基于差速驱动的AGV驱动单元分析与改进设计

The Analysis and Improved Design of a New AGV Drive Unit Based on Differential Driving

商用自动导引车(AGV)通常采用链传动机构进行动力传动,其车轮的固定结构可以视为悬臂式结构.因此,容易发生驱动轮"外掰"和启停"冲击"问题,这限制了AGV在频繁和快速加速或减速过程中的精确运动.本文以某公司设计的AGV为例,通过反复试验和数值模拟,从结构和受力分析入手,找出了产生这种现象的原因:驱动单元的"L"形悬挂机构引起了较大的应力,使各个零部件的接触间隙放大;链传动机构的使用使AGV在频繁启停或正反向运动时,容易在链轮和链条之间形成间隙.之后从工程角度提出了新的驱动单元结构,解决了上述问题,同时大幅减小了机构中的应力,提高了传动精度,为AGV的设计提供了一种更实用、更优化的驱动结构.

Commercial automatic guided vehicles （AGV） usually used chain transmission mechanism for power transmission, and the fixed structure of the wheel could be considered as cantilever structure. Therefore, the problem of wheels ＂ tilting＂ and start-stop ＂ shocking＂ easily occurs, which limied the accurate movement of the AGV during frequent and rapid acceleration or deceleration. In this paper, AGV designed by a company was taken as an example. Through repeated tests and numerical simulations, the structure and force analysis were used to find out the reasons for this phenomeno. The larger stress was caused by the ＂ L＂ - shaped sus- pension mechanism, which magnified the contact gaps of each component; the use of the chain transmission mechanism could make it easy for the AGV to form gaps between the sprocket and the chain when the AGV started, stopped, moved forward, backward frequently. Then a new drive unit structure was put forward from the engineering point of view, which could solves the above problems, at the same time-greatly could reduced the stress in the mechanism, could improve the transmission precision, and could provide a more practical and optimized driving structure for the design of AGV.