The Design Of Two Degrees Of Freedom Tooling Equipment With Heavy Load

Two degree of freedom fixture equipment is an important kind of Cartesian coordinate robot. It is widely used in assembly, handling, motion simulation, packing, palletizing, detecting, detection, and other areas of the industrial production because of its high precision in motion, easy to control, repeat programming and other advantages. This paper mainly makes a study of the design of the equipment using for assembling a large military industry products based on2-DOF fixture equipment, in order to change the current situation of low accuracy, poor quality, high intensity of labor and poor safety performance, existing in the assembly of large military.The platform designed in this paper is comprised by two parts, mechanical system and control system. The Linear Guideway is used as linear motion unit, the ball screw is used as transmission device and the servo motor is used as the power unit in the design of the mechanical structure. The PLC is used as upper-computer and the touch panel is used as HMI in control system. The instruction is sent to the servo amplifier to achieve the requirements of the motion control of the platform through the PLC.The mechanical structure adopts the traditional way of ball screw transmission driven by servo motor, which meet the requiring performance and reduce the cost at the same time. Considering the factors such as large load, this platform reduces the height of the center of gravity through a variety of structure optimization, which enhances the stability of the platform. The three-dimensional model of the components have been designed and selected, which have been assembled into a virtual prototype.In mechanical structure checking validation process, according to the request of technical index, the kinematics characteristics and the mechanical characteristics of the platform have been verified. The intensity and life of the bearing components have been checked by software of finite element analysis. The theoretical calculation and analysis of the linear motion unit and transmission device have been completed. Through all the work above, the mechanical structure of the virtual prototype meeting the technical requirements, has been completed.The2-DOF platform is controlled an open loop control system based on "touch screen+PLC+servo motor". The control program has been written by STEP7Micro/WIN SMART, using the idea of sequence control. The software of control system HMI has been developed by SIMATIC WinCC flexible2008. The position control performance meets the requirements of the assembly technology of the large military products through experimental verification. This platform can provide some reference for assembly of some large mechanical product.