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山東大學(xué)畢業(yè)設(shè)計(jì)（論文） I 摘 要 AGV 即自動(dòng)導(dǎo)引小車，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。 本文在分析研究國內(nèi)外 AGV 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)引小 車，其主要工作內(nèi)容包括：小車機(jī)械傳動(dòng)設(shè)計(jì)、直流伺服電機(jī)的選擇、AT89C51 單片機(jī)控制 系統(tǒng)硬件電路、運(yùn)動(dòng)學(xué)分析、控制系統(tǒng)軟件設(shè)計(jì)及圓弧插補(bǔ)程序。所設(shè)計(jì)的小車能夠?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)到了沿著設(shè)定的路線行駛。 關(guān)鍵詞：自動(dòng)導(dǎo)引小車，單片機(jī)控制，設(shè)計(jì)，PWM 技術(shù) 山東大學(xué)畢業(yè)設(shè)計(jì)（論文） II 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 山東大學(xué)畢業(yè)設(shè)計(jì)（論文） 3 目 錄 摘 要 .............................................................I Abstract........................................................II 第一章 緒論 .....................................................1 1.1 AGV 自動(dòng)導(dǎo)引小車簡介 ...........................................1 1.2 AGV 自動(dòng)導(dǎo)引小車的分類 .........................................1 1.3 AGV 小車充電保護(hù)裝置 1 1.4 國內(nèi)外研究現(xiàn)狀及發(fā)展趨勢 .......................................2 第二章 機(jī)械部分設(shè)計(jì) ..........................................3 2.1 設(shè)計(jì)任務(wù) ......................................................3 2.2 確定機(jī)械傳動(dòng)方案 ..............................................3 2.3 直流伺服電動(dòng)機(jī)的選擇 ..........................................4 2.4 聯(lián)軸器的設(shè)計(jì) ..................................................7 2.5 蝸桿傳動(dòng)設(shè)計(jì) 8 2.6 軸的設(shè) 計(jì)11 2.7 滾動(dòng)軸承選擇計(jì) 算18 第三章 控制系統(tǒng)的設(shè)計(jì) ..................................... 23 3.1 控制系統(tǒng)總體方案 .............................................23 3.2 鑒向 .........................................................24 3.3 計(jì)數(shù)的擴(kuò)展 ...................................................25 3.4 中斷的擴(kuò)展 ...................................................26 3.5 數(shù)摸轉(zhuǎn)換器的選擇 .............................................27 山東大學(xué)畢業(yè)設(shè)計(jì)（論文） 4 3.6 電機(jī)驅(qū)動(dòng)芯片選擇 .............................................29 3.7 運(yùn)動(dòng)學(xué)分析 ...................................................33 3.8 控制軟件的設(shè)計(jì) ...............................................34 第四章 AGV 運(yùn)行環(huán)境的安全防護(hù)措施 42 結(jié)論 .............................................................43 致謝 .............................................................44 參考文獻(xiàn)（References） .....................................45