Nyob rau hauv lub tsheb tsim kev lag luam logistics automation system, kev ua haujlwm ruaj khov ntawm AGVs (Automated Guided Vehicles) ncaj qha txiav txim siab qhov ua tau zoo thiab qhov tseeb ntawm SPS (Set Parts Supply) qauv. Nyob rau hauv ib txoj haujlwm SPS, peb qhov teeb meem tseem ceeb tau tshwm sim hauv AGV cov cuab yeej: nqa phaj tshem tawm, thauj khoom derailment, thiab pallet pin positioning deviation. Daim ntawv no txheeb xyuas cov hauv paus hauv paus los ntawm qhov kev xav ntawm kev xam tshuab, kev tsim qauv, thiab cov qauv kev sib kis, thiab qhia txog qhov ua tau zoo, cov txheej txheem - theem kev daws teeb meem los muab cov kev siv thev naus laus zis rau kev txhim khu kev qha ntawm AGVs hauv automotive manufacturing logistics.
1. Kev tshem tawm ntau dhau tom qab nqa phaj braking: Dual Optimization ntawm kev sib kis thiab iav meshing
Raws li lub hauv paus tseem ceeb rau kev nqa cov khoom thauj, lub lifting phaj tseem muaj ib tug manually txav tshem tawm txawm tias thaum lub nres yog tag nrho koom. Nyob rau hauv kev thauj khoom, lub laub khoom tseem tuaj yeem tig rov qab, cuam tshuam rau qhov tseeb ntawm qhov chaw thiab tsim kev pheej hmoo ntawm cov khoom sib txawv.
(1) Kev Tshawb Fawb Txog Kev Tshawb Fawb: Kev sib txuas sib txuas thiab iav meshing tsis raug
Los ntawm teardown thiab tsom xam ntawm AGV nqa phaj kis tau tus mob, cov teeb meem tau pom los ntawm cov hauv qab no:
Ua tsis tiav ntawm lub cev muaj zog-gearbox kev sib txuas
Kev sib txuas ntawm lub cev muaj zog thiab gearbox siv lub dab tshos clamping nrog screws. Tus thawj zawm torque tsis txaus. Nyob rau hauv load, micro angular displacement tshwm sim ntawm lub gearbox thiab lub cev muaj zog, tsim ib tug "dawb sib hloov clearance."
Ntau tshaj meshing clearance nyob rau hauv lub iav khub
Lub meshing clearance nruab nrab ntawm lub loj slewing bearing iav (180 hniav) thiab lub gearbox tso zis pinion (20 hniav) tshaj tus tsim kam rau ua, ntxiv amplifying tus nqi ntawm rotational dawb ua si nyob rau hauv lub lifting phaj.
(2) Mechanical ciam teb xam: Quantifying lub sab nraud quab yuam yuav tsum tau tig lub phaj
Raws li cov qauv kev sib kis torque, tag nrho cov qauv tiv thaiv torque yuav tsum tau tig lub phaj yog tsim:
FL Ntau dua lossis sib npaug rau T × i₁ × η₁ × η₂ × i₂
F:Lub zog yuav tsum tau tig lub phaj (N)
L:Qhov deb ntawm lub zog thov taw tes rau phaj chaw (m)
T:Nres tuav torque (1.5 Nm)
i₁:Gearbox txo piv (40)
i₂:Iav piv piv (190/20=9)
η₁:Gearbox efficiency (0.98)
η₂:Iav efficiency (0.95)
Kev suav qhia tau hais tias thaum lub zog quab yuam yog 0.6 m, 1.0 m, thiab 1.5 m, lub zog yuav tsum yog 873.8 N, 502.7 N, thiab 335.0 N, sib npaug rau qhov sib npaug ntawm 87.4 kg, 50.3 kg, thiab 33.5 kg. Cov txiaj ntsig tau qhia tias cov qauv siv tshuab ib leeg tsis tuaj yeem tshem tawm tag nrho cov kev tshem tawm; tswj{10}} qhov system them nyiaj yuav tsum tau.
(3) Systematic Rectification Solutions
Kev sib txuas lus hloov kho tshiab
Hloov qhov qub clamp txuas nrog lub keyed NORD gearbox. Tus qauv tseem ceeb tiv thaiv kev sib hloov ntawm lub cev muaj zog thiab gearbox, tshem tawm tag nrho kev sib hloov ua si dawb.
Gear meshing optimization
Center nrug kev hloov kho:Mill lub gearbox mounting qhov los tswj meshing clearance li ntawm 0.1-0.15 hli.
Khoom siv thiab txheej txheem upgrade:Siv 20CrMnTi nrog carburizing thiab quenching kom ncav cuag Qib 6 qhov tseeb (GB/T 10095.1-2008).
Ntxiv ib qho tseem ceeb sib txuas:Ua kom zoo H9 / h8 kam rau ua kom txo qis kev sib hloov ntawm cov iav thiab ncej.
Tswj- cov nyiaj them poob haujlwm
Lub clearance them algorithm yog embedded nyob rau hauv lub AGV maub los. Tom qab braking, tus encoder xyuas cov seem seem; Yog tias siab dua 0.5 degree, lub kaw lus ua haujlwm tsis siv neeg zoo hloov kho kom qhov kawg sib txawv hauv ± 0.1 degree.
2. AGV Load Derailment: Kev txhim kho hauv Load Distribution thiab Track Adaptability
Lub AGV feem ntau derailed thaum thauj 1000 kg cua -storage tank. Kev txheeb xyuas cov khoom siv niaj hnub pom tsis muaj qhov txawv txav, xav tau kev tshuaj xyuas tob dua los ntawm kev faib khoom thauj thiab kev xav ntawm tus cwj pwm zoo.
(1) Hardware Capability Verification
Kev pov thawj ntawm lub zog tsav, qhov tso zis torque, thiab lub caij nplooj ntoos hlav nias lub zog tau lees paub tias txhua qhov kev ntsuas theoretically txaus siab rau qhov yuav tsum tau ua, txiav txim siab tawm lub zog tsis txaus vim qhov ua rau.
(2) Lub hauv paus ua rau Derailment
Load eccentricity uas ua rau lub log tsis sib xws
Lub cylindrical cua tank ua rau qhov chaw ntawm lub ntiajteb txawj nqus mus rau qhov sib txawv ntawm 150-200 hli los ntawm AGV chaw, ua kom lub log siab ntawm ib sab thiab txo nws ntawm lwm qhov. Thaum lub steering los yog hla cov pob qij txha, derailment yuav ntau dua.
Tsis txaus khiav interface raug
Qee cov pob qij txha muaj qhov sib txawv ntawm qhov siab ntawm 0.5-0.8 hli (tsawg dua lossis sib npaug li 0.3 hli). Hnyav-load AGVs ua rau muaj kev cuam tshuam thaum hla cov pob qij txha, ua rau muaj kev cuam tshuam ntau ntxiv.
Steering tswj algorithm tsis hloov mus rau hnyav -load tej yam kev mob
Lub angular ceev ceev steering hom tsis xav txog kev nce inertia nyob rau hauv hnyav loads, amplifying cuam tshuam quab yuam ntawm cov pob qij txha.
(3) Kev Rectification Measures
Load tswj thiab saib xyuas
Luv -term:Txo ib zaug -load rau 800 kg; limit center-ntawm-gravity deviation kom tsawg dua los yog sib npaug li 50 mm.
Ntev -lub sij hawm:Ntxiv load-eccentricity sensors; txwv tsis pub AGV pib thaum tshaj qhov txwv.
Taug qab kev sib koom ua ke raug kho dua tshiab
Sib tsoo thiab qib pob qij txha kom ntseeg tau tias tsawg dua lossis sib npaug ntawm 0.3 hli qhov siab sib txawv.
Ntxiv polyurethane buffers los txo qhov cuam tshuam kev co.
Steering tswj algorithm upgrade
Tsim kom muaj ib lub rooj sib tw load-angular tshaj tawm kom txwv txoj kev ceev ceev hauv qab hnyav.
Siv lub zeem muag los txheeb xyuas cov pob qij txha thiab ua ntej - txo qis ceev.
3. Pallet Pin Positioning Deviation: System Compensation hla ntau qhov yuam kev
Thaum lub lifting AGV executes pin insertion, nws feem ntau tsis koom nrog cov khoom siv lub laub lub xauv qhov. Lub hauv paus ua rau yog qhov sib txuam ntawm kev ua yuam kev hla ntau theem: kev muab tso rau hauv phau ntawv, lub laub txav, kev tsim qauv, thiab AGV kev sib hloov.
(1) Kev Ntsuam Xyuas yuam kev
Manual alignment yuam kev:Qhov sib txawv ntawm qhov chaw pib tuaj yeem ncav cuag ± 20 hli.
Lub laub drift:Pem teb nqes hav ua rau theem nrab drift ntawm ± 10 hli.
Defective qhov qauv:Nyias steel phaj thiab ncaj- qhov tsim tsis tuaj yeem nqus qhov sib txawv.
Rotational phaj yuam kev:Micro-kev txav thaum nqa khoom qhia txog kev sib txawv ntawm coaxiality.
(2) Tag Nrho -chain Kev Tswj Xyuas Kev Ua Haujlwm
Rigid alignment system
Nruab L- zoo li hauv av nres ua ke nrog laser alignment sensors kom txo tau qhov sib txawv ntawm qhov pib ntawm ± 3 hli.
Anti-drift tsim rau lub laub
Ntxiv ratchet nres casters los tiv thaiv kev txav ntawm qhov chaw qis dua lossis sib npaug li 1 degree.
Txhim kho ntawm qhov chaw qhov qauv
Hloov 1.5 hli nyias phaj nrog 8 hli Q345 steel.
Hloov lub qhov ncaj mus rau qhov sib xyaw nrog 60℃chamfer; nkag txoj kab uas hla φ15 mm; qhia ntu ntev 10 mm.
Hone sab hauv phab ntsa kom txo kev sib txhuam.
Vision{0}}raws li kev them nyiaj system
Lub koob yees duab tsis pom kev txheeb xyuas qhov tseeb ntawm qhov chaw thiab tsav X / Y / θ them nyiaj ntawm lub phaj rotating kom coaxial sib txawv tsawg dua lossis sib npaug li 2 hli.
4. Cov ntsiab lus
Cov teeb meem AGV tau tham hauv daim ntawv no tseem ceeb qhia txog qhov tsis txaus ntawm kev sib txuam ntawm cov cuab yeej siv tshuab, tswj cov txheej txheem, thiab cov xwm txheej hauv cheeb tsam. Los ntawm cov txheej txheem engineering ntawm "quantitative analysis, full-chain coordination, and dynamic-static together them", cov kev daws teeb meem tau txais txiaj ntsig zoo kawg nkaus: qhov teeb meem ntawm kev tshem cov phaj tshem tawm tau daws tag nrho, AGV derailment zaus poob mus rau xoom, thiab tus pin insertion kev vam meej nce mus rau 99.5%. Cov kev daws teeb meem no muab cov ntaub ntawv muaj txiaj ntsig zoo rau kev txhim kho AGV kev ruaj ntseg hauv siab - dhau los ntawm cov xwm txheej logistics xws li kev tsim tsheb.
