| In recent years,China has faced problems such as the gradual disappearance of the demographic dividend,the sharp rise in labor costs,and the lack of front-line skilled workers.With the advent and deepening of the "Industry 4.0" and "Made in China 2025" era,high-end intelligent equipment with stronger "replacement of labor" attributes is showing a blowout growth momentum.Among them,the Automated Guided Vehicle(AGV)focuses on the research results of multiple disciplines,represents the highest achievement of mechatronics,is one of the most active areas of scientific and technological development,and has a broad market prospect.Due to the continuous advancement of technical level,the application research work was carried out through the trial production of AGV platform prototypes to verify and improve the functionality,stability and safety of key AGV technologies.Further explore the close combination of AGV and other smart devices to achieve diversification and multi-purpose of the AGV structure,which not only promotes the development of scientific research and technological progress,but also provides comprehensive production,learning,research,and application for the market's demand and technology docking Platform.In this paper,a general-purpose AGV mechanical structure is designed;the finite element analysis and parameter optimization of the structural force of the vehicle;the modeling and analysis of the vehicle's kinematics performance,dynamics,economy,and braking performance.The basic functions of the prototype car are tested and verified.Finally,the AGV platform with simple manufacturing,convenient operation and wide application range was developed.The specific content is described as follows:(1)AGV platform structure design.First of all,referring to the mature AGV scheme at home and abroad,according to the design purpose and function of the AGV platform,the overall design requirements and performance objectives are determined.Then,by comparing the advantages and disadvantages of different parts,the driving wheel and power battery are selected and the parameters are matched.At the same time,the selection of other parts is completed,and the layered truss type body structure and four point support type steering wheel damping mechanism are designed.Finally,the “2+4” form of gear train structure and open overall layout are determined,and the whole vehicle assembly is completed based on 3D modeling software.(2)Mechanical performance analysis of car body structure.Firstly,the geometric model of car body structure is simplified.Then,according to the actual stress characteristics of the frame,the finite element model of the body structure is established to carry out the static analysis under bending and torsion conditions,and the mechanical response under different conditions is obtained.Finally,the mechanical properties of the frame structure are analyzed and evaluated.The maximum stress and deformation of the car body are less than the allowable value.There is a problem of excessive material consumption,which lays a foundation for the optimization and improvement of the frame structure.(3)Research on Optimization of car body structure size parameters.Firstly,based on the results of statics analysis,the parameters of square steel section of frame are determined as the design variables,the maximum equivalent stress of frame is taken as the constraint condition,and the total mass of frame is taken as the objective function.Then the response surface model between the design variables and the objective function is fitted based on the Latin hypercube test design.Finally,the genetic algorithm is used to get the optimal value of each design variable under the constraints.The results show that the maximum equivalent stress of the optimized frame is 154.87 MPa and the maximum deformation is 0.83 mm,all of which meet the requirements of strength and rigidity.The overall mass of the frame is 32.1% less than that of the original frame.(4)AGV platform kinematics analysis and vehicle performance research.Firstly,the kinematic mathematical model of AGV with double steering wheels is studied by using the physical particle motion analysis method,and then the simulation curves of steering wheel deflection angle and geometric center displacement of vehicle body are obtained.Then,the dynamic,economic and braking performance are analyzed and modeled.Based on the dynamic modeling of MATLAB/Simulink,the dynamic simulation model and the economic and braking simulation model are built.The simulation results are output by combining the M language of MATLAB.The simulation results show that the maximum speed is 4.42km/h,the maximum gradient is 7.2°,the acceleration time is 2.7s,and the acceleration time is 3.6km/h.The simulation results of H constant speed driving time are all higher than 8h,and the maximum braking distance is 0.41 m when starting to brake at the maximum speed of full load.At last,the basic performance of the prototype AGV platform is tested and verified to meet the design requirements. |
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