DOI：10.3969/j.issn.1672-3872.2024.19.034
基金项目：上海工程技术大学上海市大学生创新训练项目（CS2324003）
作 者：刘峰涛 ，方占奥 ，李丽婕 ，王李伟 ，赵 薇 ，陈德欣 ，赵春锋
（上海工程技术大学工程训练中心，上海 201620）
摘 要：【目的】实现智能搬运小车的识别搬运功能，优化设计智能搬运小车的卸货结构。【方法】根据2023年第十八届全国大学生智能汽车竞赛要求，研究了圆盘货舱、多边货舱和抽屉货舱结构，并分析对比了三类货舱结构与智能搬运小车的协调性。通过SolidWorks建模，分析了小车在不同坡度倾角下的表现情况，选择了最优参数。【结果】1）采用了较为少见的抽屉货舱结构，配合串级机械臂实现了通过挡板卸货的功能。2）采取30°的适中坡度，既保证了小车快速卸货，又保证了小车稳定运行。【结论】该车模卸货耗时短、卸货流程较为简洁，在比赛中获得了良好的运行效果，没有出现其他部分结构卸货失败、卸货错误或者是图片卡住等情况，证明了智能搬运小车货舱结构的实用性与可靠性，有望在后续投入实际搬运场景使用。
关键词：3D打印；三维建模；智能视觉；物料货仓
The Design and Analysis of Cargo Hold Structure for Intelligent Handling Vehicles
Liu Fengtao, Fang Zhan’ao, Li Lijie, Wang Liwei, Zhao Wei, Chen Dexin, Zhao Chunfeng
(The Engineering Training Center of Shanghai University of Engineering Science, Shanghai 201620)
Abstract: [Objective] To achieve the recognition and handling function of intelligent handling vehicles, and optimize the design of the unloading structure of intelligent handling vehicles. [Method] According to the requirements of the 18th National College Student Intelligent Vehicle Competition in 2023, the structures of circular cargo hold, multilateral cargo hold, and drawer cargo hold were studied, and the coordination between the three types of cargo hold structures and intelligent handling vehicles was analyzed and compared. Through SolidWorks modeling, the performance of the car under different slope angles was analyzed, and the optimal parameters were selected. [Result] 1) A relatively rare drawer cargo hold structure was adopted, which was combined with a cascade robotic arm to achieve the function of unloading through baffles. 2) Adopting a moderate slope of 30° ensures both fast unloading and stable operation of the trolley. [Conclusion] The unloading process of this car model is relatively simple and the unloading time is short. It has achieved good operating results in the competition without any other structural unloading failures, unloading errors, or stuck pictures, proving the practicality and reliability of the cargo hold structure of the intelligent handling car. It is expected to be used in practical handling scenarios in the future.
Keywords: 3D printing; 3D modeling; intelligent vision; material warehouse
引文信息：[1]刘峰涛，方占奥，李丽婕，等.智能搬运小车货舱结构设计与分析[J].南方农机，2024，55(19)：130-133.
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