摘要：随着时代科技的高速发展，仓储物流的问题越来越明显，传统的配送方法人力消耗很大，并且效率低，不能适用于最新的物流问题，为了解决物流的分类拣选问题，物流的智能化就成为了一门非常有研究意义的课题，而AGV机器人脱颖而出，它可以代替人工进行搬运货物，这成为了最有效的解决方式。顶升式仓储物流机器人除了可以运输货物外还能够将运输的货物举起，并且将货物放置在指定的位置，大大的减少了人在物流过程中的作用。本论文联系国内外 AGV 的发展历史及现状主要设计AGV的结构设计，包括整体车身结构、驱动结构、顶升结构、旋转结构等，还对各种结构的电机进行了选型计算。AGV小车通过两个电机差速驱动使得小车可以进行不同的运动，可直线运动也可转向运动。顶升机构可以将货架顶升起来，然后搬运至目标地点，旋转机构是在小车旋转时为了让货架保持静止不被碰触到旁边物架，进行反方向旋转。AGV小车还采用了惯性导航与二维码相结合的导航模式，可以让AGV小车精确的搬运货物。小车周围安装的传感器可以实现测距，保证小车在运输过程的安全性。这次设计将给解决物流问题提供了一种新思路。

关键字： AGV；仓储物流；导航；差速驱动

Structural Mechanism Design of Warehouse Logistics Robot

ABSTRACT：With the rapid development of science and technology in the times. The problem of warehousing logistics is becoming more and more obvious. The traditional distribution method is very expensive and inefficient. It can not be applied to the latest logistics problems. In order to solve the problem of sorting and sorting of logistics, the intelligent logistics has become a very important subject, and the AGV robot stands out. It is the most effective way to carry the goods instead of manual transportation. The top lift warehouse logistics robot can lift the cargo in addition to the cargo and put the goods in the designated position, greatly reducing the role of the people in the logistics process. This paper relates to the development calendar of AGV at home and abroad. The history and current situation mainly design the structure design of AGV, including the whole body structure, the driving structure, the lifting structure, the rotating structure and so on. The type of motor of various structures is selected and the.AGV car is driven by two motor differential driving so that the car can carry on different motion, and the straight motion can also be turned to motion. The lifting mechanism can put the shelf to the shelf. It is lifted up and moved to the target location. The rotating mechanism is to keep the shelf still in order to keep the shelves stationary and not to be touched to the next object frame. The reverse direction rotating.AGV car also uses the inertial navigation and two-dimensional code combination navigation mode, which allows the AGV car to carry the goods accurately. The sensors around the car can be installed. The distance measurement ensures the safety of the car in the transportation process. This design will provide a new idea for solving the logistics problem.

Key word： AGV;Warehousing logistics; navigation;Differential drive

目录

摘要 Ⅰ

Abstract‥‥Ⅱ

第1章绪论1

1.1研究背景1

1.2研究意义1

1.3 AGV国内外现状2

1.3.1国外发展现状2

1.3.2国内发展现状3

1.4研究内容‥3

1.5本章小结4

第2章顶升式AGV的总体方案设计5

2.1 AGV功能需求5

2.2 AGV 整体架构5

2.3本章小结6

第三章AGV小车的运动学分析7

3.1 轮系结构设计‥7

3.2车身结构参数8

3.2.1 小车总体尺寸‥9

3.2.2轮距‥9

3.2.3 轴距‥9

3.2.4载重9

3.2.5自重9

3.2.6小车运行速度‥9

3.3小车转弯半径‥9

3.4本章小结‥10