Research And Development Of Vehicle Handling Robot For Intelligent Stereo Garage

With the development of the automobile industry and social economy,the number of national cars has risen rapidly,the problem of "difficult parking" has become increasingly obviously.The various traffic problems caused by the lack of parking spaces have seriously hindered the development of urbanization in my country.From the perspective of different solutions in various regions,the core idea is to increase parking spaces and improve the efficiency of parking and picking up vehicles.Therefore,the development of intelligent three-dimensional garage is particularly important for solving static traffic problems.The intelligent three-dimensional garage is a kind of intelligent parking equipment with automatic access to the car.It has the characteristics of high automation,high parking and retrieval efficiency,and high space utilization.As the core facility and equipment of the intelligent three-dimensional garage,the key technology and market of vehicle handling robots have been occupied by foreign manufacturers.In order to promote the development of our country’s garage industry and realize technological autonomy,this paper takes the arm-type vehicle handling robot as the research object.After an in-depth analysis of imported equipment,some structural design and optimization,control system design,and robot prototype debugging and testing are carried out.The structural design mainly includes two parts: analysis and design.First,determine the implementation plan according to the design parameters and requirements,so as to clarify each transmission system,and then carry out the design of non-standard parts and the calculation and selection of standard parts.Use the finite element analysis software ANSYS to perform statics simulation analysis on the three-dimensional model and optimize the design to meet the mechanical requirements.The control system design is composed of the system mathematical model and the control scheme.Establishing a mathematical model of the control system is beneficial to intuitively understand the relationship between each input and output,so as to determine the specific control plan and parameter settings.The design of the control scheme includes the hardware and software of the system.Using Siemens ET200 series PLC as the core controller,it has the advantages of good stability,strong anti-interference ability,and convenient communication.It is determined that each function is realized normally and the logic is correct by simulating the PLC program.The test is divided into two parts: manual operation and automatic operation.The manual operation is mainly to detect the position accuracy of the robot,and the automatic operation is mainly to detect the completion of each action.In the process of debugging and testing,the arm-type vehicle handling robot can realize various basic actions,and the positioning accuracy can meet the design requirements of 5mm,and the load capacity can meet the design standard.The optimized arm structure can be adapted to most wheelbase models;The track-type guidance method can run directly in the plane mobile three-dimensional garage(PY);The clamping arm structure can adapt to the car models with the wheel diameter in the range of 700-1300 mm.Judging from the test results,the performance of the robot is good and can meet the design requirements.