自動(dòng)導(dǎo)引運(yùn)物車設(shè)計(jì)與實(shí)現(xiàn)


摘  要

自動(dòng)導(dǎo)引運(yùn)物車，它集聲、光、電、計(jì)算機(jī)技術(shù)于一體，綜合了當(dāng)今科技領(lǐng)域先進(jìn)的理論和應(yīng)用技術(shù)。廣泛應(yīng)用在柔性制造系統(tǒng)和自動(dòng)化工廠中，具有運(yùn)輸效率高、節(jié)能、工作可靠、能實(shí)現(xiàn)柔性運(yùn)輸?shù)仍S多優(yōu)點(diǎn)，極大的提高生產(chǎn)自動(dòng)化程度和生產(chǎn)效率。

本文在分析研究國(guó)內(nèi)外自動(dòng)導(dǎo)引運(yùn)物車現(xiàn)狀與發(fā)展的基礎(chǔ)上，設(shè)計(jì)了兩后輪獨(dú)立驅(qū)動(dòng)的自動(dòng)導(dǎo)引運(yùn)物車，其主要工作內(nèi)容包括：運(yùn)物車機(jī)械傳動(dòng)設(shè)計(jì)、直流伺服電機(jī)的選擇、傳感器的選擇、8031單片機(jī)控制系統(tǒng)和檢測(cè)系統(tǒng)硬件電路、控制系統(tǒng)軟件設(shè)計(jì)及轉(zhuǎn)向程序編程。所設(shè)計(jì)的運(yùn)物車能夠?qū)崿F(xiàn)自主運(yùn)行、運(yùn)動(dòng)軌跡（圓弧、直線）的控制等功能，達(dá)到了沿著導(dǎo)引的路線行駛。

關(guān)鍵詞：自動(dòng)導(dǎo)引運(yùn)物車，8031單片機(jī)，機(jī)械設(shè)計(jì)，PWM調(diào)速

Abstract

The AGV namely Automatic Guided Vehicle, it collect sound, the light, the electricity, the computer technology in a body, and synthesizes the technical domain advanced theory and the application technology. It widespread applied in the flexible manufacturing system and the factory automation, and has the merits of  high transportation efficiency, the energy conservation, the work reliable, the flexible transportation. It enormously enhanced production automaticity and production efficiency.

Based on the analysis of the domestic and foreign AGV present situation and its development foundation, AGV with two wheel independent drive is designed. The content of the paper includes: design of mechanical structure and drive of the car, the choice of direct current servo motor, the choice of sensor, the hardware electric circuit of 8031 control system and detection system, the software design of control system and the procedure of steering system. The designed car can realize the functions of independent movement, the path (circular arc, straight line) control and so on, and has achieved to travel along the guided route.

Keywords:  AGV，8031，Mechanical Design，PWM control

目  錄

第1章  引 言 1

1.1 自動(dòng)導(dǎo)引運(yùn)物車簡(jiǎn)介 1

1.2 自動(dòng)導(dǎo)引運(yùn)物車分類 1

1.3 自動(dòng)導(dǎo)引運(yùn)物車發(fā)展概況 2

第2章 系統(tǒng)總體方案 3

2.1 機(jī)械系統(tǒng)方案 3

2.2 控制與檢測(cè)系統(tǒng)方案 6

第3章  機(jī)械系統(tǒng)設(shè)計(jì) 9

3.1設(shè)計(jì)目標(biāo)和結(jié)構(gòu)方案 9

3.2 系統(tǒng)結(jié)構(gòu)設(shè)計(jì)參數(shù) 9

3.3直流伺服電動(dòng)機(jī)的選擇 9

3.4聯(lián)軸器設(shè)計(jì) 13

3.5蝸桿傳動(dòng)設(shè)計(jì) 14

3.6軸的設(shè)計(jì) 17

3.7滾動(dòng)軸承選擇計(jì)算 25

第4章 微機(jī)控制系統(tǒng)設(shè)計(jì) 31

4.1微機(jī)控制系統(tǒng)結(jié)構(gòu) 31

4.2中央處理單元的選擇 31

4.3 存儲(chǔ)器擴(kuò)展電路的選擇 32

4.4 鑒向 37

4.5 計(jì)數(shù)的擴(kuò)展 38

4.6 中斷的擴(kuò)展 39

4.7 數(shù)模轉(zhuǎn)換器的選擇 41

4.8 電機(jī)驅(qū)動(dòng)芯片選擇 44

4.9 檢測(cè)系統(tǒng)與輔助電路 47

4.10 功能芯片地址分配 57

第5章  控制軟件設(shè)計(jì) 59

5.1 軟件模塊劃分 59

5.1 控制軟件的設(shè)計(jì)與編程 60

第6章  總結(jié) 66

致   謝 67

參考文獻(xiàn) 68

附  錄 69