本文關(guān)鍵詞： AGV 結(jié)構(gòu)設(shè)計 運動學(xué) 動力學(xué) 實驗驗證　出處：《西安理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著物資流通與工業(yè)生產(chǎn)的發(fā)展,作為“第三利潤源泉”的物流問題已經(jīng)成為相關(guān)領(lǐng)域人們關(guān)注的熱點。由于人力成本的提高,企業(yè)對物料自動化搬運技術(shù)提出了更高的要求,而AGV—自動導(dǎo)向小車憑借著高效、節(jié)能、安全、穩(wěn)定、靈活、可靠等特點,適應(yīng)了物流自動化發(fā)展的最新要求,具有著十分廣闊的應(yīng)用前景。本文依托于我教研室與浙江紹興瑞群紡織機械有限公司合作的的絲網(wǎng)網(wǎng)版物流線為應(yīng)用背景,以開環(huán)系統(tǒng)下的移送網(wǎng)版的AGV為研究對象,深入系統(tǒng)地研究其運動性能。本文的設(shè)計和描述均源自于工程實踐,提出了一種應(yīng)用于移送絲網(wǎng)網(wǎng)版的AGV設(shè)計方案,主要內(nèi)容如下:(1)根據(jù)工程需要及成本匹配設(shè)計了一款移送網(wǎng)版的AGV,包含驅(qū)動方式,轉(zhuǎn)向方式,車體結(jié)構(gòu)設(shè)計。(2) 建立AGV的運動方程,進行圓軌跡和操場軌跡仿真。并通過坐標(biāo)轉(zhuǎn)換計算AGV車體在不同軌跡下行駛時的工作區(qū)域。(3)分析AGV在預(yù)設(shè)圓弧軌跡轉(zhuǎn)直線軌跡時的交界處的加減速情況,計算出最優(yōu)加減速的起始點,加速度及誤差大小。(4)建立AGV動力學(xué)方程,計算驅(qū)動輪速最大臨界值與轉(zhuǎn)彎半徑的關(guān)系,以保障AGV正常行駛不脫離軌跡,為中央控制系統(tǒng)提供理論依據(jù)。(5)進行實驗驗證。本文就設(shè)計的AGV樣機做了實驗驗證,對實驗結(jié)果進行分析,同時就設(shè)計中存在的問題及需要改進的方面進行了討論。
[Abstract]:With the development of material circulation and industrial production, logistics, as the third profit source, has become the focus of attention in related fields. The AGV-Automated guided vehicle, with its characteristics of high efficiency, energy saving, safety, stability, flexibility and reliability, meets the latest requirements of the development of logistics automation. It has a very broad application prospect. This paper is based on the application background of the mesh screen logistics line of the cooperation between our teaching and research office and Zhejiang Shaoxing Ruiqun Textile Machinery Co., Ltd., and takes the AGV transferred from the open loop system as the research object. The design and description of this paper are derived from the engineering practice, and a AGV design scheme applied to the transfer screen plate is proposed. The main contents are as follows: 1) according to the engineering needs and cost matching, a transfer version of the AGV is designed, which includes drive mode, steering mode, car-body structure design. 2) the motion equation of AGV is established. The circular track and playground track are simulated, and the working area of AGV body under different trajectories is calculated by coordinate transformation.) the acceleration and deceleration of AGV at the junction of the preset arc trajectory turning straight line track is analyzed. The AGV dynamic equation is established by calculating the starting point, acceleration and error of the optimal acceleration and deceleration, and the relation between the maximum critical value of the driving wheel speed and the turning radius is calculated, so as to ensure that the AGV does not deviate from the track in normal driving. In this paper, the experimental verification of the designed AGV prototype is carried out, and the experimental results are analyzed. At the same time, the problems existing in the design and the aspects that need to be improved are discussed.
【學(xué)位授予單位】：西安理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TH22

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