Research On Structure Design And Path Planning Of Automatic Electric Forklift Truck

With the development of modern industry,automatic electric forklift has gradually become an important part of factory logistics system.Based on the specific situation of a factory workshop,the mechanical structure and control system of automatic electric forklift have been designed in this paper.Combined with the specific environment of the factory,the path planning and path tracking of forklift have been studied,aiming to put forward reasonable,efficient and targeted solutions to solve the material transportation work in the factory.The specific research contents are as follows:Firstly,according to the requirements of the factory,the structure and electric control system of the automatic electric forklift have been designed.In the aspect of mechanical structure,after the design and calculation of the main parts,the three-dimensional model of the forklift has been established,and the finite element analysis of the main stressed parts has been carried out to ensure the rationality of the design.In the aspect of electronic control system,after the comparison and selection of the components required by each unit,the construction of electrical cabinet has been completed.Secondly,the forklift path planning method has been studied.According to the actual environment of the factory,the establishment of the electronic map has been completed,and then the global path planning and local path planning of the forklift has been completed.Global path planning was based on the particularity of forklift truck and the layout of factory production line to design an appropriate global path planning strategy.Local path planning was a kind of path planning under the condition that the material position is not fixed.The relative position and path constraints of the material have been analyzed,and the cubic B-spline curve was used for planning.The effectiveness of the method has been verified by MATLAB simulation.Finally,the positioning,obstacle avoidance and navigation methods of forklift have been studied.The absolute positioning data from RFID(radio frequency identification)tags and the relative positioning data from dead reckoning was fused to reduce the cumulative error and improve the accuracy of forklift positioning;Infrared sensors was used to avoid obstacles;The part with magnetic stripe was tracked by magnetic navigation sensor,and the part without magnetic stripe was tracked by pure tracking method.Using Simulink to build a path tracking platform,the feasibility of pure path tracking method has been verified,and the basic performance of the forklift is tested.The automatic electric forklift truck designed in this paper effectively meets the technical requirements of the factory.The proposed path planning algorithm can accurately plan the required path and effectively solve the material transportation needs of the factory.