李漾 蔡文伟 李伟光

摘要：设计了一种新型的叉车 AGV结构，适用于智能化自动生产线的物料运送，叉车 AGV主要部分包括底部与两组舵机和万向轮连接的对称式车身机构、为货叉机构提供支撑的前移机构、由叉架和叉臂等组成货叉机构及采用对角舵轮驱动的四轮式结构的驱动机构单元。运用有限元仿真方法对叉车 AGV的关键零部件进行了网格化处理，获得了货叉及门架的应力和位移结果，表明该叉车 AGV结构具有较高的安全系数。模态分析计算表明货叉的末端和门架的顶部是结构的薄弱部位，容易发生变形，需进行强化。采用ADAMS软件对叉车 AGV的稳定性进行了动力学仿真试验与分析，结果显示所设计的叉车 AGV在不同载荷运行工况下，空载状态时车身横摆角速度最大值为0.42°，当载荷1500 kg时车身侧倾角最大值为0.285°，运行性能稳定、抗倾覆性强。为新型叉车

AGV的结构设计与性能分析提供了一种有益的方法。

关键词：叉车 AGV;结构设计;有限元;模态分析;稳定性

中图分类号：TP242.6             文献标志码：A

文章编号：1009-9492（2021）12-0016-07

开放科学（资源服务）标识码（OSID）：

Structural Design and Simulation Analysis of FORKlift AGV

Li Yang1.2，Cai Wenwei2，Li Weiguang2

（1. Foshan Hengsheng Medical Automation Co.， Ltd.， Foshan， Guangdong 528248， China;

2. South China University of Technology， Guangzhou 510640， China）

Abstract： A new type of forklift AGV structure was designed， which was suitable for material transportation in intelligent automatic production lines. The main parts of the forklift AGV included a symmetrical body mechanism with two sets of steering gears and universal wheels at the bottom， and a support for the fork mechanism. Forward mechanism， a fork mechanism composed of a fork frame and a wishbone， and a driving mechanism unit with a four-wheel structure driven by a diagonal helm wheel. The finite element simulation method was used to mesh the key components of the forklift AGV， and the stress and displacement results of the fork and the mast were obtained， which showed that the forklift AGV structure has a high safety factor. Modal analysis calculations showed that the end of the fork and the top of the mast were weak parts of the structure， which were prone to deformation and needed to be strengthened. The ADAMS software was used to conduct a dynamic simulation test and analysis on the stability of the forklift AGV. The results show that the designed forklift AGV under different load operating conditions， the maximum body yaw rate in the no-load state is 0.42°， when the load is 1500 kg the maximum body roll angle is 0.285°， with stable running performance and strong resistance to overturning. The results of this research provide a useful method for the structural design and performance analysis of the new forklift AGV.

Key words： forklift AGV; structural design; finite element; modal analysis; stability

0 引言

制造業生产车间自动运送物料过程中，除了采用机器人完成上料及下料码垛外，无输送带之间工位物料的自动运送常采用自动引导小车（AGV）， AGV具有按系统设定的路线或自主导航实现两个位置间的物料输送，但缺乏物料上下机构，需要人工或机器人辅助上下料。目前传统叉车通过人工操作可将物料运送到生产线的加工位置，或直接运送至存放地点，但不具备不同工位间的自动导航功能;而单纯叉车或 AGV功能的方式不能满足智能化自动生产线的物料搬运需求，两者结合形成具有叉车功能的 AGV （叉车 AGV）是一种较合理的方案。……