Design And Development Of Heavy Load AGV Transportation Platform

With the implementation of industry 4.0 and China manufacturing 2025 strategy,intelligence and automation have become the trend of development.It is becoming more and more important for manufacturing enterprises to establish flexible logistics system and automatic storage system to improve the work efficiency.In this situation,as a kind of mobile robot,automatic guided vehicle,which integrates mechanical engineering,control engineering,artificial intelligence and computer technology,can realize point-to-point automatic transportation and is widely used in enterprises.At present,AGV used in China is not high in weight,and it carries out indoor transportation of light and small volume goods.For the transportation of several tons to dozens of tons of goods,there are many disadvantages such as complex structure,unstable work and limited use environment.In view of this problem,it is of great significance to develop a heavy load AGV with strong bearing capacity,simple structure and suitable for outdoor operation.Therefore,this paper studies and designs the components of AGV,and finally realizes the heavy load and outdoor operation energy of AGV.The specific research contents are as follows:Based on the requirements of enterprises and the research status of heavy load AGV at home and abroad,the main functions and design objectives of heavy load AGV are determined.According to the idea of modular design,the calculation matching and design modeling of heavy load AGV drive module,guidance module,safety module and mechanical module are carried out.Through the comparative analysis of different driving forms,gear train layout and guidance modes,it is determined that the heavy load AGV adopts the layout of high-power double steering wheel center line drive,four universal support wheel four corner support and magnetic navigation guidance,and the specific parts and components are determined.Then,referring to the space truss structure and side beam frame of the construction industry,the heavy load AGV layered body structure is determined,and the existing AGV vertical guide column damping device is improved,and the articulated damping scheme is determined.Finally,the design of parts and the assembly of vehicle 3D model are completed by using Solidworks.Based on the established heavy load AGV carbody structure,the finite element model of the carbody structure is established by using HyperMesh.Through the analysis of the static and dynamic characteristics of the carbody structure,the stress distribution nephogram and deformation nephogram as well as free mode natural frequency and vibration mode under four typical working conditions of full load bending,full load torsion,full load braking and full load steering are obtained.The results show that the static and dynamic performance of the car body structure meets the design requirements,but at the same time,there are some problems such as low material utilization and uneven stress distribution,so it is necessary to optimize the car body structure.Aiming at the problems existing in the car body structure,firstly,based on the variable density method,linear weighting method and analytic hierarchy process(AHP),the joint topology optimization model of the static stiffness of the car body structure under multiple working conditions is established,the more reasonable material distribution path of the car body structure is calculated,and the structural improvement scheme is determined.By checking the improved structure,the results show that the maximum stress and maximum deformation of the car body structure are decreased,the natural vibration frequency is improved,and the optimization effect is obvious.Based on the sensitivity analysis,13 groups of lightweight components are determined.The optimal thickness of each component is obtained by using OptiStruct solver,and the performance is checked again.The results show that the total weight of heavy load AGV body structure is reduced from 812 kg to 664 kg on the premise that the mechanical properties meet the requirements.On the basis of AGV parts matching,we purchase the parts,complete the connection of electrical components,draw the two-dimensional mechanical structure diagram,process and manufacture by the enterprise workshop,finally complete the vehicle assembly and debugging,and carry out the field functional experiment on AGV.The experimental results show that the functions of AGV such as obstacle avoidance,tracking,steering and climbing are normal,the operation parameters such as speed,power and current meet the design requirements,and the heavy load AGV achieves the expected goal.