CN106020209A - AGV trolley for recycling wave soldering fixture - Google Patents
AGV trolley for recycling wave soldering fixture Download PDFInfo
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- CN106020209A CN106020209A CN201610601408.3A CN201610601408A CN106020209A CN 106020209 A CN106020209 A CN 106020209A CN 201610601408 A CN201610601408 A CN 201610601408A CN 106020209 A CN106020209 A CN 106020209A
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- 238000005476 soldering Methods 0.000 title claims abstract description 36
- 238000004064 recycling Methods 0.000 title abstract 4
- 239000003990 capacitor Substances 0.000 claims description 48
- 230000001629 suppression Effects 0.000 claims description 18
- 230000001052 transient effect Effects 0.000 claims description 18
- 230000001133 acceleration Effects 0.000 claims description 15
- 239000013078 crystal Substances 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 13
- 238000011084 recovery Methods 0.000 claims description 10
- 241000380131 Ammophila arenaria Species 0.000 claims description 8
- 238000001816 cooling Methods 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 15
- 238000005516 engineering process Methods 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 241000208125 Nicotiana Species 0.000 description 2
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000003723 Smelting Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
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- Automation & Control Theory (AREA)
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Abstract
The invention provides an AGV trolley for recycling a wave soldering fixture. The AGV trolley automatically carries the wave soldering fixture to the previous position and the AGV trolley automatically returns to the next position so that the equipping number of the wave soldering fixture can be reduced, occupation of the workshop space can be reduced and the production efficiency can be enhanced. The scheme is that the AGV trolley comprises a trolley body. The front part and the rear part of the trolley body are respectively provided with a forward first obstacle avoidance sensor and a backward second obstacle avoidance sensor. The trolley body is provided with a power supply module and a control panel. The power supply supplies power to the control panel. According to the AGV trolley for recycling the wave soldering fixture, the AGV trolley automatically carries the wave soldering fixture to the previous position and the AGV trolley automatically returns to the initial position to prepare for the next recycling work so that the labor intensity of work personnel can be reduced, the equipping number of the wave soldering fixture can be reduced, occupation of the workshop space can be reduced and the production efficiency can be enhanced.
Description
Technical field
The present invention relates to equipment technology field of transport, particularly a kind of recovery wave soldering tool AGV dolly.
Background technology
AGV is the abbreviation of automatical pilot transportation vehicle (Automated Guided Vehicle), simply it can be regarded as unpiloted transport vehicle, realize automatically identifying route, find goods and carry, this technology can apply to unmanned motor vehicles, unmanned factory, warehouse, the fields such as service robot, between automated warehouse and workshop, between each station, between each section of pipeline, AGV has acted the important function that can not be substituted, compared with traditional transfer roller or conveyer belt, it is simple that AGV landline has construction, path is flexible, it is not take up space, preferably mobility, the advantages such as flexibility.
AGV has two kinds of developmental patterns both at home and abroad: the first is the full-automatic AGV technology with American-European countries as representative, this kind of technology pursues the automatization of AGV, almost complicated and changeable completely without artificial intervention, path planning and production procedure, it is possible to be used in almost all of carrying occasion；The second is the simple type AGV technology with Japan as representative, is called AGC(Automated Guided
Card).
In recent years, automatic technology presents the trend of accelerated development, domestic automatic stereowarehouse and automatic flexible assembly line enter development and stage of popularization, the application of AGV gradually starts to promote the most at home, industry analysis from application, distribution face is boundless, there is auto industry, aircraft industry, white goods industry, tobacco business, machining, warehouse, postal and telecommunication entities etc., this explanation AGV has a potential broad mass market in China, wherein with company limited of Xin Song robot, company limited is assembled in the conveying of elder brother's ship intelligence, the AGV of Ji Ke share Development Co., Ltd is respectively in auto manufacturing of China, tobacco, press is flourish.
China is the industrial robot markets such as global maximum AGV dolly now, " robot of the world statistical data report in 2014 " issued in February, 2015 according to IFR, the robot total amount of anticipated 2017 China will be increased to 42.8 ten thousand by existing 16.2 ten thousand, and north America region estimates that total usage amount is 29.2 ten thousand units, five economies of Europe maximum are 34.3 ten thousand units, China will become world industry robot first and use big country when the time comes, although the current robot total amount of China is huge, but " robot density " is the highest, every 10,000 manufacturing operators of Korea S are equipped with 437 industrial robots, it it is 15 times of China, therefore in China, AGV dolly has wide market prospect.
But the concern that small-sized AGV is put into by domestic AGV industry is less, most of producers energy concentrates on and makes large-scale high-performance AGV, below load-carrying 50kg, unit price AGV market below 50,000 yuan also has bigger vacancy, as Electronics Factory's wave soldering tool reclaims, the loading capacity needed is about 30kg, size L500*W400*H400mm, but owing to hall space is limited, it is desirable to be able to bidirectional walking, can not unidirectional walking as common AGV, meet on the product market so required seldom.
Wave soldering tool needs recycle and reuse, in prior art, the usual way of the recycle and reuse of wave soldering tool is to concentrate a number of wave soldering tool at next station, then with go-cart, wave-soldering smelting is transported to a upper station cycle by operating personnel utilize, in order to meet the demand that production line continuously runs, need to be equipped with substantial amounts of wave soldering tool, also need to substantial amounts of go-cart to deposit these wave soldering tools simultaneously, take the space in substantial amounts of workshop, the labor intensity that operating personnel carries wave soldering tool is the biggest, and there is certain potential safety hazard.
Summary of the invention
For above-mentioned situation, for overcoming the defect of prior art, the purpose of the present invention is that providing a kind of reclaims wave soldering tool AGV dolly, achieve AGV dolly and automatically wave soldering tool is sent back to a upper station, AGV dolly automatically returns to next station, reduce wave soldering tool and be equipped with quantity, reduce and space, workshop is taken and improves production efficiency.
nullIts technical scheme solved is，Including trolley body，The front and rear of described trolley body is separately installed with the first avoidance sensor forwardly and rearwardly and the second avoidance sensor，Trolley body is provided with power module and control panel，Described power module is powered with control panel，Described control panel includes colour recognition circuit、Motor-drive circuit、Helm control circuit、Acceleration detection circuit、Wheel speed measuring module、Pressure sensor module、Cooling circuit、Key circuit、Usb circuit、WiFi module、Remote control circuit、Bluetooth module and controller，Described colour recognition circuit is connected with controller，Wheel speed measuring module is connected with controller，Pressure sensor module is connected with controller，Key circuit is connected with controller，Usb circuit is connected with controller，Controller is connected with motor-drive circuit，Controller is connected with helm control circuit，Acceleration detection circuit is connected with controller，Controller is connected with cooling circuit，Controller the most respectively with WiFi module、Bluetooth module connects；
First avoidance sensor and the second avoidance sensor are all connected with controller；
nullDescribed power module includes 5V mu balanced circuit、3.3V mu balanced circuit、12 mu balanced circuits and 6V mu balanced circuit，Described 5V mu balanced circuit includes the first circuit of three-terminal voltage-stabilizing integrated U1、Electric capacity C1、Electrochemical capacitor C2、Electrochemical capacitor C3 and electric capacity C4，1 pin of described first circuit of three-terminal voltage-stabilizing integrated U1 connects 24V power supply，1 pin of the first circuit of three-terminal voltage-stabilizing integrated U1 is connected with one end of electric capacity C1，1 pin of the first circuit of three-terminal voltage-stabilizing integrated U1 is connected with one end of electrochemical capacitor C2，3 pins of the first circuit of three-terminal voltage-stabilizing integrated U1 are connected with one end of electrochemical capacitor C3，3 pins of the first circuit of three-terminal voltage-stabilizing integrated U1 are connected with one end of electric capacity C4，The other end of electric capacity C1、The other end of electrochemical capacitor C2、2 pins of the other end of electrochemical capacitor C3 and the other end of electric capacity C4 and the first circuit of three-terminal voltage-stabilizing integrated U1 all ground connection GND，The 3 pin output 5V power supplys of the first circuit of three-terminal voltage-stabilizing integrated U1；
nullDescribed 3.3V mu balanced circuit includes the second circuit of three-terminal voltage-stabilizing integrated U2、Electric capacity C5、Electrochemical capacitor C6、Electrochemical capacitor C7 and electric capacity C8，1 pin of described second circuit of three-terminal voltage-stabilizing integrated U2 connects 24V power supply，Described 1 pin of the second circuit of three-terminal voltage-stabilizing integrated U2 is connected with one end of electric capacity C5，1 pin of the second circuit of three-terminal voltage-stabilizing integrated U2 is connected with one end of electrochemical capacitor C6，3 pins of the second circuit of three-terminal voltage-stabilizing integrated U2 are connected with one end of electrochemical capacitor C7，3 pins of the second circuit of three-terminal voltage-stabilizing integrated U2 are connected with one end of electric capacity C8，2 pins of the second circuit of three-terminal voltage-stabilizing integrated U2、The other end of electric capacity C5、The other end of electrochemical capacitor C6、The other end of electrochemical capacitor C7 and the other end of electric capacity C8 all ground connection GND，The 3 pin output 3.3V power supplys of the second circuit of three-terminal voltage-stabilizing integrated U2；
nullDescribed 12V mu balanced circuit includes the 3rd circuit of three-terminal voltage-stabilizing integrated U6、Electric capacity C12、Electrochemical capacitor C13、Electrochemical capacitor C14 and electric capacity C15，1 pin of described 3rd circuit of three-terminal voltage-stabilizing integrated U6 connects 24V power supply，1 pin of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 is connected with one end of electric capacity C12，1 pin of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 is connected with one end of electrochemical capacitor C13，3 pins of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 are connected with one end of electrochemical capacitor C14，3 pins of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 are connected with one end of electric capacity C15，2 pins of the 3rd circuit of three-terminal voltage-stabilizing integrated U6、The other end of electric capacity C12、The other end of electrochemical capacitor C13、The other end of electrochemical capacitor C14 and the other end of electric capacity C15 all ground connection GND，The 3 pin output 12V power supplys of the 3rd circuit of three-terminal voltage-stabilizing integrated U6；
nullDescribed 6V mu balanced circuit includes the 4th circuit of three-terminal voltage-stabilizing integrated U7、Electric capacity C16、Electrochemical capacitor C17、Electrochemical capacitor C18 and electric capacity C19，1 pin of described 4th circuit of three-terminal voltage-stabilizing integrated U7 connects 24V power supply，1 pin of the 4th circuit of three-terminal voltage-stabilizing integrated U7 is connected with one end of electric capacity C16，1 pin of the 4th circuit of three-terminal voltage-stabilizing integrated U7 is connected with one end of electrochemical capacitor C17，3 pins of the 4th circuit of three-terminal voltage-stabilizing integrated U7 are connected with one end of electrochemical capacitor C18，3 pins of the 4th circuit of three-terminal voltage-stabilizing integrated U7 are connected with one end of electric capacity C19，2 pins of the 4th circuit of three-terminal voltage-stabilizing integrated U7、The other end of electric capacity C16、The other end of electrochemical capacitor C17、The other end of electrochemical capacitor C18 and the other end of electric capacity C19 all ground connection GND，The 3 pin output 6V power supplys of the 4th circuit of three-terminal voltage-stabilizing integrated U7；
The processor U that described controller uses model to be K60N512；
nullDescribed motor-drive circuit includes front-wheel drive circuit and rear wheel drive circuit，Described front-wheel drive circuit includes the first chip U5 that model is L298、First motor M1 and the second motor M2，Described model is 5 pins of the first chip U5 of L298、7 pins、10 pins and 12 pins respectively with 50 pins of the processor U that model is K60N512、51 pins、52 pins and 53 pins connect，Model is 6 pins of the first chip U5 of L298、11 pins and 9 pins all connect 6V power supply，Model is that 4 pins of the first chip U5 of L298 connect 12V power supply，Model is 1 pin of the first chip U5 of L298、15 pins and 8 pins all ground connection GND，Model is 2 pins and one end connection of the first motor M1 of the first chip U5 of L298，Model is 3 pins and the other end connection of the first motor M1 of the first chip U5 of L298，Model is 13 pins and one end connection of the second motor M2 of the first chip U5 of L298，Model is 14 pins and the other end connection of the second motor M2 of the first chip U5 of L298；nullDescribed rear wheel drive circuit includes the second chip U8 that model is L298、3rd motor M3 and the 4th motor M4，Described model is 5 pins of the second chip U8 of L298、7 pins、10 pins、12 pins respectively with 54 pins of the processor U that model is K600N512、59 pins、60 pins and 64 pins connect，Model is 6 pins of the second chip U8 of L298、11 pins and 9 pins all connect 6V power supply，Model is that 4 pins of the second chip U8 of L298 connect 12V power supply，Model is 1 pin of the second chip U8 of L298、15 pins and 8 pins all ground connection GND，Model is 2 pins and one end connection of the 3rd motor M3 of the second chip U8 of L298，Model is 3 pins and the other end connection of the 3rd motor M3 of the second chip U8 of L298，Model is 13 pins and one end connection of the 4th motor M4 of the second chip U8 of L298，Model is 14 pins and the other end connection of the 4th motor M4 of the second chip U8 of L298；
nullDescribed colour recognition circuit includes light emitting diode D6、Light emitting diode D7、Light emitting diode D8、Light emitting diode D9 and the color sensor U9 that model is TCS320，The positive pole of described light emitting diode D6 is connected with one end of resistance R3，The positive pole of light emitting diode D7 is connected with one end of resistance R4，The positive pole of light emitting diode D8 is connected with one end of resistance R6，The positive pole of light emitting diode D9 is connected with one end of resistance R7，The other end of resistance R3、The other end of resistance R4、The other end of resistance R6 and the other end of resistance R7 all connect 5V power supply，The negative pole of light emitting diode D6、The negative pole of light emitting diode D7、The negative pole of light emitting diode D8 and the negative pole of light emitting diode D9 all ground connection GND，Model is 1 pin of the color sensor U9 of TCS320、2 pins、3 pins、6 pins、7 pins and 8 pins respectively with 1 pin of the processor U that model is K60N512、2 pins、3 pins、82 pins、7 pins and 4 pins connect，Model is the 4 pin ground connection GND of the color sensor U9 of TCS320，Model is that 5 pins of the color sensor U9 of TCS320 connect 5V power supply；
nullDescribed helm control circuit includes the chip U10 that model is ITG3200、Electric capacity C22、Electric capacity C23 and electric capacity C24，Described model is 13 pins of the chip U10 of ITG3200 and 8 pins all connect 6V power supply，Model is that 8 pins of the chip U10 of ITG3200 are connected with one end of electric capacity C22，The other end ground connection GND of electric capacity C22，Model is that 10 pins of the chip U10 of ITG3200 are connected with one end of electric capacity C23，The other end ground connection GND of electric capacity C23，Model is that 20 pins of the chip U10 of ITG3200 are connected with one end of electric capacity C24，The other end ground connection GND of electric capacity C24，Model is 11 pins of the chip U10 of ITG3200、18 pins、1 pin and 9 pins all ground connection GND，Model is 23 pins of the chip U10 of ITG3200 and 24 pins are connected with 105 pins and 106 pins of the processor U that model is K60N512 respectively；
nullDescribed acceleration detection circuit includes the chip U3 that model is MMA7660FC、Electric capacity C9 and electric capacity C10，Described model is 1 pin of the chip U3 of MMA7660FC、4 pins and 8 pins all ground connection GND，Model is that 3 pins of the chip U3 of MMA7660FC are connected with 31 pins of the processor U that model is K60N512，Model is that 3 pins of the chip U3 of MMA7660FC are connected with one end of electric capacity C9，The other end ground connection GND of electric capacity C9，Model is 139 pins of the processor U that 5 pin direct type number are K60N512 of the chip U3 of MMA7660FC，Model is 6 pins of the chip U3 of MMA7660FC and 7 pins are connected with 137 pins and 138 pins of the processor U that model is K60N512 respectively，Model is that 9 pins of the chip U3 of MMA7660FC connect 33.V power supply，Model is that 9 pins of the chip U3 of MMA7660FC are connected with one end of electric capacity C10，The other end ground connection GND of electric capacity C10；
nullDescribed pressure sensor module includes the pressure transducer M1 that model is MPX4115、Electric capacity C25、Electric capacity C26 and resistance R10，Described model is that 1 pin of the pressure transducer M1 of MPX4115 is connected with 103 pins of the processor U that model is K60N512，Model is that 1 pin of the pressure transducer M1 of MPX4115 is connected with one end of resistance R10，Model is that 1 pin of the pressure transducer M1 of MPX4115 is connected with one end of electric capacity C26，Model is 2 pins of the pressure transducer M1 of MPX4115、The other end of resistance R10 and the other end of electric capacity C26 all ground connection GND，Model is that 3 pins of the pressure transducer M1 of MPX4115 are connected with one end of electric capacity C25，The other end of electric capacity C25 all ground connection GND，Model is that 3 pins of the pressure transducer M1 of MPX4115 connect 5V power supply；
nullDescribed cooling circuit includes the 3rd chip U11 and motor M5 that model is L298，Described model is 5 pins of the 3rd chip U11 of L298、7 pins、10 pins and 12 pins respectively with 65 pins of the processor U that model is K60N512、69 pins、72 pins and 73 pins connect，Model is 6 pins of the 3rd chip U11 of L298 and 11 pins all connect 6V power supply，Model is 1 pin of the 3rd chip U11 of L298、15 pins and 8 pins all ground connection GND，Model is that 9 pins of the 3rd chip U11 of L298 connect 6V power supply，Model is that 4 pins of the 3rd chip U11 of L298 connect 12V power supply，Model is that 2 pins of the 3rd chip U11 of L298 are connected with one end of motor M5，Motor M5 is connected with 3 pins of the 3rd chip U11 that model is L298.
The wave soldering tool of the present invention reclaims AGV dolly, automatically wave soldering tool is sent back to a upper station, and automatically return to initial station in case carrying out recovery operation next time, thus alleviate the labor intensity of operating personnel, reduce wave soldering tool and be equipped with quantity, reduce and space, workshop is taken, improve production efficiency.
Accompanying drawing explanation
Fig. 1 is the system architecture diagram of the control panel of the present invention.
Fig. 2 is the circuit connection diagram of the 5V mu balanced circuit of the present invention.
Fig. 3 is the circuit connection diagram of the 3.3V mu balanced circuit of the present invention.
Fig. 4 is the circuit connection diagram of the 12V mu balanced circuit of the present invention.
Fig. 5 is the circuit connection diagram of the 6V mu balanced circuit of the present invention.
Fig. 6 is the circuit connection diagram of the colour recognition circuit of the present invention.
Fig. 7 is the circuit connection diagram of the front-wheel drive circuit of the present invention.
Fig. 8 is the circuit connection diagram of the rear wheel drive circuit of the present invention.
Fig. 9 is the circuit connection diagram of the helm control circuit of the present invention.
Figure 10 is the circuit connection diagram of the acceleration detection circuit of the present invention.
Figure 11 is the circuit connection diagram of the pressure sensor module of the present invention.
Figure 12 is the circuit connection diagram of the cooling circuit of the present invention.
Figure 13 is the circuit connection diagram of the usb circuit of the present invention.
Figure 14 is the circuit connection diagram of the key circuit of the present invention.
Figure 15 is the circuit connection diagram of the oscillating circuit of the processor U that model is K60N512 of the present invention.
Figure 16 is the functional pin figure of the processor U that model is K60N512 of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in further detail.
In conjunction with shown in Fig. 1 to Figure 16, a kind of of the present invention reclaims wave soldering tool AGV dolly,
nullDescribed usb circuit includes USB interface J1、Transient Suppression Diode D3、Transient Suppression Diode D4、Transient Suppression Diode D5 and resistance R5，1 pin of USB interface J1 is connected with one end of resistance R5，Another termination 5V power supply of resistance R5，1 pin of USB interface J1 is connected with the positive pole of Transient Suppression Diode D5，3 pins of USB interface J1 are connected with the positive pole of Transient Suppression Diode D4，2 pins of USB interface J1 are connected with the positive pole of Transient Suppression Diode D3，3 pins of USB interface J1 and 2 pins are connected with 20 pins and 19 pins of the processor U that model is K60N512 respectively，4 pins of USB interface J1、The negative pole of Transient Suppression Diode D3、The negative pole of Transient Suppression Diode D4 and the negative pole of Transient Suppression Diode D5 all ground connection GND.
nullDescribed key circuit includes button K1、Button K2、Button K3 and button K4，One end of described button K1 is connected with 117 pins of the processor U that model is K60N512，One end of button K2 is connected with 118 pins of the processor U that model is K60N512，One end of button K3 is connected with 123 pins of the processor U that model is K60N512，One end of button K4 is connected with 124 pins of the processor U that model is K60N512，One end of button K5 is connected with 125 pins of the processor U that model is K60N512，One end of button K6 is connected with 126 pins of the processor U that model is K60N512，The other end of button K1、The other end of button K2、The other end of button K3 and the other end of button K4、The other end of button K5 and the other end of button K6 all ground connection GND.
Described oscillating circuit includes crystal oscillator X1, electric capacity C27, electric capacity C28, resistance R11, resistance R12 and resistance R13, one end of described crystal oscillator X1 is connected with one end of electric capacity C27, the other end of crystal oscillator X1 is connected with one end of electric capacity C28, the other end of electric capacity C27 and the other end of electric capacity C28 all ground connection GND, one end of crystal oscillator X1 is connected with one end of resistance R11, the other end of crystal oscillator X1 is connected with the other end of resistance R11, one end of crystal oscillator X1 is connected with one end of resistance R12, the other end of resistance R12 is connected with 40 pins of the processor U that model is K60N512, the other end of crystal oscillator X1 is connected with one end of resistance R13, the other end of resistance R13 is connected with 41 pins of the processor U that model is K60N512.
Described model is that the processor U of K60N512 is also associated with photographic head, and AGV dolly course is recorded a video by this photographic head, and through WIFI module, video information is uploaded to host computer, and AGV dolly route is monitored by host computer.
Described photographic head uses model to be OV7725 digital camera.
Described 24V power supply is the chargeable storage power supply of 24V/20A.
Described first circuit of three-terminal voltage-stabilizing integrated U1 be model be the circuit of three-terminal voltage-stabilizing integrated of LM7805.
Described second circuit of three-terminal voltage-stabilizing integrated U2 be model be the circuit of three-terminal voltage-stabilizing integrated of LM117-3.3.
Described 3rd circuit of three-terminal voltage-stabilizing integrated U6 be model be the circuit of three-terminal voltage-stabilizing integrated of LM7812.
Described 4th circuit of three-terminal voltage-stabilizing integrated U7 be model be the circuit of three-terminal voltage-stabilizing integrated of LM7806.
It is E18-D80NK IR evading obstacle sensors that described first avoidance sensor and the second avoidance sensor are model.
Described model be the chip U10 of ITG3200 be three-axis gyroscope, be used for sense AGV trolley travelling attitude, model be the chip U3 of MMA7660FC be acceleration transducer, the cumulative error of the chip U10 that model is ITG3200 is calibrated.
Button K1 in described key circuit is main power button, controls opening and shutting off of main power, and button K2 is start key, push button K2, AGV dolly is advanced forward, and button K3 is the K3 that pushes button under rapid stop key, contingency condition, AGV dolly halts, button K4 is maintenance key, and push button K4, and AGV dolly enters maintenance mode, AGV dolly tracking disabler, button K5 and button K6 is that AGV dolly parameter sets button.
Described model be TCS320 be a kind of colourama able to programme sensor to frequency, there is resolution color selecting high, programmable and output calibration, the advantage powered of single supply, tracking can be carried out according to the identification of black and white colour band.
The present invention in use,
A upper station is provided with primary importance sensor, next station is provided with second position sensor, when AGV dolly walks at the primary importance sensor that a upper station is arranged at the second position sensor that next station is arranged, model is that the processor U of K60N512 controls the first chip U5 and the second chip U8 that model is L298, and then controlling the first motor M1, the second motor M2, the 3rd motor M3 and the 4th motor M4 stopping, AGV dolly is parked at the primary importance sensor that a station is arranged；When at the primary importance sensor that a upper station is arranged, return is worth at the second position sensor of next station position AGV dolly, model is that the processor U of K60N512 controls the first chip U5 and the second chip U8 that model is L298, and then controlling the first motor M1, the second motor M2, the 3rd motor M3 and the 4th motor M4 stopping, AGV dolly is parked at the second position sensor that next station is arranged.
nullBlack and white colour band is posted between a upper station and next station，Colour recognition circuit is according to the detection of black and white colour band，Control AGV dolly be worth next station along track designation from a upper station return or advance to a station from next station，Ensure that AGV dolly is without departing from direction，Power module provides electric energy for whole AGV dolly，Owing to the different circuit modules on control panel need different running voltages and current capacity to differ，Therefore power module is divided into 5V mu balanced circuit、3.3V mu balanced circuit、24V mu balanced circuit and 6V mu balanced circuit，5V mu balanced circuit output 5V power supply，For the processor U that model is K60N512、Colour recognition circuit、Pressure sensor module and usb circuit are powered，3.3V mu balanced circuit output 3.3V power supply，Power for acceleration detection circuit，12V mu balanced circuit output 12V power supply is the first motor M1、Second motor M2、3rd motor M3、4th motor M4 and the electrical source of power of the 5th motor M5，6V mu balanced circuit output 6V power supply is the first motor M1、Second motor M2、3rd motor M3、4th motor M4 and the logic power of the 5th motor M5.
nullDescribed trolley body，The front portion of described trolley body is provided with the first avoidance sensor forward，Trolley body is provided with power module and control panel，Key circuit is installed on the control panel，By button K5 and button K6, AGV dolly is carried out parameter setting，First push button K1，Making main power is that whole AGV dolly is powered，Push button K2 again，Model is the 76 pin low levels of the processor U of K60N512，The processor U exciting model to be K60N512 controls the first chip U5 that model is L298 and the second chip U8 that model is L298，And then drive the first motor M1、Second motor M2、3rd motor M3 and the 4th motor M4，Trolley front wheel and trailing wheel is driven to make AGV dolly move ahead from next station upwards station，When there being wave soldering tool to be placed on AGV dolly，Pressure transducer M1 detects pressure information，And this pressure information is uploaded to 103 pins of the processor U that model is K60N512，Model is that the processor U of K60N512 controls the 3rd chip U11 driving motor M5 that model is L298，Blower fan is made to work，For wave soldering tool radiating and cooling，During GAV dolly moves ahead，When there being barrier in the direction that dolly moves ahead，The information of the barrier of detection is uploaded to the processor U that model is K60N512 by the first avoidance sensor，After the processor U analyzing and processing that model is K60N512，Send the chip U10 that model is ITG3200 to helm control circuit，AGV dolly is made to change direction of advance，Avoiding obstacles，Acceleration information during acceleration detection electric circuit inspection AGV dolly advances simultaneously，And acceleration information is uploaded to the processor U that model is K60N512，After the processor U analyzing and processing that model is K60N512，Control the first motor M1、Second motor M2、3rd motor M3 and the rotating speed of the 4th motor M4，And then control AGV dolly constant speed advances at next station.
When AGV dolly is back to next station from a upper station, the rear portion of trolley body is provided with the second avoidance sensor backward, second avoidance sensor is by the barrier on detection dolly return route, if there being barrier on return route, control control circuit and change the Return-ing direction of AGV dolly, avoiding obstacles, acceleration information during acceleration detection electric circuit inspection AGV dolly advances simultaneously, and acceleration information is uploaded to the processor U that model is K60N512, after the processor U analyzing and processing that model is K60N512, control the first motor M1, second motor M2, 3rd motor M3 and the rotating speed of the 4th motor M4, and then control AGV dolly constant speed is back at next station.
Described usb circuit can carry out program renewal by USB to AGV dolly, it is possible to by WIFI module download online program, AGV dolly is carried out program renewal.
The wave soldering tool of the present invention reclaims AGV dolly, automatically wave soldering tool is sent back to a upper station, and automatically return to initial station in case carrying out recovery operation next time, thus alleviate the labor intensity of operating personnel, reduce wave soldering tool and be equipped with quantity, reduce and space, workshop is taken, improve production efficiency.
Claims (7)
- null1. one kind is reclaimed wave soldering tool AGV dolly，Including trolley body，It is characterized in that，The front and rear of described trolley body is separately installed with the first avoidance sensor forwardly and rearwardly and the second avoidance sensor，Trolley body is provided with power module and control panel，Described power module is powered with control panel，Described control panel includes colour recognition circuit、Motor-drive circuit、Helm control circuit、Acceleration detection circuit、Wheel speed measuring module、Pressure sensor module、Cooling circuit、Key circuit、Usb circuit、WiFi module、Remote control circuit、Bluetooth module and controller，Described colour recognition circuit is connected with controller，Wheel speed measuring module is connected with controller，Pressure sensor module is connected with controller，Key circuit is connected with controller，Usb circuit is connected with controller，Controller is connected with motor-drive circuit，Controller is connected with helm control circuit，Acceleration detection circuit is connected with controller，Controller is connected with cooling circuit，Controller the most respectively with WiFi module、Bluetooth module connects；First avoidance sensor and the second avoidance sensor are all connected with controller；nullDescribed power module includes 5V mu balanced circuit、3.3V mu balanced circuit、12 mu balanced circuits and 6V mu balanced circuit，Described 5V mu balanced circuit includes the first circuit of three-terminal voltage-stabilizing integrated U1、Electric capacity C1、Electrochemical capacitor C2、Electrochemical capacitor C3 and electric capacity C4，1 pin of described first circuit of three-terminal voltage-stabilizing integrated U1 connects 24V power supply，1 pin of the first circuit of three-terminal voltage-stabilizing integrated U1 is connected with one end of electric capacity C1，1 pin of the first circuit of three-terminal voltage-stabilizing integrated U1 is connected with one end of electrochemical capacitor C2，3 pins of the first circuit of three-terminal voltage-stabilizing integrated U1 are connected with one end of electrochemical capacitor C3，3 pins of the first circuit of three-terminal voltage-stabilizing integrated U1 are connected with one end of electric capacity C4，The other end of electric capacity C1、The other end of electrochemical capacitor C2、2 pins of the other end of electrochemical capacitor C3 and the other end of electric capacity C4 and the first circuit of three-terminal voltage-stabilizing integrated U1 all ground connection GND，The 3 pin output 5V power supplys of the first circuit of three-terminal voltage-stabilizing integrated U1；nullDescribed 3.3V mu balanced circuit includes the second circuit of three-terminal voltage-stabilizing integrated U2、Electric capacity C5、Electrochemical capacitor C6、Electrochemical capacitor C7 and electric capacity C8，1 pin of described second circuit of three-terminal voltage-stabilizing integrated U2 connects 24V power supply，Described 1 pin of the second circuit of three-terminal voltage-stabilizing integrated U2 is connected with one end of electric capacity C5，1 pin of the second circuit of three-terminal voltage-stabilizing integrated U2 is connected with one end of electrochemical capacitor C6，3 pins of the second circuit of three-terminal voltage-stabilizing integrated U2 are connected with one end of electrochemical capacitor C7，3 pins of the second circuit of three-terminal voltage-stabilizing integrated U2 are connected with one end of electric capacity C8，2 pins of the second circuit of three-terminal voltage-stabilizing integrated U2、The other end of electric capacity C5、The other end of electrochemical capacitor C6、The other end of electrochemical capacitor C7 and the other end of electric capacity C8 all ground connection GND，The 3 pin output 3.3V power supplys of the second circuit of three-terminal voltage-stabilizing integrated U2；nullDescribed 12V mu balanced circuit includes the 3rd circuit of three-terminal voltage-stabilizing integrated U6、Electric capacity C12、Electrochemical capacitor C13、Electrochemical capacitor C14 and electric capacity C15，1 pin of described 3rd circuit of three-terminal voltage-stabilizing integrated U6 connects 24V power supply，1 pin of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 is connected with one end of electric capacity C12，1 pin of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 is connected with one end of electrochemical capacitor C13，3 pins of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 are connected with one end of electrochemical capacitor C14，3 pins of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 are connected with one end of electric capacity C15，2 pins of the 3rd circuit of three-terminal voltage-stabilizing integrated U6、The other end of electric capacity C12、The other end of electrochemical capacitor C13、The other end of electrochemical capacitor C14 and the other end of electric capacity C15 all ground connection GND，The 3 pin output 12V power supplys of the 3rd circuit of three-terminal voltage-stabilizing integrated U6；nullDescribed 6V mu balanced circuit includes the 4th circuit of three-terminal voltage-stabilizing integrated U7、Electric capacity C16、Electrochemical capacitor C17、Electrochemical capacitor C18 and electric capacity C19，1 pin of described 4th circuit of three-terminal voltage-stabilizing integrated U7 connects 24V power supply，1 pin of the 4th circuit of three-terminal voltage-stabilizing integrated U7 is connected with one end of electric capacity C16，1 pin of the 4th circuit of three-terminal voltage-stabilizing integrated U7 is connected with one end of electrochemical capacitor C17，3 pins of the 4th circuit of three-terminal voltage-stabilizing integrated U7 are connected with one end of electrochemical capacitor C18，3 pins of the 4th circuit of three-terminal voltage-stabilizing integrated U7 are connected with one end of electric capacity C19，2 pins of the 4th circuit of three-terminal voltage-stabilizing integrated U7、The other end of electric capacity C16、The other end of electrochemical capacitor C17、The other end of electrochemical capacitor C18 and the other end of electric capacity C19 all ground connection GND，The 3 pin output 6V power supplys of the 4th circuit of three-terminal voltage-stabilizing integrated U7；The processor U that described controller uses model to be K60N512；nullDescribed motor-drive circuit includes front-wheel drive circuit and rear wheel drive circuit，Described front-wheel drive circuit includes the first chip U5 that model is L298、First motor M1 and the second motor M2，Described model is 5 pins of the first chip U5 of L298、7 pins、10 pins and 12 pins respectively with 50 pins of the processor U that model is K60N512、51 pins、52 pins and 53 pins connect，Model is 6 pins of the first chip U5 of L298、11 pins and 9 pins all connect 6V power supply，Model is that 4 pins of the first chip U5 of L298 connect 12V power supply，Model is 1 pin of the first chip U5 of L298、15 pins and 8 pins all ground connection GND，Model is 2 pins and one end connection of the first motor M1 of the first chip U5 of L298，Model is 3 pins and the other end connection of the first motor M1 of the first chip U5 of L298，Model is 13 pins and one end connection of the second motor M2 of the first chip U5 of L298，Model is 14 pins and the other end connection of the second motor M2 of the first chip U5 of L298；nullDescribed rear wheel drive circuit includes the second chip U8 that model is L298、3rd motor M3 and the 4th motor M4，Described model is 5 pins of the second chip U8 of L298、7 pins、10 pins、12 pins respectively with 54 pins of the processor U that model is K600N512、59 pins、60 pins and 64 pins connect，Model is 6 pins of the second chip U8 of L298、11 pins and 9 pins all connect 6V power supply，Model is that 4 pins of the second chip U8 of L298 connect 12V power supply，Model is 1 pin of the second chip U8 of L298、15 pins and 8 pins all ground connection GND，Model is 2 pins and one end connection of the 3rd motor M3 of the second chip U8 of L298，Model is 3 pins and the other end connection of the 3rd motor M3 of the second chip U8 of L298，Model is 13 pins and one end connection of the 4th motor M4 of the second chip U8 of L298，Model is 14 pins and the other end connection of the 4th motor M4 of the second chip U8 of L298；nullDescribed colour recognition circuit includes light emitting diode D6、Light emitting diode D7、Light emitting diode D8、Light emitting diode D9 and the color sensor U9 that model is TCS320，The positive pole of described light emitting diode D6 is connected with one end of resistance R3，The positive pole of light emitting diode D7 is connected with one end of resistance R4，The positive pole of light emitting diode D8 is connected with one end of resistance R6，The positive pole of light emitting diode D9 is connected with one end of resistance R7，The other end of resistance R3、The other end of resistance R4、The other end of resistance R6 and the other end of resistance R7 all connect 5V power supply，The negative pole of light emitting diode D6、The negative pole of light emitting diode D7、The negative pole of light emitting diode D8 and the negative pole of light emitting diode D9 all ground connection GND，Model is 1 pin of the color sensor U9 of TCS320、2 pins、3 pins、6 pins、7 pins and 8 pins respectively with 1 pin of the processor U that model is K60N512、2 pins、3 pins、82 pins、7 pins and 4 pins connect，Model is the 4 pin ground connection GND of the color sensor U9 of TCS320，Model is that 5 pins of the color sensor U9 of TCS320 connect 5V power supply；nullDescribed helm control circuit includes the chip U10 that model is ITG3200、Electric capacity C22、Electric capacity C23 and electric capacity C24，Described model is 13 pins of the chip U10 of ITG3200 and 8 pins all connect 6V power supply，Model is that 8 pins of the chip U10 of ITG3200 are connected with one end of electric capacity C22，The other end ground connection GND of electric capacity C22，Model is that 10 pins of the chip U10 of ITG3200 are connected with one end of electric capacity C23，The other end ground connection GND of electric capacity C23，Model is that 20 pins of the chip U10 of ITG3200 are connected with one end of electric capacity C24，The other end ground connection GND of electric capacity C24，Model is 11 pins of the chip U10 of ITG3200、18 pins、1 pin and 9 pins all ground connection GND，Model is 23 pins of the chip U10 of ITG3200 and 24 pins are connected with 105 pins and 106 pins of the processor U that model is K60N512 respectively；nullDescribed acceleration detection circuit includes the chip U3 that model is MMA7660FC、Electric capacity C9 and electric capacity C10，Described model is 1 pin of the chip U3 of MMA7660FC、4 pins and 8 pins all ground connection GND，Model is that 3 pins of the chip U3 of MMA7660FC are connected with 31 pins of the processor U that model is K60N512，Model is that 3 pins of the chip U3 of MMA7660FC are connected with one end of electric capacity C9，The other end ground connection GND of electric capacity C9，Model is 139 pins of the processor U that 5 pin direct type number are K60N512 of the chip U3 of MMA7660FC，Model is 6 pins of the chip U3 of MMA7660FC and 7 pins are connected with 137 pins and 138 pins of the processor U that model is K60N512 respectively，Model is that 9 pins of the chip U3 of MMA7660FC connect 33.V power supply，Model is that 9 pins of the chip U3 of MMA7660FC are connected with one end of electric capacity C10，The other end ground connection GND of electric capacity C10；nullDescribed pressure sensor module includes the pressure transducer M1 that model is MPX4115、Electric capacity C25、Electric capacity C26 and resistance R10，Described model is that 1 pin of the pressure transducer M1 of MPX4115 is connected with 103 pins of the processor U that model is K60N512，Model is that 1 pin of the pressure transducer M1 of MPX4115 is connected with one end of resistance R10，Model is that 1 pin of the pressure transducer M1 of MPX4115 is connected with one end of electric capacity C26，Model is 2 pins of the pressure transducer M1 of MPX4115、The other end of resistance R10 and the other end of electric capacity C26 all ground connection GND，Model is that 3 pins of the pressure transducer M1 of MPX4115 are connected with one end of electric capacity C25，The other end of electric capacity C25 all ground connection GND，Model is that 3 pins of the pressure transducer M1 of MPX4115 connect 5V power supply；nullDescribed cooling circuit includes the 3rd chip U11 and motor M5 that model is L298，Described model is 5 pins of the 3rd chip U11 of L298、7 pins、10 pins and 12 pins respectively with 65 pins of the processor U that model is K60N512、69 pins、72 pins and 73 pins connect，Model is 6 pins of the 3rd chip U11 of L298 and 11 pins all connect 6V power supply，Model is 1 pin of the 3rd chip U11 of L298、15 pins and 8 pins all ground connection GND，Model is that 9 pins of the 3rd chip U11 of L298 connect 6V power supply，Model is that 4 pins of the 3rd chip U11 of L298 connect 12V power supply，Model is that 2 pins of the 3rd chip U11 of L298 are connected with one end of motor M5，Motor M5 is connected with 3 pins of the 3rd chip U11 that model is L298.
- nullA kind of recovery wave soldering tool AGV dolly the most according to claim 1，It is characterized in that，Described usb circuit includes USB interface J1、Transient Suppression Diode D3、Transient Suppression Diode D4、Transient Suppression Diode D5 and resistance R5，1 pin of USB interface J1 is connected with one end of resistance R5，Another termination 5V power supply of resistance R5，1 pin of USB interface J1 is connected with the positive pole of Transient Suppression Diode D5，3 pins of USB interface J1 are connected with the positive pole of Transient Suppression Diode D4，2 pins of USB interface J1 are connected with the positive pole of Transient Suppression Diode D3，3 pins of USB interface J1 and 2 pins are connected with 20 pins and 19 pins of the processor U that model is K60N512 respectively，4 pins of USB interface J1、The negative pole of Transient Suppression Diode D3、The negative pole of Transient Suppression Diode D4 and the negative pole of Transient Suppression Diode D5 all ground connection GND.
- nullA kind of recovery wave soldering tool AGV dolly the most according to claim 1，It is characterized in that，Described key circuit includes button K1、Button K2、Button K3 and button K4，One end of described button K1 is connected with 117 pins of the processor U that model is K60N512，One end of button K2 is connected with 118 pins of the processor U that model is K60N512，One end of button K3 is connected with 123 pins of the processor U that model is K60N512，One end of button K4 is connected with 124 pins of the processor U that model is K60N512，One end of button K5 is connected with 125 pins of the processor U that model is K60N512，One end of button K6 is connected with 126 pins of the processor U that model is K60N512，The other end of button K1、The other end of button K2、The other end of button K3 and the other end of button K4、The other end of button K5 and the other end of button K6 all ground connection GND.
- nullA kind of recovery wave soldering tool AGV dolly the most according to claim 1，It is characterized in that，Described oscillating circuit includes crystal oscillator X1、Electric capacity C27、Electric capacity C28、Resistance R11、Resistance R12 and resistance R13，One end of described crystal oscillator X1 is connected with one end of electric capacity C27，The other end of crystal oscillator X1 is connected with one end of electric capacity C28，The other end of electric capacity C27 and the other end of electric capacity C28 all ground connection GND，One end of crystal oscillator X1 is connected with one end of resistance R11，The other end of crystal oscillator X1 is connected with the other end of resistance R11，One end of crystal oscillator X1 is connected with one end of resistance R12，The other end of resistance R12 is connected with 40 pins of the processor U that model is K60N512，The other end of crystal oscillator X1 is connected with one end of resistance R13，The other end of resistance R13 is connected with 41 pins of the processor U that model is K60N512.
- A kind of recovery wave soldering tool AGV dolly the most according to claim 1, it is characterized in that, described model is that the processor U of K60N512 is also associated with photographic head, AGV dolly course is recorded a video by this photographic head, and video information is uploaded to host computer through WIFI module, AGV dolly route is monitored by host computer.
- A kind of recovery wave soldering tool AGV dolly the most according to claim 5, it is characterised in that described photographic head uses model to be OV7725 digital camera.
- A kind of recovery wave soldering tool AGV dolly the most according to claim 1, it is characterised in that it is E18-D80NK IR evading obstacle sensors that described first avoidance sensor and the second avoidance sensor are model.
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| CN201610601408.3A CN106020209B (en) | 2016-07-28 | 2016-07-28 | A kind of recovery wave soldering tool AGV dolly |
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| CN201610601408.3A CN106020209B (en) | 2016-07-28 | 2016-07-28 | A kind of recovery wave soldering tool AGV dolly |
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| CN109375622A (en) * | 2018-11-01 | 2019-02-22 | 北京云迹科技有限公司 | Bidirectional walking method and robot |
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| CN106020209B (en) | 2017-03-08 |
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