Design of a large momentum acceptance proton therapy gantry utilizing AG-CCT magnets

The application of superconducting(SC)technology enables magnets to excite strong fields with small footprints,which has great potential for miniaturizing proton therapy gantries.However,the slow ramping rate of SC magnets results in a low treatment efficiency compared with normal-conducting(NC)gantries.To address this problem,this study proposes a compact proton therapy gantry design with a large momentum acceptance utilizing alternating-gradient canted-cosine-theta(AG-CCT)SC magnets.In our design,a high-transmission degrader is mounted in the middle of the gantry,and the upstream beamline employs NC magnets with small apertures.Downstream of the degrader,large-bore AG-CCT magnets with strong alternating focusing gradients are set symmetrically as a local achromat,which realizes a momentum acceptance of 20%(or 40%in the energy domain).Therefore,only three magnetic working points are required to cover a treatment energy of 70-230 Me V.Owing to the large momentum acceptance,the proton beam after the degrader can be directly delivered to the isocenter without truncating its energy spectrum,which can significantly increase the treatment efficiency but causes severe dispersion effects during pencil beam scanning.Therefore,a compensation method was introduced by tuning the normal and skewed quadrupoles during the scanning process.As a result,the new gantry not only presents a remarkable reduction in the size and weight of the facility but also shows good potential for fast treatment.

离子治疗装置Gantry超导线圈小尺寸样机的设计及高精度成型

离子治疗装置Gantry超导线圈的高精度成型问题的研究,可以一台小尺寸斜绕线螺线管型超导四极磁体样机为目标,开展倾斜螺线管型超导线圈的三维设计、复杂线圈成型设备研制、超导线圈成型工艺研究和超导线圈样机性能测试等工作,旨在验证三维线圈高精度成型设备系统及工艺方案的可行性,为倾斜螺线管型线圈应用于离子治疗装置积累宝贵经验。通过分析测试数据,确认小尺寸倾斜螺线管型四极磁体制作工艺符合预期目标。

Structure Improvement and Optimization of Gantry Milling System for Complex Boring and Milling Machining Center

To enhance the efficiency and machining precision of the TX1600G complex boring and milling machining center,a study was conducted on the structure of its gantry milling system.This study aimed to mitigate the influence of factors such as structural quality,natural frequency,and stiffness.The approach employed for this investigation involved mechanism topology optimization.To initiate this process,a finite element model of the gantry milling system structure was established.Subsequently,an objective function,comprising strain energy and modal eigenvalues,was synthesized.This objective function was optimized through multi-objective topology optimization,taking into account certain mass fraction constraints and considering various factors,including processing technology.The ultimate goal of this optimization was to create a gantry milling structure that exhibited high levels of dynamic and static stiffness,a superior natural frequency,and reduced mass.To validate the effectiveness of these topology optimization results,a comparison was made between the new and previous structures.The findings of this study serve as a valuable reference for optimizing the structure of other components within the machining center.

Working Model FEA在GANTRY机器人模块化设计中的应用

WorkingModelFEA是在AUTOCAD平台上开发的用于机械结构有限元分析的专用软件。由于软件本身的缺陷 ,对较复杂截面形状零件的网格划分以及部件装配约束关系向有限元分析模型的传递存在问题。本文主要讨论了如何实现对较复杂截面形状零件的网格划分 ,提出了如何把较复杂截面形状零件转化成便于进行有限元计算的零件模型的方法以及部件装配约束关系向有限元分析模型的传递及如何添加变形协调约束关系等技术问题 ,并对原来的中文菜单文件作了一些修改 。

SIEMENS840D GANTRY功能在瑞士SIP5000立式加工中心的应用

详细介绍SIEMENS840D

基于ANSYSWorkbench的Gantry机架模态分析

Gantry机架作为源探及滑环等旋转部件的载体,其模态分析对于减小整机设备振动,防止整机系统振动具有重要意义。论文以Gantry机架为研究对象,使用Pro/E软件建立实体模型,应用ANSYSWorkbench15.0有限元分析软件进行模态分析,得到Gantry机架的固有频率、振型云图,为Gantry机架和整机的结构优化设计和振动分析提供参考和依据。

Oil Pocket's Bearing Capacity Analysis of Liquid Hydrostatic Worktable in Gantry Moving Milling Center

Durning the design process of hydrostatic rotary worktable,the processing and assembly tolerance,（the offset of worktable and the gap of the oil film’s thickness）is ignored.But it will cause that the real bearing of oil pocket deviates from the initial design value,and then the performance of rotary worktable will be reduced significantly.Up to now,no effort is found toward the research of influence of the processing and assembly tolerance on the performance of the rotary worktable.So the hydrostatic oil film is assumed as the elastomer in this paper,and then the bearing capacity of the oil pocket is studied with and without the mass offset of the worktable by taking an expression between the bearing capacity and the oil film’s thickness of the oil pocket as the deform compatibility equation.The influence of the processing tolerance of the oil sealing belt’s gap on the bearing capacity of the oil pocket is analyzed.In the light of the liquid hydrostatic worktable of Gantry Moving Milling Center using on the scene,the oil pocket’s pressure of the worktable is tested using Rotary Worktable Test System under the circumstance of the mass offset of the worktable and the gap tolerance of the oil sealing belt,and then the equivalent offset of worktable,the average pressure of the oil pocket and the actual thickness of the oil film are analyzed respectively.The test results show that the bearing capacity component of the oil pocket caused by G is consistent,and the component caused by M is relative to the position of the oil pocket.When the oil sealing belt’s gap is larger than the theoretical value,the bearing capacity of the oil pocket is smaller than the others;whereas the bearing capacity of the oil pocket is larger than the others.The maximum and minimum equivalent offsets are 0.256 4 mm and 0.047 5 mm,respectively,and the average oil pocket pressure varies from 0.345 MPa to 0.460 MPa,the maximum and minimum value of the actual oil film thickness are 109.976？m（No.7 oil pocket）and 93.467？m（No.10 oil pocket）,respectively.The research results can be used to detect the offset of the worktable and the actual thickness of the oil film under processing and assembly tolerance,and provides a basis way for detecting the processing and assembly tolerance of rotary worktable signing reasonably of Gantry Moving Milling Center.

Variational analysis of mid-span deflection of gantry cranes

In practical application, it is very important to master the influence of structure parameters on the mid-span deflection quantificationally. For large-span and heavy-duty gantry cranes, the influence of the rigid leg and the soft leg on mid-span deflection has not been considered in the past. In the paper, the mathematical model is established for universal large-span and heavy-duty gantry cranes. The analytical solution for the mid-span deflection of gantry-frame structure girder is derived and obtained based on the variation principle by considering the coupling effect of the bending moments of girder and legs, the axial force and the secondary bending moments. The relation between the load and the deflection on the mid-span of the gantry-frame structure girder is known. Then, the experimental model is designed according to dimensional analysis method. And experiments were performed on the WEW-600 B type testing machine. Hackling experimental data, the regular of the load and deflection on the girder mid-span is obtained, namely, the deformation of the gantry-frame structure resists the external load to do work. The validity of the nonlinear analytical solution of the girder deflection is verified. Experimental results show that the analytical solution of the gantry-frame structure deflection has much higher calculation accuracy than previous calculation method. This work provides a theoretical basis for the design and inspection of gantry-frame structures.

Optimization Design for Fixed Table of Gantry Machining Center Based on Sensitivity and Topology Analyses

In order to decrease the deformation and stress and increase the natural frequency of the fixed table,a method of optimization driven by the sensitivity and topology analyses is proposed.The finite element model of the fixed table is constructed and analyzed by using ANSYS software.Based on the results of static analysis and modal analysis,the maximum deformation,the maximum stress,and natural frequencies are obtained.Then,the sensitivity analysis and topology optimization are carried out to find out the parameters to be optimized.The fixed table is reconstructed according to optimal design scheme.In the comparison of the results between original model and the optimized one,the maximum deformation and stress are decreased by 71.73%and 60.27%respectively.At the same time,the natural frequencies from the first mode to the sixth mode are increased by 30.28%,29.57%,29.51%,31.52%,22.19%,and 21.80%,respectively.The method can provide technology guide for the design and optimization of machining structure.

Reducing Fuel Consumption Using Flywheel Battery Technology for Rubber Tyred Gantry Cranes in Container Terminals

Flywheel Energy Storage System (FESS) is used as an energy regeneration system to help with reducing peak power requirements on RTG cranes that are used to load or unload container ships. Nevertheless, with the use of FESS, Port Operator can deploy undersized generator for new RTG as this will further reduce fuel consumption. This paper presents the investigation of the amount of energy and fuel consumption that can be reduced in Rubber Tyred Gantry (RTG) cranes in container terminals by the use of simulation. In addition, Variable Speed Generator is integrated to the simulation-hybridized RTG. Simulation results reveal that the total energy saving exceeded 30% relatively to conventional RTG. A hardware-in-loop system is introduced for the purpose of validating the simulation results. The hardware components procured include a FESS, a Variable Frequency Drive (VFD) and brake resistors.

Finite Element Analysis and Optimal Design Based on ANSYS in a XH2408 Gantry Style NC Machining Center

ANSYS, the software of construction analysis, is used to analyze static and dynamic performances of a XH2408 gantry style numerical control （NC） milling machining center and optimize its construction using the finite element method. First, a finite element model is established and the static and dynamic analysis are completed as constraints and loads applied on the finite element model. It is found that both spindle box and gantry are the worst components of assembly in performance. Secondly, the spindle box and gantry are chosen as objects of optimal design separately, aiming to improve their performance. The optimal plans are accomplished on the basis of the minimum volume for the spindle box and the maximum inherent frequency for the gantry subject to the constrains. Finally, the machine tool improved is analyzed statically and dynamically based on the optimal results of the spindle box and gantry. The results show that optimal design with the finite element method increases static and dynamical performances of the XH2408 gantry style numerical control milling machining center and the technique is effective and practical in engineering applications.

GANTRY轴与主从轴控制在西门子系统上的应用比较

基于西门子840D数控系统,对GANTRY轴与主从轴在该系统上的应用做了分析与比较,同时,结合调试经验,给出这两种控制方式常用及扩展的参数设定与调整。

Research of Supercapacitor Voltage Equalization Strategy on Rubber-Tyred Gantry Crane Energy Saving System

A model for supercapacitor voltage equalization strategy is analyzed, and on this basis a supercapacitor voltage equalization method for Rubber Tyred Gantry Crane (RTG) energy saving system is proposed, namely active voltage equalization method based on Buck-Boost converter. The equalizing speed of the proposed method is fast. Firstly, the working principle and process of the voltage equalization circuit is analyzed in detail. In addition, design of active voltage equalization circuit parameters and control strategy are given. Finally, simulation analysis of the series connection of supercapacitors module is performed. Results show that this method for equalizing voltage can avoid over-voltage of each cell and possess practicable and high value for supercapacitor RTG energy saving system.

Comparison of Different Control Algorithms for a Gantry Crane System

For a gantry crane system, this paper presents a comparison between four control algorithms. These algo-rithms are being compared on simplicity, stability and robustness. Goal for the controller is to move the load on a gantry crane to a new position with minimal overshoot of the load and maximal speed of the load. An-other goal is to provide an insight in the behaviour of the possible controllers. In this article a parallel P-controller, cascade P-controller, fuzzy controller and an internal model controller are used. To be able to validate and design the controllers a model is derived from the gantry crane. The controllers and the model are being implemented in Matlab Simulink. Finally the controllers are validated and tuned in Labview on a laboratory gantry scrane scale model. Main conclusion is that all presented controllers can be used as a con-troller for the gantry crane system but the fuzzy controller is showing the best performance.

New Technology of Installing the Attached Self-Climbing Tower Steel Gantry Cranes

The Liujiaxia Bridge is 536 m span steel truss stiffening Girder Bridge, tower with double-column steel concrete slructure, which is the world＇s largest diameter, the largest steel plate thickness of concrete pylon. Sarasota manufactured using standard pipe segment, group fight scene segment piecewise hoisting tower segment perfusion within the micro-expansion concrete construction technology, tower maximum height of 61.5 meters. This paper describes a piecewise Sarasota steel installation, piecewise perfusion within the micro-expansion concrete tower new construction method - attached to a self-climbing tower bridge ganlry crane mounted pylon construction technology of large steel components. Of the ＂entity attached to the pylon installation of equipment by section climb＂ design, composition and construction applications are described in detail.

Gantry桁架热变形及其对定位误差影响分析

以大型Gantry桁架机械手在不同环境温度下受热变形产生的热变形为研究对象,在论述桁架机械手热变形有限元分析过程的基础上,借助COMSOL有限元分析软件对桁架机械手进行有限元建模和加载计算,以模拟实际生产中环境温度引起的热变形,通过对桁架X,Z轴热变形的综合分析计算得出温升对于桁架机械手定位误差的最终影响。该研究在一定程度上实现了对桁架机械手定位误差的定量计算,为进一步研究其对上下料的影响,采用数控机床误差补偿技术提高上下料精度提供了参考。

Operations Scheduling for Rail Mounted Gantry Cranes in a Container Terminal Yard

Arranging the retrieving sequence and making the operational plans for gantry cranes to enhance port efficiency have become vital issues for the container terminals. In this paper, the problem of retrieving containers from a yard in a given sequence is discussed as an important part of the ship-loading process. This problem is divided into three categories according to its optimization complexity, i.e., the retrieval problem of a crane with a single spreader(ACSS), the retrieval problem of a crane with multiple spreaders(ACMS), and the retrieval problem of multiple cranes with a single spreader(MCSS). Firstly, heuristic algorithms are proposed to develop a retrieving sequence for ACSS to reduce the operational time. Then, optimizing the assignment to multiple spreaders is conducted by exchanging the movements of the obtained retrieving sequence. Finally, the movements are further assigned to two cranes and integrated with the MCSS retrieval problem mentioned above.The numerical experiments show the effectiveness and practicability of the heuristic algorithms.

Physical design of scanning gantry for proton therapy facility

A proton therapy facility based on a linac injector and a slow cycling synchrotron is proposed. To achieve effective treatment of cancer, a scanning gantry is required. The flexible transmission of beam and high beam position accuracy are the most basic requirements for a gantry. The designed gantry optics and scanning system are presented. Great efforts are put into studying the sensitivity of the beam position in the isocenter to the element misalignments. It shows that quadrupole shift makes the largest contribution and special attention should be paid to it.

Robust immersion and invariance adaptive coordinated control for a class of biaxial gantry systems

This paper proposes a robust Immersion and Invariance(I&I)adaptive coordinated controller for a class of uncertain linear-motor-driven biaxial gantry system subject to external disturbances for high-accuracy contour tracking.Firstly,the dynamic model of the gantry system is transformed into task coordinate frame,through which the contour tracking can be regarded as a regulation problem.Based on the transformed system dynamics,an I&I-based adaptation law with smooth projection is proposed to estimate the unknown parameters.Different from traditional adaptive control,the proposed robust I&I adaptive control introduces a new term called tuning function in adaptation law to shape the dynamic behaviour of the estimation vector.Then the stability of the closed-loop system is proved by Lyapunov theory.Finally,comparative experiments are executed on an industrial biaxial gantry system with two different cases to verify the effectiveness of the proposed control law.

医科达INFINITY直线加速器机架旋转系统简析

目前,临床上的医用电子直线加速器主要是用于肿瘤疾病放射治疗的一种微波电子直线加速器,是临床上放射治疗中较为常用的设备之一,用于放射治疗的原理在于通过运用高能电子打靶进而产生韧致X射线,照射病灶区后,进而达到抑制和控制肿瘤发展的目的。而医科达INFINITY直线加速器机架旋转系统,能够帮助患者在照射治疗的过程中稳定运转设备,减少故障发生,为患者后续治疗提供更优质的保障。