CN106020209B - A kind of recovery wave soldering tool AGV dolly - Google Patents
A kind of recovery wave soldering tool AGV dolly Download PDFInfo
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- CN106020209B CN106020209B CN201610601408.3A CN201610601408A CN106020209B CN 106020209 B CN106020209 B CN 106020209B CN 201610601408 A CN201610601408 A CN 201610601408A CN 106020209 B CN106020209 B CN 106020209B
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- 238000005476 soldering Methods 0.000 title claims abstract description 35
- 238000011084 recovery Methods 0.000 title abstract description 8
- 239000003990 capacitor Substances 0.000 claims description 43
- 230000001629 suppression Effects 0.000 claims description 18
- 230000001052 transient effect Effects 0.000 claims description 18
- 230000005611 electricity Effects 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 14
- 239000013078 crystal Substances 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 11
- 238000001816 cooling Methods 0.000 claims description 8
- 241000380131 Ammophila arenaria Species 0.000 claims description 7
- 238000005868 electrolysis reaction Methods 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims 1
- 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 6
- 238000011161 development Methods 0.000 description 4
- 238000003723 Smelting Methods 0.000 description 3
- 241000208125 Nicotiana Species 0.000 description 2
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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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
-
- 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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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of recovery wave soldering tool AGV dolly, it is achieved that AGV dolly sends wave soldering tool back to a upper station automatically, and AGV dolly automatically returns to next station, reduces wave soldering tool and is equipped with quantity, reduces occupancy and improve production efficiency to workshop space.Its scheme is, including trolley body, the front and rear of the trolley body is separately installed with the first avoidance sensor forwardly and rearwardly and the second avoidance sensor, and trolley body is provided with power module and control panel, and the power module is powered with control panel.The wave soldering tool of the present invention reclaims AGV dolly, automatically wave soldering tool is sent back to a upper station, and initial station is automatically returned in case carrying out recovery operation next time, so as to mitigate the labour intensity of operating personnel, reduce wave soldering tool and be equipped with quantity, reduce the occupancy to workshop space, improve production efficiency.
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 automatical pilot transportation vehicle（Automated Guided Vehicle）Abbreviation, simply it can be seen
It is unpiloted transport vehicle to become, and realizes automatic identification route, finds goods and is carried, and the technology can apply to nobody
Operating motor vehicles, the field such as unmanned factory, warehouse, service robot, between automated warehouse and workshop, each station it
Between, between each section of pipeline, AGV has acted the important function that can not be substituted, compared with traditional transfer roller or conveyer belt, AGV
Landline has that construction is simple, and path flexibly, is not take up space, preferable mobility, flexible the advantages of.
AGV has two kinds of development models 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 automation of AGV, and almost completely without artificial intervention, path planning and production procedure are complicated and changeable, can
It is used in almost all of carrying occasion；It is for second the simple type AGV technology with Japan as representative, is called AGC
（Automated Guided Card）.
In recent years, automatic technology assumes the trend of accelerated development, domestic automatic stereowarehouse and automatic flexible dress
Distribution enters development and stage of popularization, and the application of AGV gradually starts to promote at home at present, from the industry analysis of application, distribution
Face is boundless, has auto industry, aircraft industry, white goods industry, tobacco business, machining, warehouse, postal and telecommunication entities
Deng, this explanation AGV have a potential broad mass market in China, wherein with Co., Ltd of Xin Song robot, elder brother's ship intelligence conveying
Assembling Co., Ltd, Ji Ke share Development Co., Ltd AGV flourishing in auto manufacturing of China, tobacco, press respectively
Development.
China is the industrial robot markets such as the maximum AGV dolly in the whole world now, is issued within 2 months 2015 according to IFR
's《Robot of world statistics report in 2014》, it is contemplated that the robot total amount of China in 2017 will be increased by existing 16.2 ten thousand
Be added to 42.8 ten thousand, and north America region be expected total usage amount be 29.2 ten thousand units, maximum five economies in Europe be 34.3 ten thousand single
Position, when the time comes China will become world industry robot first and use big country, although the current robot total amount of China is huge, but
" robot density " is not high, and Korea is equipped with 437 industrial robots per 10,000 manufacturing operators, is 15 times of China, therefore
In China, AGV dolly has wide market prospects.
But the concern that country's AGV industry is put into small-sized AGV is less, most of producer's energy are concentrated on and make large-scale high property
Energy AGV, below load-carrying 50kg, AGV market of the unit price below 50,000 yuan also have larger vacancy, such as Electronics Factory's wave soldering tool
Reclaim, the loading capacity of needs is about 30kg, size L500*W400*H400mm, but as hall space is limited, it is desirable to be able to
Bidirectional walking, it is impossible to unidirectional walking as common AGV, meets on the product market for so requiring seldom.
Wave soldering tool needs recycle and reuse, in prior art, the recycle and reuse of wave soldering tool usual
Way is to concentrate a number of wave soldering tool in next station, is then transported wave-soldering smelting with go-cart by operating personnel
A supreme station cycle is utilized, and in order to meet the demand that production line continuously runs, needs to be equipped with substantial amounts of wave soldering tool, with
When also need to substantial amounts of go-cart to deposit these wave soldering tools, take the space in substantial amounts of workshop, operating personnel carries crest
The labour intensity of weldering smelting tool is also than larger, and there is certain potential safety hazard.
Content of the invention
For above-mentioned situation, for overcoming the defect of prior art, the purpose of the present invention is to provide a kind of recovery wave-soldering
Smelting has AGV dolly, it is achieved that AGV dolly sends wave soldering tool back to a upper station automatically, and AGV dolly automatically returns to next work
Position, reduces wave soldering tool and is equipped with quantity, reduce occupancy and improve production efficiency to workshop space.
Its technical scheme for solving is that, including trolley body, first that the front portion of the trolley body is provided with forward is kept away
Barrier sensor, rear portion are provided with the second avoidance sensor backward, and trolley body is provided with power module and control panel, described
Power module is powered with control panel, and the control panel includes colour recognition circuit, motor-drive circuit, servos control electricity
Road, 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, the colour recognition circuit are connected with controller, wheel speed measuring module
It is connected with controller, pressure sensor module is connected with controller, key circuit is connected with controller, usb circuit and control
Device processed connection, controller are connected with motor-drive circuit, and controller is connected with helm control circuit, acceleration detection circuit and control
Device connection processed, controller are connected with cooling circuit, and controller is also connected with WiFi module, bluetooth module respectively；
First avoidance sensor and the second avoidance sensor are all connected with controller；
The power module includes 5V mu balanced circuit, 3.3V mu balanced circuit, 12 mu balanced circuits and 6V mu balanced circuit, the 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, described
1 pin of the first circuit of three-terminal voltage-stabilizing integrated U1 meets 24V power supply, 1 pin of the first circuit of three-terminal voltage-stabilizing integrated U1 and electric capacity C1
One end connection, 1 pin of the first circuit of three-terminal voltage-stabilizing integrated U1 is connected with one end of electrochemical capacitor C2, the first three-terminal voltage-stabilizing collection
3 pins of circuit U 1 are become to be connected with one end of electrochemical capacitor C3,3 pins of the first circuit of three-terminal voltage-stabilizing integrated U1 are with electric capacity C4's
One end connects, the other end of the other end of electric capacity C1, the other end of electrochemical capacitor C2, the other end of electrochemical capacitor C3 and electric capacity C4
The 3 pins output 5V of GND, first circuit of three-terminal voltage-stabilizing integrated U1 is all grounded with 2 pins of the first circuit of three-terminal voltage-stabilizing integrated U1
Power supply；
The 3.3V mu balanced circuit includes the second circuit of three-terminal voltage-stabilizing integrated U2, electric capacity C5, electrochemical capacitor C6, electrochemical capacitor
1 pin of C7 and electric capacity C8, the second circuit of three-terminal voltage-stabilizing integrated U2 connects 24V power supply, the integrated electricity of second three-terminal voltage-stabilizing
1 pin of road U2 is connected with one end of electric capacity C5,1 pin of the second circuit of three-terminal voltage-stabilizing integrated U2 and one end of electrochemical capacitor C6
Connection, 3 pins of the second circuit of three-terminal voltage-stabilizing integrated U2 are connected with one end of electrochemical capacitor C7, the second circuit of three-terminal voltage-stabilizing integrated
3 pins of 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, electrolysis
The other end of the other end of electric capacity C6, the other end of electrochemical capacitor C7 and electric capacity C8 is all grounded GND, the integrated electricity of the second three-terminal voltage-stabilizing
The 3 pins output 3.3V power supply of road U2；
The 12V mu balanced circuit includes the 3rd circuit of three-terminal voltage-stabilizing integrated U6, electric capacity C12, electrochemical capacitor C13, electrolysis electricity
Hold C14 and electric capacity C15,1 pin of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 connects 24V power supply, the integrated electricity of the 3rd three-terminal voltage-stabilizing
1 pin of road U6 is connected with one end of electric capacity C12,1 pin of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 and the one of electrochemical capacitor C13
End connection, 3 pins of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 are connected with one end of electrochemical capacitor C14, and the 3rd three-terminal voltage-stabilizing is integrated
3 pins of circuit U 6 are connected with one end of electric capacity C15,2 pins of the 3rd circuit of three-terminal voltage-stabilizing integrated U6, electric capacity C12 another
The other end at end, the other end of electrochemical capacitor C13, the other end of electrochemical capacitor C14 and electric capacity C15 is all grounded GND, the three or three end
The 3 pins output 12V power supply of integrated regulator U6；
The 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 the 4th circuit of three-terminal voltage-stabilizing integrated U7 connect 24V power supply, the 4th circuit of three-terminal voltage-stabilizing integrated
1 pin of U7 is connected with one end of electric capacity C16,1 pin of the 4th circuit of three-terminal voltage-stabilizing integrated U7 and one end of electrochemical capacitor C17
Connection, 3 pins of the 4th circuit of three-terminal voltage-stabilizing integrated U7 are connected with one end of electrochemical capacitor C18, the integrated electricity of the 4th three-terminal voltage-stabilizing
3 pins of road 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 the other end of electrochemical capacitor C17, the other end of electrochemical capacitor C18 and electric capacity C19 is all grounded GND, and the four or three end is steady
The 3 pins output 6V power supply of pressure integrated circuit U7；
The controller is using the processor U of model K60N512；
The motor-drive circuit includes front-wheel drive circuit and rear wheel drive circuit, and the front-wheel drive circuit includes type
Number for the first chip U5, the first motor M1 of L298 and the second motor M2, the 5 of the first chip U5 of model L298 draws
Pin, 7 pins, 10 pins and 12 pins 50 pins respectively with the processor U of model K60N512,51 pins, 52 pins and 53
Pin connects, and 6 pins of the first chip U5 of model L298,11 pins and 9 pins all connect 6V power supply, and the of model L298
4 pins of one chip U5 connect 12V power supply, and 1 pin of the first chip U5 of model L298,15 pins and 8 pins are all grounded
GND, 2 pins of the first chip U5 of model L298 are connected with one end of the first motor M1, the first chip of model L298
3 pins of U5 are connected with the other end of the first motor M1,13 pins of the first chip U5 of model L298 and the second motor M2
One end connection, 14 pins of the first chip U5 of model L298 are connected with the other end of the second motor M2；The rear wheel driving
Dynamic circuit includes the second chip U8, the 3rd motor M3 and the 4th motor M4 of model L298, the second of model L298
5 pins of chip U8,7 pins, 10 pins, 12 pins 54 pins respectively with the processor U of model K600N512,59 are drawn
The connection of pin, 60 pins and 64 pins, 6 pins of the second chip U8 of model L298,11 pins and 9 pins all connect 6V power supply,
4 pins of the second chip U8 of model L298 connect 12V power supply, 1 pin of the second chip U8 of model L298,15 pins and
8 pins are all grounded GND, and 2 pins of the second chip U8 of model L298 are connected with one end of the 3rd motor M3, model L298
3 pins of the second chip U8 be connected with the other end of the 3rd motor M3,13 pins of the second chip U8 of model L298 with
One end connection of the 4th motor M4,14 pins of the second chip U8 of model L298 are connected with the other end of the 4th motor M4；
The colour recognition circuit includes light emitting diode D6, light emitting diode D7, light emitting diode D8, light emitting diode
The color sensor U9 of D9 and model TCS230, the positive pole of the light emitting diode D6 are connected with one end of resistance R3, are lighted
The positive pole of diode D7 is connected with one end of resistance R4, and the positive pole of light emitting diode D8 is connected with one end of resistance R6, and luminous two
The positive pole of pole pipe 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 connects 5V power supply, the negative pole of light emitting diode D6, the negative pole of light emitting diode D7, light emitting diode D8
The negative pole of negative pole and light emitting diode D9 is all grounded GND, and 1 pin of the color sensor U9 of model TCS230,2 pins, 3 are drawn
Pin, 6 pins, 7 pins and 8 pins 1 pin respectively with the processor U of model K60N512,2 pins, 3 pins, 82 pins, 7
Pin and the connection of 4 pins, the 4 pins ground connection GND of the color sensor U9 of model TCS230, the color of model TCS230 are passed
5 pins of sensor U9 connect 5V power supply；
The helm control circuit includes chip U10, electric capacity C22, electric capacity C23 and the electric capacity C24 of model ITG3200,
13 pins of the chip U10 of model ITG3200 and 8 pins all connect 6V power supply, and the 8 of the chip U10 of model ITG3200
Pin is connected with one end of electric capacity C22, the other end ground connection GND of electric capacity C22,10 pins of the chip U10 of model ITG3200
It is connected with one end of electric capacity C23, the other end of electric capacity C23 is grounded GND, 20 pins of the chip U10 of model ITG3200 and electricity
Hold C24 one end connection, electric capacity C24 the other end ground connection GND, 11 pins of the chip U10 of model ITG3200,18 pins,
1 pin and 9 pins are all grounded GND, 23 pins of the chip U10 of model ITG3200 and 24 pins respectively with model
105 pins of the processor U of K60N512 and the connection of 106 pins；
The acceleration detection circuit includes chip U3, electric capacity C9 and the electric capacity C10 of model MMA7660FC, the type
Number GND is all grounded for 1 pin of chip U3 of MMA7660FC, 4 pins and 8 pins, the 3 of the chip U3 of model MMA7660FC
Pin is connected with 31 pins of the processor U of model K60N512,3 pins of the chip U3 of model MMA7660FC and electric capacity
One end connection of C9, the other end ground connection GND of electric capacity C9,5 pins of the chip U3 of model MMA7660FC connect model
139 pins of the processor U of K60N512,6 pins of the chip U3 of model MMA7660FC and 7 pins respectively with model
137 pins of the processor U of K60N512 and the connection of 138 pins, 9 pins of the chip U3 of model MMA7660FC connect 3.3V electricity
Source, 9 pins of the chip U3 of model MMA7660FC are connected with one end of electric capacity C10, the other end ground connection GND of electric capacity C10；
The pressure sensor module includes pressure sensor M1, electric capacity C25, electric capacity C26 and the electricity of model MPX4115
Resistance R10,103 pins of 1 pin of the pressure sensor M1 of model MPX4115 and the processor U of model K60N512
Connection, 1 pin of the pressure sensor M1 of model MPX4115 are connected with one end of resistance R10, the pressure of model MPX4115
1 pin of force snesor M1 is connected with one end of electric capacity C26,2 pins of the pressure sensor M1 of model MPX4115, resistance
The other end of the other end of R10 and electric capacity C26 is all grounded GND, 3 pins of the pressure sensor M1 of model MPX4115 and electricity
Hold one end connection of C25, the other end of electric capacity C25 is all grounded GND, and 3 pins of the pressure sensor M1 of model MPX4115 connect
5V power supply；
The cooling circuit includes the 3rd chip U11 and motor M5 of model L298, the 3rd of model L298 the
5 pins of chip U11,7 pins, 10 pins and 12 pins 65 pins respectively with the processor U of model K60N512,69 are drawn
The connection of pin, 72 pins and 73 pins, 6 pins of the 3rd chip U11 of model L298 and 11 pins all connect 6V power supply, model
1 pin of the 3rd chip U11 of L298,15 pins and 8 pins are all grounded GND, and the 9 of the 3rd chip U11 of model L298 draws
Pin connects 6V power supply, and 4 pins of the 3rd chip U11 of model L298 connect 12V power supply, and the 2 of the 3rd chip U11 of model L298
Pin is connected with one end of motor M5, and motor M5 is connected with 3 pins of the 3rd chip U11 of model L298.
The wave soldering tool of the present invention reclaims AGV dolly, sends wave soldering tool back to a upper station automatically, and automatically returns to
Initial station is in case carry out recovery operation next time, so as to mitigate the labour intensity of operating personnel, minimizing wave soldering tool is joined
Standby quantity, reduces the occupancy to workshop space, improve production efficiency.
Description of the drawings
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 of model K60N512 of the present invention.
Figure 16 is the functional pin figure of the processor U of model K60N512 of the present invention.
Specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment to 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,
The usb circuit includes USB interface J1, Transient Suppression Diode D3, Transient Suppression Diode D4, transient state suppression
1 pin of diode D5 processed and resistance R5, 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 and Transient Suppression Diode
The positive pole connection of 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
Pin is connected with 20 pins of the processor U of model K60N512 and 19 pins respectively, 4 pins of USB interface J1, transient state suppression
The negative pole of the negative pole, the negative pole of Transient Suppression Diode D4 and Transient Suppression Diode D5 of diode D3 processed is all grounded GND.
The key circuit includes button K1, button K2, button K3, button K4, button K5 and button K6, the button K1
One end be connected with 117 pins of the processor U of model K60N512, one end of button K2 and the process of model K60N512
The 118 pins connection of device U, one end of button K3 are connected with 123 pins of the processor U of model K60N512, and the one of button K4
End is connected with 124 pins of the processor U of model K60N512, the processor U of one end of button K5 and model K60N512
The connection of 125 pins, one end of button K6 is connected with 126 pins of the processor U of model K60N512, and button K1's is another
End, the other end of the other end of button K2, the other end of button K3 and button K4, the other end of button K5 and button K6's is another
End is all grounded GND.
The processor U of model K60N512 is also connected with oscillating circuit, and the oscillating circuit includes crystal oscillator X1, electric capacity
C27, electric capacity C28, resistance R11, resistance R12 and resistance R13, one end of the crystal oscillator X1 are connected with one end of electric capacity C27, crystal oscillator
The other end of X1 is connected with one end of electric capacity C28, and the other end of the other end of electric capacity C27 and electric capacity C28 is all grounded GND, crystal oscillator
One end of X1 is connected with one end of resistance R11, and the other end of crystal oscillator X1 is connected with the other end of resistance R11, one end of crystal oscillator X1
It is connected with one end of resistance R12, the other end of resistance R12 is connected with 40 pins of the processor U of model K60N512, crystal oscillator
The other end of X1 is connected with one end of resistance R13,41 pins of the processor U of the other end of resistance R13 and model K60N512
Connection.
The processor U of model K60N512 is also associated with camera, and the camera enters to AGV dolly course
Row video recording, and video information is uploaded to host computer through WIFI module, host computer is monitored to AGV dolly route.
The camera adopts model OV7725 digital camera.
The 24V power supply is the chargeable storage power supply of 24V/20A.
The first circuit of three-terminal voltage-stabilizing integrated U1 is the circuit of three-terminal voltage-stabilizing integrated of model LM7805.
The second circuit of three-terminal voltage-stabilizing integrated U2 is the circuit of three-terminal voltage-stabilizing integrated of model LM117-3.3.
The 3rd circuit of three-terminal voltage-stabilizing integrated U6 is the circuit of three-terminal voltage-stabilizing integrated of model LM7812.
The 4th circuit of three-terminal voltage-stabilizing integrated U7 is the circuit of three-terminal voltage-stabilizing integrated of model LM7806.
The first avoidance sensor and the second avoidance sensor are model E18-D80NK IR evading obstacle sensors.
The chip U10 of model ITG3200 is three-axis gyroscope, for sensing AGV trolley travelling attitude, model
The chip U3 of MMA7660FC is acceleration transducer, and the accumulated error to the chip U10 of model ITG3200 is calibrated.
Button K1 in the key circuit is general supply button, controls opening and shutting off for general supply, and button K2 is to open
Dynamic key, K2, the AGV dolly that pushes button are advanced forward, and button K3 is rapid stop key, and K3, the AGV dolly that pushes button under contingency condition stops
Only advance, button K4 enters maintenance mode, AGV dolly tracking disabler, button for maintenance key, K4, the AGV dolly that pushes button
K5 and button K6 are AGV dolly parameter setting buttons.
Model TCS230 is a kind of sensor of programmable colourama to frequency, with high resolution, may be programmed
Color selecting 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 use when,
A upper station is provided with primary importance sensor, next station is provided with second place sensor, when AGV is little
When car is from the primary importance sensor that the supreme station of row at the second place sensor that next station is arranged is arranged, model
The first chip U5 and the second chip U8 of processor U control model L298 of K60N512, so control the first motor M1, the
Two motor M2, the 3rd motor M3 and the 4th motor M4 stop, and AGV dolly is parked in the primary importance sensor of station setting
Place；When AGV dolly is from the second place sensing of the next station position of return value at the primary importance sensor that a upper station is arranged
When at device, the first chip U5 and the second chip U8 of processor U control model L298 of model K60N512, and then control
First motor M1, the second motor M2, the 3rd motor M3 and the 4th motor M4 stop, and AGV dolly is parked in the of next station setting
At two position sensors.
Post black and white colour band between a upper station and next station, colour recognition circuit according to the detection of black and white colour band,
Control AGV dolly advances to a upper station along track designation from the next station of upper station return value or from next station,
Ensure AGV dolly without departing from direction, power module provides electric energy for whole AGV dolly, due to the different circuits on control panel
Module needs different operating voltages and current capacity to differ, thus power module be divided into 5V mu balanced circuit, 3.3V mu balanced circuit,
24V mu balanced circuit and 6V mu balanced circuit, 5V mu balanced circuit export 5V power supply, are that processor U, the color of model K60N512 is known
Other circuit, pressure sensor module and usb circuit are powered, and 3.3V mu balanced circuit exports 3.3V power supply, is acceleration detection
Circuit is powered, and 12V mu balanced circuit output 12V power supply is the first motor M1, the second motor M2, the 3rd motor M3, the 4th motor M4
With the electrical source of power of the 5th motor M5,6V mu balanced circuit output 6V power supply is the first motor M1, the second motor M2, the 3rd motor
M3, the logic power of the 4th motor M4 and the 5th motor M5.
The trolley body, the front portion of the trolley body are provided with the first avoidance sensor forward, and trolley body is pacified
Equipped with power module and control panel, key circuit is installed on the control panel, AGV dolly is entered by button K5 and button K6
Line parameter sets, and push button K1 first, so that general supply is powered for whole AGV dolly, then the K2 that pushes button, model
The 76 pin low levels of the processor U of K60N512, excite the processor U of model K60N512 to control the first of model L298
Chip U5 and the second chip U8 of model L298, and then drive the first motor M1, the second motor M2, the 3rd motor M3 and the 4th
Motor M4, a station moves ahead upwards from next station to drive Trolley front wheel and trailing wheel to make AGV dolly, is placed on when there is wave soldering tool
When on AGV dolly, pressure sensor M1 detects pressure information, and the pressure information is uploaded to the place of model K60N512
103 pins of reason device U, the 3rd chip U11 motor M5 of processor U control model L298 of model K60N512, make
Blower fan work, is wave soldering tool radiating and cooling, during GAV dolly moves ahead, when the direction for having barrier to move ahead in dolly
When, the information of the barrier of detection is uploaded to the first avoidance sensor the processor U of model K60N512, through model
After the processor U analyzing and processing of K60N512, the chip U10 of model ITG3200 to helm control circuit is sent, makes AGV little
Car changes direction of advance, and avoiding obstacles, while the acceleration letter during acceleration detection electric circuit inspection AGV dolly advances
Breath, and acceleration information is uploaded to the processor U of model K60N512, at the processor U analysis through model K60N512
After reason, the first motor M1 of control, the second motor M2, the rotating speed of the 3rd motor M3 and the 4th motor M4, and then control AGV dolly permanent
Speed is advanced at next station.
When AGV dolly is back to next station from a upper station, the rear portion of trolley body is provided with backward second keeps away
Barrier sensor, the second avoidance sensor will detect the barrier on dolly return route, if there is barrier on return route, control
Control circuit changes the Return-ing direction of AGV dolly, and avoiding obstacles, while acceleration detection electric circuit inspection AGV dolly advanced
Acceleration information in journey, and acceleration information is uploaded to the processor U of model K60N512, through model K60N512
After processor U analyzing and processing, the first motor M1 of control, the second motor M2, the rotating speed of the 3rd motor M3 and the 4th motor M4, and then
Control AGV dolly constant speed is back at next station.
The usb circuit can by USB AGV dolly is entered line program renewal, also can by WIFI module online under
Load program enters line program renewal to AGV dolly.
The wave soldering tool of the present invention reclaims AGV dolly, sends wave soldering tool back to a upper station automatically, and automatically returns to
Initial station is in case carry out recovery operation next time, so as to mitigate the labour intensity of operating personnel, minimizing wave soldering tool is joined
Standby quantity, reduces the occupancy to workshop space, improve production efficiency.
Claims (7)
1. one kind reclaims wave soldering tool AGV dolly, including trolley body, it is characterised in that the anterior peace of the trolley body
The second avoidance sensor backward is installed equipped with the first avoidance sensor forward, rear portion, trolley body is provided with power supply mould
Block and control panel, the power module are powered with control panel, and the control panel includes colour recognition circuit, Motor drive
Circuit, helm control circuit, acceleration detection circuit, wheel speed measuring module, pressure sensor module, cooling circuit, button electricity
Road, usb circuit, WiFi module, remote control circuit, bluetooth module and controller, the colour recognition circuit are connected with controller
Connect, wheel speed measuring module is connected with controller, and pressure sensor module is connected with controller, and key circuit is connected with controller,
Usb circuit is connected with controller, and controller is connected with motor-drive circuit, and controller is connected with helm control circuit, plus
Velocity checking circuits are connected with controller, controller with cooling circuit be connected, controller also respectively with WiFi module, bluetooth module
Connection；
First avoidance sensor and the second avoidance sensor are all connected with controller；
The power module includes 5V mu balanced circuit, 3.3V mu balanced circuit, 12 mu balanced circuits and 6V mu balanced circuit, the 5V voltage stabilizing
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, described first
1 pin of 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 and the one of electric capacity C1
End connection, 1 pin of the first circuit of three-terminal voltage-stabilizing integrated U1 are connected with one end of electrochemical capacitor C2, the integrated electricity of the first three-terminal voltage-stabilizing
3 pins of road U1 are connected with one end of electrochemical capacitor C3,3 pins of the first circuit of three-terminal voltage-stabilizing integrated U1 and one end of electric capacity C4
Connection, the other end of the other end of electric capacity C1, the other end of electrochemical capacitor C2, the other end of electrochemical capacitor C3 and electric capacity C4 and the
2 pins of one circuit of three-terminal voltage-stabilizing integrated U1 are all grounded the 3 pins output 5V power supply of GND, the first circuit of three-terminal voltage-stabilizing integrated U1；
The 3.3V mu balanced circuit include the second circuit of three-terminal voltage-stabilizing integrated U2, electric capacity C5, electrochemical capacitor C6, electrochemical capacitor C7 and
1 pin of electric capacity C8, the second circuit of three-terminal voltage-stabilizing integrated U2 meets 24V power supply, the second circuit of three-terminal voltage-stabilizing integrated U2
1 pin be connected with one end of electric capacity C5, one end of 1 pin of the second circuit of three-terminal voltage-stabilizing integrated U2 and electrochemical capacitor C6 connects
Connect, 3 pins of the second circuit of three-terminal voltage-stabilizing integrated U2 are connected with one end of electrochemical capacitor C7, the second circuit of three-terminal voltage-stabilizing integrated U2
3 pins be 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, electrolysis electricity
The other end for holding the other end, the other end of electrochemical capacitor C7 and electric capacity C8 of C6 is all grounded GND, the second circuit of three-terminal voltage-stabilizing integrated
The 3 pins output 3.3V power supply of U2；
The 12V mu balanced circuit includes the 3rd circuit of three-terminal voltage-stabilizing integrated U6, electric capacity C12, electrochemical capacitor C13, electrochemical capacitor C14
24V power supply is connect with 1 pin of electric capacity C15, the 3rd circuit of three-terminal voltage-stabilizing integrated U6, the 3rd circuit of three-terminal voltage-stabilizing integrated U6's
1 pin is connected with one end of electric capacity C12, and 1 pin of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 is connected with one end of electrochemical capacitor C13
Connect, 3 pins of the 3rd circuit of three-terminal voltage-stabilizing integrated U6 are connected with one end of electrochemical capacitor C14, the 3rd circuit of three-terminal voltage-stabilizing integrated
3 pins of 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, electricity
The other end of the other end, the other end of electrochemical capacitor C14 and electric capacity C15 of solution electric capacity C13 is all grounded GND, the 3rd three-terminal voltage-stabilizing
The 3 pins output 12V power supply of integrated circuit U6；
The 6V mu balanced circuit includes the 4th circuit of three-terminal voltage-stabilizing integrated U7, electric capacity C16, electrochemical capacitor C17, electrochemical capacitor C18
24V power supply is connect with 1 pin of electric capacity C19, the 4th circuit of three-terminal voltage-stabilizing integrated U7, the 4th circuit of three-terminal voltage-stabilizing integrated U7's
1 pin is connected with one end of electric capacity C16, and 1 pin of the 4th circuit of three-terminal voltage-stabilizing integrated U7 is connected with one end of electrochemical capacitor C17
Connect, 3 pins of the 4th circuit of three-terminal voltage-stabilizing integrated U7 are connected with one end of electrochemical capacitor C18, the 4th circuit of three-terminal voltage-stabilizing integrated
3 pins of 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, electricity
The other end of the other end, the other end of electrochemical capacitor C18 and electric capacity C19 of solution electric capacity C17 is all grounded GND, the 4th three-terminal voltage-stabilizing
The 3 pins output 6V power supply of integrated circuit U7；
The controller is using the processor U of model K60N512；
The motor-drive circuit includes front-wheel drive circuit and rear wheel drive circuit, and the front-wheel drive circuit includes model
The first chip U5 of L298, the first motor M1 and the second motor M2,5 pins of the first chip U5 of model L298,7 draw
Pin, 10 pins and 12 pins 50 pins respectively with the processor U of model K60N512,51 pins, 52 pins and 53 pins connect
Connect, 6 pins of the first chip U5 of model L298,11 pins and 9 pins all connect 6V power supply, the first chip of model L298
4 pins of U5 connect 12V power supply, and 1 pin of the first chip U5 of model L298,15 pins and 8 pins are all grounded GND, model
It is connected with one end of the first motor M1 for 2 pins of the first chip U5 of L298,3 pins of the first chip U5 of model L298
It is connected with the other end of the first motor M1, one end of 13 pins of the first chip U5 of model L298 and the second motor M2 connects
Connect, 14 pins of the first chip U5 of model L298 are connected with the other end of the second motor M2；The rear wheel drive circuit bag
Include the second chip U8, the 3rd motor M3 and the 4th motor M4 of model L298, the 5 of the second chip U8 of model L298
Pin, 7 pins, 10 pins, 12 pins 54 pins respectively with the processor U of model K60N512,59 pins, 60 pins and
64 pins connect, and 6 pins of the second chip U8 of model L298,11 pins and 9 pins all connect 6V power supply, model L298
4 pins of the second chip U8 connect 12V power supply, and 1 pin of the second chip U8 of model L298,15 pins and 8 pins are all grounded
GND, 2 pins of the second chip U8 of model L298 are connected with one end of the 3rd motor M3, the second chip of model L298
3 pins of U8 are connected with the other end of the 3rd motor M3,13 pins of the second chip U8 of model L298 and the 4th motor M4
One end connection, 14 pins of the second chip U8 of model L298 are connected with the other end of the 4th motor M4；
The colour recognition circuit include light emitting diode D6, light emitting diode D7, light emitting diode D8, light emitting diode D9 and
The color sensor U9 of model TCS230, the positive pole of the light emitting diode D6 are connected with one end of resistance R3, light-emitting diodes
The positive pole of pipe D7 is connected with one end of resistance R4, and the positive pole of light emitting diode D8 is connected with one end of resistance R6, light emitting diode
The positive pole of 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 resistance
The other end of R7 all connects 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
All be grounded GND with the negative pole of light emitting diode D9,1 pin of the color sensor U9 of model TCS230,2 pins, 3 pins, 6
Pin, 7 pins and 8 pins 1 pin respectively with the processor U of model K60N512,2 pins, 3 pins, 82 pins, 7 pins
Connect with 4 pins, the 4 pins ground connection GND of the color sensor U9 of model TCS230, the color sensor of model TCS230
5 pins of U9 connect 5V power supply；
The helm control circuit includes chip U10, electric capacity C22, electric capacity C23 and the electric capacity C24 of model ITG3200, described
13 pins of the chip U10 of model ITG3200 and 8 pins all connect 6V power supply, 8 pins of the chip U10 of model ITG3200
It is connected with one end of electric capacity C22, the other end of electric capacity C22 is grounded GND, 10 pins of the chip U10 of model ITG3200 and electricity
Hold one end connection of C23, the other end ground connection GND of electric capacity C23,20 pins of the chip U10 of model ITG3200 and electric capacity
C24 one end connection, electric capacity C24 the other end ground connection GND, 11 pins of the chip U10 of model ITG3200,18 pins, 1
Pin and 9 pins are all grounded GND, 23 pins of the chip U10 of model ITG3200 and 24 pins respectively with model
105 pins of the processor U of K60N512 and the connection of 106 pins；
The acceleration detection circuit includes chip U3, electric capacity C9 and the electric capacity C10 of model MMA7660FC, the model
1 pin of the chip U3 of MMA7660FC, 4 pins and 8 pins are all grounded GND, 3 pins of the chip U3 of model MMA7660FC
It is connected with 31 pins of the processor U of model K60N512,3 pins of the chip U3 of model MMA7660FC are with electric capacity C9's
One end connects, and the other end ground connection GND of electric capacity C9,5 pins of the chip U3 of model MMA7660FC connect model K60N512
Processor U 139 pins, 6 pins of the chip U3 of model MMA7660FC and 7 pins respectively with model K60N512
137 pins of processor U and the connection of 138 pins, 9 pins of the chip U3 of model MMA7660FC connect 3.3V power supply, model
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；
The pressure sensor module includes pressure sensor M1, electric capacity C25, electric capacity C26 and the resistance of model MPX4115
R10,1 pin of the pressure sensor M1 of model MPX4115 are connected with 103 pins of the processor U of model K60N512
Connect, 1 pin of the pressure sensor M1 of model MPX4115 is connected with one end of resistance R10, the pressure of model MPX4115
1 pin of sensor M1 is connected with one end of electric capacity C26,2 pins of the pressure sensor M1 of model MPX4115, resistance R10
The other end and the other end of electric capacity C26 be all grounded GND, 3 pins of the pressure sensor M1 of model MPX4115 and electric capacity
One end connection of C25, the other end of electric capacity C25 are all grounded GND, and 3 pins of the pressure sensor M1 of model MPX4115 meet 5V
Power supply；
The cooling circuit includes the 3rd chip U11 and motor M5 of model L298, the 3rd chip of model L298
5 pins of U11,7 pins, 10 pins and 12 pins 65 pins respectively with the processor U of model K60N512,69 pins, 72
Pin and the connection of 73 pins, 6 pins of the 3rd chip U11 of model L298 and 11 pins all connect 6V power supply, model L298
1 pin of the 3rd chip U11,15 pins and 8 pins be all grounded GND, 9 pins of the 3rd chip U11 of model L298 connect
6V power supply, 4 pins of the 3rd chip U11 of model L298 connect 12V power supply, 2 pins of the 3rd chip U11 of model L298
It is connected with one end of motor M5, motor M5 is connected with 3 pins of the 3rd chip U11 of model L298.
2. one kind according to claim 1 reclaims wave soldering tool AGV dolly, it is characterised in that the usb circuit
Including USB interface J1, Transient Suppression Diode D3, Transient Suppression Diode D4, Transient Suppression Diode D5 and resistance R5, USB
1 pin of interface J1 is connected with one end of resistance R5, another termination 5V power supply of resistance R5,1 pin of USB interface J1 and transient state
The positive pole connection of suppression diode D5,3 pins of USB interface J1 are connected with the positive pole of Transient Suppression Diode D4, USB interface J1
2 pins be connected with the positive pole of Transient Suppression Diode D3,3 pins of USB interface J1 and 2 pins respectively with model
20 pins of the processor U of K60N512 and 19 pins connection, 4 pins of USB interface J1, the negative pole of Transient Suppression Diode D3,
The negative pole of the negative pole of Transient Suppression Diode D4 and Transient Suppression Diode D5 is all grounded GND.
3. one kind according to claim 1 reclaims wave soldering tool AGV dolly, it is characterised in that the key circuit bag
Button K1, button K2, button K3, K4, K5 and K6 is included, one end of the button K1 is with the processor U's of model K60N512
117 pins connect, and one end of button K2 is connected with 118 pins of the processor U of model K60N512, one end of button K3 and
The 123 pins connection of the processor U of model K60N512, one end of button K4 and the 124 of the processor U of model K60N512
Pin connects, and one end of button K5 is connected with 125 pins of the processor U of model K60N512, one end of button K6 and model
For the 126 pins connection of the processor U of K60N512, the other end of button K1, the other end of button K2, the other end of button K3
The other end of the other end with button K4, the other end of button K5 and button K6 is all grounded GND.
4. one kind according to claim 1 reclaims wave soldering tool AGV dolly, it is characterised in that the processor U also connects
Oscillating circuit is connect, the oscillating circuit includes crystal oscillator X1, electric capacity C27, electric capacity C28, resistance R11, resistance R12 and resistance R13, institute
The one end for stating crystal oscillator X1 is connected with one end of electric capacity C27, and the other end of crystal oscillator X1 is connected with one end of electric capacity C28, electric capacity C27's
The other end of the other end and electric capacity C28 is all grounded GND, and one end of crystal oscillator X1 is connected with one end of resistance R11, and crystal oscillator X1's is another
End is connected with the other end of resistance R11, and one end of crystal oscillator X1 is connected with one end of resistance R12, the other end of resistance R12 and model
Connect for 40 pins of the processor U of K60N512, the other end of crystal oscillator X1 is connected with one end of resistance R13, and resistance R13's is another
One end is connected with 41 pins of the processor U of model K60N512.
5. one kind according to claim 1 reclaims wave soldering tool AGV dolly, it is characterised in that the model
The processor U of K60N512 is also associated with camera, and the camera is recorded a video to AGV dolly course, and by video information
Host computer is uploaded to through WIFI module, host computer is monitored to AGV dolly route.
6. one kind according to claim 5 reclaims wave soldering tool AGV dolly, it is characterised in that the camera is adopted
Model OV7725 digital camera.
7. one kind according to claim 1 reclaims wave soldering tool AGV dolly, it is characterised in that first avoidance is passed
Sensor and the second avoidance sensor are model E18-D80NK IR evading obstacle sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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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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| CN106020209B true CN106020209B (en) | 2017-03-08 |
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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 |
| CN111061271B (en) * | 2019-12-23 | 2021-07-02 | 天行智控(成都)科技有限公司 | Side-hanging type rail transportation control system |
Citations (2)
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|---|---|---|---|---|
| CN1904555A (en) * | 2006-07-31 | 2007-01-31 | 武汉理工大学 | Magnetic spike nail positioning navigation bidimensional magnetic sensor |
| CN202600484U (en) * | 2012-05-02 | 2012-12-12 | 天津天瑞达自动化设备有限公司 | AGV (automated guided vehicle) controller based on DSP (digital signal processor) and double magnetic navigation sensors |
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| EP0330639A3 (en) * | 1988-02-25 | 1990-09-26 | Ndc Automation, Inc. | Automatic guided vehicle traffic control system and method |
| BE1016001A3 (en) * | 2004-04-30 | 2006-01-10 | Egemin Nv | Automatic guided vehicle with improved navigation. |
| US8761987B2 (en) * | 2010-10-05 | 2014-06-24 | Checkpoint Llc | Automatic guided vehicle sensor system and method of using same |
| CN201859352U (en) * | 2010-11-02 | 2011-06-08 | 长安大学 | Obstacle avoiding control device of model car |
| CN202394364U (en) * | 2011-12-11 | 2012-08-22 | 陕西亚泰电器科技有限公司 | Wireless remote control system of intelligent self-tracking robot trolley |
| CN203595940U (en) * | 2013-12-17 | 2014-05-14 | 福州大学 | Intelligent obstacle avoidance trolley circuit |
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- 2016-07-28 CN CN201610601408.3A patent/CN106020209B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1904555A (en) * | 2006-07-31 | 2007-01-31 | 武汉理工大学 | Magnetic spike nail positioning navigation bidimensional magnetic sensor |
| CN202600484U (en) * | 2012-05-02 | 2012-12-12 | 天津天瑞达自动化设备有限公司 | AGV (automated guided vehicle) controller based on DSP (digital signal processor) and double magnetic navigation sensors |
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