机械5

基于全向轮的AGV的移动底盘结构设计 Structure desig
n of AGV based mobile chassis based o
n om
nidirectio
nal wheel 摘要 现在加工行业的发展更加智能化，对于现代智能加工系统里面，物流实现自动化就在于自动引导小车的出现。在现代化加工里面，自动引导小车被当做是一种可以移动的机器来，用途比较特别，对于柔性加工还有现代化物流来说，是比较重要的，现在跟它有关的学科学术一直都是在发展的，所以控制技术的发展也是非常快的，现在在很多地方用。 这篇设计了全向轮自动引导小车的移动底盘结构，主要进行的工作是对全向AGV的控制系统进行研究，确定电动机，确定传动部分，将激光导航定位系统的原理还有特征都进行了详细的说明。将它里面主要零件进行设计，将数据算出来。确定电动机还有减速器的标准零件。 关键词全向轮；AGV；移动底盘；设计；激光导航 Abstract Alo
ng with the developme
nt of moder
n ma
nufacturi
ng i
ndustry toward i
ntellige
nt, automatic guided car (AGV) is o
ne of the importa
nt automated logistics equipme
nt i
n moder
n i
ntellige
nt ma
nufacturi
ng system. I
n the moder
n ma
nufacturi
ng activities, the om
nidirectio
nal AGV is the special applicatio
n of the mobile robot. It is a
n importa
nt part of the flexible ma
nufacturi
ng a
nd moder
n logistics system. With the co
nti
nuous progress of scie
nce a
nd tech
nology i
n the related fields, its motio
n co
ntrol tech
nology has also bee
n developed rapidly, a
nd will be applied to more a
nd more occasio
ns. This article mai
nly carries o
n the structural desig
n for the AGV of the om
ni directio
nal wheel. Its mai
n desig
n co
nte
nts are as follows: studyi
ng the co
ntrol system of om
nidirectio
nal AGV. The motor a
nd tra
nsmissio
n mecha
nism are selected, a
nd the pri
nciple a
nd characteristics of the laser
navigatio
n a
nd positio
ni
ng system are i
ntroduced. Desig
n a
nd calculate the mai
n parts of the mecha
nism. Selectio
n a
nd determi
natio
n of sta
ndard parts such as motors a
nd speed reducer. Keywords om
nidirectio
nal wheel AGV mobile chassis desig
n laser
navigatio
n 目录 摘要I Abstract II 1绪论1 1.1本课题研究的背景1 1.2国内外自动导引车的发展现状2 1.3本课题研究意义及目的2 2自动导引车（AGV）简介3 2.1 AGV工作原理的概述3 2.2 AGV的分类及概述3 3自动导引车的硬件设计8 3.1自动导引车的设计要求8 3.2自动导引车的设计8 3.3驱动结构的设计8 3.3.1驱动电机的选型9 3.3.2驱动电机减速机的选型11 3.4升降牵引机构的设计13 3.6.1AGV小车的车体尺寸的设计16 3.6.2主框架的设计17 3.6.3副框架的设计18 4激光导航的原理、特点及控制21 4.1激光导航的原理及特点21 4.1.1激光导航的原理21 4.1.2激光导航AVG的特点22 4.2激光导航AGV控制系统简介22 结论23 致谢24 参考文献25