Design And Research Of Heavy Load AGV Driven By Motor Control Hydraulic

With the implementation of the strategy of "made in China 2025",realize intelligent manufacturing automation and information manufacturing industry has become a new target in the development of manufacturing industry,however,because of the traditional enterprises,especially in the heavy industry enterprise material handling work most for forklift truck,trailer and artificial cooperate to complete,and the developing mode of high efficiency and low cost.As an automatic transport robot,AGV has been widely used in various enterprises due to its characteristics of accurate and fast delivery and wide working range.Majority of AGV in the form of motor drive,for a few tons to dozens of tons of heavy workpiece conveying,the presence of AGV complex structure,high control difficulty and low range of problems,so the a strong load capacity,low control difficulty,simple structure arrangement overloading of AGV and realize the precise control of traditional heavy industry enterprises realize the automation of material transportation has important significance.Based on the actual working condition of the enterprise demand,combined with international and domestic heavy-load transportation industry and the present research on overloading AGV based on different driving structure,driving mode and navigation methods of analysis,AGV drive system with double hydraulic steering wheel center line layout structure,AGV navigation way for magnetic stripe navigation and inertial navigation fusion navigation way;CATIA software was used to design the overall mechanical structure of the electronically controlled hydraulic drive AGV,and ANSYS Workbench software was used to check the structural strength of the AGV frame.The results showed that the maximum stress value was 58.634mpa and the maximum deformation value was 0.035mm,and the AGV frame design met the requirements.For traditional motion control system of complicated issues,by using the method of grouping design,the AGV movement process is decomposed into start-stop control,speed control,steering control,emergency avoidance control and charge control and manual/automatic mode,each points movement control logic design flow diagram,and select the STM32 chips as the main control chip motion control system,and finish on the motion control of the whole system design in the selection of electrical components;Finally,the construction of AGV motion control system is realized.To solve the problem of complex structure and high control difficulty of heavy-duty AGV motor drive system,the hydraulic drive mode was selected to design the AGV hydraulic drive system.The pressure of the AGV hydraulic driving system is determined to be 10MPa and 10MPa.The rated power of the driving motor is 4k W,and the power is supplied by 48V lithium iron phosphate battery.The rated speed is 2750r/min.The hydraulic motor adopts Eaton JMV021 hydraulic motor with the maximum displacement of 1127ml/r,maximum torque of 70.2nm and reduction ratio of 53.7.Hydraulic pump model CBT F416-ALH(R),nominal displacement 16mL/R,rated speed 3000r/min;AMESim simulation software was used to build the hydraulic drive system simulation model and simulate three typical AGV movement conditions to complete the simulation analysis of the hydraulic drive system.Set up the AGV experimental environment and run the AGV test;The results show that the maximum deviation between the hydraulic system pressure value and the theoretical value is 4.5%and the average deviation is 1.6%in the no-load operation,and the maximum deviation between the theoretical value and the hydraulic system pressure value is 4.62%and the average deviation is 1.9%in the full load operation on the ground,and the deviation value is less than the set deviation amount of 5%,which completes the design of the hydraulic drive system.