disadvantages of various driving methods,the degree of freedom of the equipment and the difference in the form of coordinate motion.(2)The model of the gantry manipulator is established and assembled by using the 3D modeling software,and the interference check of the overall structure is carried out to verify the accuracy of the model establishment.On this basis,the simulation and analysis of the main stress components in the equipment are carried out,including: in order to ensure the strength and stiffness requirements of the whole machine,the static analysis of the frame structure is carried out;in order to prevent the equipment from resonating during the working process,the modal analysis is performed on the feed drive system;in order to realize the lightweight structure,the method of parameter optimization and topology optimization is used to optimize the structure of components such as the guide rail table and the linear module backplane.(3)In order to better analyze the motion process of the gantry manipulator designed in this paper,based on the research method of multi-body dynamics,two co-simulation methods of Recur Dyn and Matlab/Simulink and Colink are used to analyze the actual working process of the gantry manipulator.The purpose is to compare the force,moving speed and positioning accuracy of the manipulator in the working process obtained under the two simulation methods,select the simulation results with more practical significance,and finally determine that the gantry can be accurately simulated.The simulation scheme of the actual motion of the type manipulator provides a theoretical reference for the rapid implementation and use of the equipment.