AGV搬运机器人设计

摘要随着物流自动化和智能化的不断提升，叉车式AGV搬运机器人已成为现代物流行业不可或缺的重要设备。本文将采用PLC控制技术，设计并实现一款具有较高精度、稳定性和安全性的叉车式AGV搬运机器人。该设计涵盖了机器人的硬件结构和软件程序，旨在实现机器人的自主导航、载货、卸货等功能，并且通过一系列实验，验证所设计系统的性能指标。该论文的主要任务是设计一种自导引物料搬运设备，实现车间物料的自动搬运。其中，自导引小车根据激光导航开始运动，将物料输送到指定位置并卸载，实现自动控制。论文对自导引物料输送设备的重要组成部分进行了分析计算，包括对自动导引小车、小车前轮轴、升降系统等进行了设计计算，并对主要受力部件进行了校核计算。证明了所设计的机械构件是完全符合工作要求的。该设计在保证工作效率的同时，尽量减小自导引车的尺寸大小，以适应有限的车间空间，并减小整套输送设备的重量。该设计方案大大提高了生产车间的生产效率，增强了企业的市场竞争力。关键词：叉车式AGV;PLC控制：自动导航：物料搬运AbstractWith the continuous improvement of logistics automation and intelligence,forklift type AGVhandling robots have become indispensable and important equipment in the modern logisticsindustry.This article will use PLC control technology to design and implement a forklift typeAGV handling robot with high accuracy,stability,and safety.This design covers the hardwarestructure and software program of the robot,aiming to achieve autonomous navigation,loading,unloading,and other functions of the robot.Through a series of experiments,the performanceindicators of the designed system are verified.The main task of this paper is to design a self guided material handling equipment to achieveautomatic material handling in the workshop.Among them,the self guided trolley starts to movebased on laser navigation,transports materials to the designated location and unloads them,achieving automatic control.The analysis and computation of the critical elements of the self-guided material conveying equipment,such as the automatic guided trolley's design andcalculation,were performed in the paper.the front wheel axle of the trolley,the lifting system,etc.,and checked and calculated the main load-bearing components.Proved that the designedmechanical components fully meet the working requirements.This design ensures work efficiency while minimizing the size of the self guided vehicle toaccommodate limited workshop space and reduce the weight of the entire conveying equipment.The implementation of this design scheme significantly boosts the production efficiency of theworkshop and strengthens the enterprise's market competitiveness.Keywords:Forklift AGV;PLC control;automatic pilot;Material Handling目录摘要..Abstract..........1绪论.1.1研究的背景1.2国内外发展现状1.2.1国外发展现状11.2.2国内发展现状.…21.3存在的问题及分析31.4课题主要研究内容1.5本章小结2AGV小车总体设计方案....2.1机械部分设计...2.2控制部分设计...2.3本章小结...3AGV的机械部分设计.3.1方案的设计要求3.2AGV驱动方式的选择.3.3AGV电机的选择。83.3.1驱动电机的选择.83.3.2升降电机的选择….93.4减速机选型方法10-3.5输出轴设计与校核….11-3.5.1输出轴设计…11-3.5.2输出轴校核.11-3.6轴承的选择123.6.1驱动系统轴承的选型12-