Mechanical Structure Optimization Design Of Large Gantry Frame Welding Robot

In recent years,with the heavy industry rapid development of our country,the realization of automatic welding for the large parts of machinery and equipment become the inevitable trend of the development of the industrial equipment field with gantry welding robot welding equipment for typical,because this kind of large equipment has a large workspace,load capacity of strong,reliable and stable operation,etc,and its welding quality level is higher than human welding quality.At the same time,it can improve the efficiency of welding operation and other characteristics,so that it is gradually widely used in all walks of life,so the research of large and even super large gantry welding robot equipment is of great significance.In this paper,the gantry frame welding robot welding heavy dump truck tipping bucket and large structural parts as the research object,the use of static and static mechanics,kinematics,finite element analysis,optimization design and other theories,with Solid Works,MATLAB,ANSYS and other software as the platform,the combination of theoretical basis and computer construction imitation truth method.The mechanical structure design and simulation optimization of gantry frame welding robot are analyzed and studied.The main work is as follows:(1)This paper based on the gantry welding robot work requirements and the basic parameters,the overall framework of gantry welding robot basic scheme design and layout,and then to the gantry and welding robot main structures such as beams,columns,the base of basic structure design and calculation,large gantry welding robot3 D digital model is set up,and the drive system selection calculation.(2)The kinematics model of gantry frame welding robot was established based on MATLAB software platform to solve the operation mode of its joints.Firstly,D-H coordinate analysis method is used to establish the connecting rod coordinate system of the gantry welding robot.After determining the D-H parameters of each connecting rod,the kinematics equation of the gantry welding robot is derived.Then the forward and inverse kinematics of the joint is solved,and the motion space of the welding robot is simulated by MATLAB.(3)According to the structure characteristics of large gantry welding robot,to simplify the welding robot key components,finite element analysis model is established,by using the ANSYS Workbench software analysis of statics and dynamics analysis of portal frame,and concluded that the deformation,stress and modal vibration mode figure,find the structure weak link,To prevent the gantry structure from resonance,the gantry frame was finally optimized on the structure.The weight of the optimized structure was 224.7kg less than that of the original model,and the weight was 5.86%.At the same time,the lightweight design was also achieved.This paper aims at to automatic welding of large dump in actual engineering,from the aspects of kinematics,statics and dynamics research,large gantry welding robot,in addition,this research adopts the research method in large ships,the study of the gantry crane and gantry crane,and should be also can use,has certain versatility and economic benefits,It can be used for reference in the design and research of other large gantry frame welding robots.