AGV自动导引小车的设计

论文编号:JX1668  论文字数:12258.页数:47 附CAD图

AGV自动导引小车的设计
摘 要
 AGV即自动导引小车，它集声、光、电、计算机技术于一体，综合了当今科技领域先进的理论和应用技术。广泛应用在柔性制造系统和自动化工厂中，具有运输效率高、节能、工作可靠、能实现柔性运输等许多优点，极大的提高生产自动化程度和生产效率。
 本文在分析研究国内外AGV现状与发展的基础上，设计了两后轮独立驱动的自动导引小车，其主要工作内容包括：小车机械传动设计、直流伺服电机的选择、AT89C51单片机控制系统硬件电路、运动学分析、控制系统软件设计及圆弧插补程序。所设计的小车能够实现自主运行、运动轨迹（圆弧、直线）的控制等功能，达到了沿着设定的路线行驶。
 关键词：自动导引小车，单片机控制，设计，PWM技术
 

Design on Automatic Guided Vehicle
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 hardware electric circuit of AT89C51 control system, the kinematic analysis, the software design of control system and the procedure of interpolation the circular arc. 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 hypothesis route.
 Keyword: Automatic Guided Vehicle, singlechip computer control，Design , PWM

目        录

摘 要 1
Abstract 2
第一章 绪论 4
1.1 AGV自动导引小车简介 4
1.2 AGV自动导引小车的分类 4
1.3国内外研究现状及发展趋势 4
第二章 机械部分设计 5
2.1设计任务 5
2.2确定机械传动方案 5
2.3直流伺服电动机的选择 6
2.4联轴器的设计 9
2.5蜗杆传动设计 10
2.6轴的设计 13
2.6.1前轮轴的设计 13
2.6.2后轮轴的设计 16
2.7滚动轴承选择计算 21
2.7.1前轮轴上的轴承 21
2.7.2蜗杆轴上的轴承 22
2.7.3后轮轴上的轴承 24
第三章 控制系统的设计 25
3.1 控制系统总体方案 25
3.2 鉴向 26
3.3 计数的扩展 27
3.4 中断的扩展 28
3.5 数摸转换器的选择 30
3.6 电机驱动芯片选择 32
3.7 运动学分析 36
3.7.1运动学方程 36
3.7.2转弯半径 37
3.8 控制软件的设计 37
结论与展望 45
致谢 45
参考文献（References） 46