叉车AGV结构设计与仿真分析

Structural Design and Simulation Analysis of FORKlift AGV

设计了一种新型的叉车AGV结构,适用于智能化自动生产线的物料运送,叉车AGV主要部分包括底部与两组舵机和万向轮连接的对称式车身机构、为货叉机构提供支撑的前移机构、由叉架和叉臂等组成货叉机构及采用对角舵轮驱动的四轮式结构的驱动机构单元。运用有限元仿真方法对叉车AGV的关键零部件进行了网格化处理,获得了货叉及门架的应力和位移结果,表明该叉车AGV结构具有较高的安全系数。模态分析计算表明货叉的末端和门架的顶部是结构的薄弱部位,容易发生变形,需进行强化。采用ADAMS软件对叉车AGV的稳定性进行了动力学仿真试验与分析,结果显示所设计的叉车AGV在不同载荷运行工况下,空载状态时车身横摆角速度最大值为0.42°,当载荷1 500 kg时车身侧倾角最大值为0.285°,运行性能稳定、抗倾覆性强。为新型叉车AGV的结构设计与性能分析提供了一种有益的方法。

A new type of forklift AGV structure was designed,which was suitable for material transportation in intelligent automatic production lines.The main parts of the forklift AGV included a symmetrical body mechanism with two sets of steering gears and universal wheels at the bottom,and a support for the fork mechanism.Forward mechanism,a fork mechanism composed of a fork frame and a wishbone,and a driving mechanism unit with a four-wheel structure driven by a diagonal helm wheel.The finite element simulation method was used to mesh the key components of the forklift AGV,and the stress and displacement results of the fork and the mast were obtained,which showed that the forklift AGV structure has a high safety factor.Modal analysis calculations showed that the end of the fork and the top of the mast were weak parts of the structure,which were prone to deformation and needed to be strengthened.The ADAMS software was used to conduct a dynamic simulation test and analysis on the stability of the forklift AGV.The results show that the designed forklift AGV under different load operating conditions,the maximum body yaw rate in the no-load state is 0.42°,when the load is 1 500 kg the maximum body roll angle is 0.285°,with stable running performance and strong resistance to overturning.The results of this research provide a useful method for the structural design and performance analysis of the new forklift AGV.