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河南理工大学万方科技学院本科毕业论文

摘 要

本课题所设计的自动移动运送小车采用自动导引技术，应用于本校的模拟自动生产线上，主要功能是运送托盘。自动移动运送小车属于柔性生产线系统中的新兴物流设备之一，即自动导引车，英文简称AGV。因此，在本设计中将充分研究和应用当代的AGV技术。

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，属于移动式机器人的一个分支。在柔性制造系统和自动化工厂中用来组成高效、快捷的物流系统，可极大的提高生产自动化程度和生产效率，是一种非常有发展前途的物流输送设备。本文介绍AGV在国内外发展现状和应用情况，结合实验室实际条件，设计了光学导引式AGV样机。其主要工作内容包括:小车机械本体设计、 89C51单片机控制系统硬件电路及检测电路设计、控制系统软件设计。

关键词：AGV； 自动导引； 光学导引； 89C51单片机

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河南理工大学万方科技学院本科毕业论文

Abstract

This topic is designed to automatically move the delivery of Automated Guided Vehicles using the technology for the simulation of our automatic production line, the main function is the delivery tray. Auto-mobile delivery of flexible production line car belonging to the emerging system of logistics equipment, that is, automated guided vehicle, the English referred to as AGV. Therefore, the design will be fully in the research and application of contemporary AGV technology.

Automatic Guided Vehicle (AGV) covers the technologies of Optics, Electronics technologies Acoustics and Computer Science and other advanced theories and in the current scientific and technical fields, and it is one of the offshoots of mobile robot. AGV can greatly improve the degree of automatism and the efficiency of production when it is used to build an effective and speedy system of logistics in the flexible manufacturing system and automatic factory， and is a promising vehicle for the transportation of logistics.The paper studies the applications and developments of ALJV at home and abroad, and designs a laser guided AGV under actual conditions of the lab. The main work of the paper is as follows. The mechanical design of AIJV, the design of control system of hardware circuit and software based on 89C51 SCM.

Key works: AGV; automatic guide; laser guide; AT89C51 SCM

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河南理工大学万方科技学院本科毕业论文

目录

摘 要 ..................................................................................................................... I ABSTRACT ............................................................................................................... 1 目录 ......................................................................................................................... I 1 绪 论 ........................................................................................................... 1 1.1 课题背景及研究意义 ..................................................................................... 1 1.2 自动移动送料小车的关键技术——AGV发展现状 ........................................... 2

1.2.1 国外AGV发展的历史及现状 ...................................................................... 3 1.2.2 国内AGV发展的历史及现状 ...................................................................... 5 1.3 论文完成的主要工作 ........................................................................................ 6 2 自动移动送料小车AGV技术分析 ..................................................................... 7 2.1 AGV的类型 ............................................................................................................. 7 2.2 AGV的特点 .......................................................................................................... 8 2.3 AGV的导引方式 .................................................................................................. 9 2.3.1 导引方式分类 ............................................................................................. 10 2.3.2 AGV典型的导引方法 ................................................................................. 10 2.4 AGV系统的技术组成及调度方法 ................................................................... 14 2.4.1 AGV的技术组成 ......................................................................................... 14 2.4.2 AGV的调度方法 ......................................................................................... 16 3 自动移动送料小车总体结构 ........................................................................... 18 3.1 AGV 技术指标及运行 ........................................................................................ 18 3.2 总体结构设计方案 ........................................................................................... 18 3.3 行走系统 ........................................................................................................... 21 3.3.1 行走系统方案设计 ..................................................................................... 21 3.3.2 行走系统的技术设计 ................................................................................. 22 3.4 移载系统 ............................................................................................................ 26 3.4.1 移载系统的方案设计 ................................................................................. 26 3.4.2 移载系统技术设计 ..................................................................................... 27 3.5 自动移动送料小车的导引方案 ......................................................................... 29 4 AGV驱动控制系统电路设计 ........................................................................... 32 4.1 外围电路 .............................................................................................................. 32 4.2 传感器检测电路 ................................................................................................ 34

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