摘要
根据调研得出电商仓储中配单存在着复杂、繁琐和量大等问题,选择AGV代替配货员完成配单中大量的运输工作,按照电商仓储要求设计了磁导航潜伏式AGV。分析了AGV的基本框架,从整体化入手对AGV进行设计,采用双驱动调整AGV的运行位姿,分析了AGV的静力学和动力学,通过AGV速度为输入,以AGV的运动坐标、运行偏差为输出,运用三段调速理念调整AGV的运动状态。实验表明,双驱动式AGV控制能够有效的保证AGV运行稳定。
According to the survey,the problems of complexity,trifles and mass exist in the bill of E-business storag.AGV(Automatic Guided Vehicle)is selected to replace the distributors to finish a mass of work and a type of magnetic navigation and latent AGV is designed.Firstly,the basic frame of AGV is analyzed and AGV is designed from the perspective of the integration.Besides,the position of AGV is adjusted by the dual drive and the dynamics and statics of AGV are analyzed.with the speed of AGV as the input and the coordinate and of motion and deviation of operation as the output,the motion state of AGV is adjusted through three sections speeding.The control of dual drive for AGV can effectively ensure the smooth operation.
作者
张伟
张秋菊
ZHANG Wei;ZHANG Qiuju(School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China;The Key Laboratory for Advanced food Manufacturing Equipment Technology of Jiangsu Province, Wuxi 214122, China)
出处
《机械制造与自动化》
2017年第6期197-200,223,共5页
Machine Building & Automation
关键词
电商仓储
AGV
双驱动
位姿
偏差
稳定
e-business storage
AGV
dual drive
position
deviation
smooth
