Research On Structural Design And Key Technology Of Sandwich-holding AGV

As a kind of intelligent material handling equipment,automatic guide car AGV(Automatic Guided Vehicle)can realize the work of lifting and transporting articles in the three-dimensional storage system,and it has the advantages of security,convenience and efficiency,which makes AGV widely used in the intelligent storage management system and flexible manufacturing system.In this paper,the forklift type AGV is selected as the research object.In view of the shortcomings of the traditional tray type AGV in carrying the cylindrical and barrel objects,a new type of clamping fork lift truck AGV is proposed.The traditional fork lift type tray front fork mechanism is changed to the clamp type front fork mechanism,the commonly used electromagnetic navigation is converted to laser navigation,and using fuzzy control system as a motion control system for AGV path tracking correction.In order to realize the automatic handling tasks of cylindrical and cylindrical objects,the specific research work is as follows:Firstly,the whole structure of the new type of AGV is designed,the main body structure and the front fork structure of the barrel are analyzed.The three-dimensional model of AGV with clamping forklift truck was established by using SolidWorks software.Combined with the requirements of the function of the clamping forklift AGV,the implementation method of design of key technology was explained in detail.Secondly,the working device of AGV forklift truck is analyzed.According to the functional requirements of the system,the hydraulic system is designed and analyzed.The hydraulic system principle diagram of the front fork assembly mechanism is drawn up.For the hydraulic system diagram and the mechanical requirements of the front fork mechanism,the components of the hydraulic system are calculated and selected;the performance of the designed hydraulic system is verified to ensure its reliability.Then,in view of the design requirement of the whole machine drive system,the motion system of the clamp forklift AGV is analyzed,and its driving system is determined.The driving unit and the steering motor unit are selected and selected.The kinematic model of AGV is established for the straight line,the turning process and the path error,and the MATLAB software is used to simulate and analyse the model,and the simulation results show that the driving system meets the requirements.Finally,aiming at the common path tracking errors in the course of AGV motion,a fuzzy control strategy is adopted to study the motion system.The principle and composition of the fuzzy control system are expounded,and the fuzzy control system is built according to the trajectory error in process of the path tracking.And the fuzzy control system is simulated and analyzed with MATLAB/Simulink software.The simulation results show that the fuzzy control has faster response speed,better stability and stability,and reduces the fixed error than the traditional PID control,which satisfies the work demand of forklift type AGV system.