| With the arrival of the era of intelligence,the construction of intelligent productio n line has become a key factor to improve production efficiency in manufacturing indu stry.Since the birth of AGV,known as a new star in the manufacturing industry,it h as been rapidly applied in various fields and become an indispensable part of producti on logistics automation.This paper mainly studies a forklift AGV trolley which can real ize the safe transportation of glass substrate on liquid crystal glass production line fro m two aspects of mechanical structure and control system.Paper for forklift truck type AGV design direction,reduce the traditional heavy A GV car body structure,insufficient for the earthquake resistance of common forklift ty pe AGV load mechanisms such as faults,respectively to the walking mechanism,load,top of institutions,the car frame is designed,using SOLIDWORKS car 3D model is e stablished,and with the help of Workbench engineering analysis software,the core part s of the car in the finite element analysis,the simulation results,the feasibility of the design are verified.In the car control system,the Arduino Yun development board is us ed as the control core.Based on the overall structure of the hardware module,the sys tem core control circuit,motor drive circuit,steering gear module and sensor module a re designed.The single chip microcomputer extracts the gray data of the image by usin g the HSV model,which is used as the input of the independent tracking algorithm,a nd the least square method linear fitting the two parameters of the output to control th e speed of the dc motor and the positive and negative rotation to realize the steering function of the AGV trolley.On the basis of the mechanical structure design and control system design and the existing conditions in the laboratory,the hardware and software system design was ca rried out,the AGV car model and computer simulation were constructed,and the expe cted experimental results were obtained. |
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