AGV裝配線技術(shù)方案

1、長安福特汽車有限公司南京公司ChanganFordAutomobileCo.,Ltd.NanjingCompany發(fā)動機、前后橋AGV系統(tǒng)Engine&AxelAGVSystem技術(shù)方案TechnicalPlan沈陽新松機器人自動化股份有限公司ShenyangSIASUNRobot&AutomationCo.,Ltd.目錄Contents概述Summary設(shè)計依據(jù)DesignGist生產(chǎn)工藝基本要求BasicRequirementofProductionProcess現(xiàn)場基本技術(shù)條件BasicFieldTechnicalCondition責(zé)任范圍ResponsibilityScope：AGV裝

2、配輸送系統(tǒng)概述AGVAssembly&TransportationSystemSummary自動導(dǎo)弓丨車AGV系統(tǒng)技術(shù)扌旨標(biāo)AutomatedGuidedVehicleAGVSystemTechnicalSpecificationAGV工作過程描述AGVWorkingProcessDescription發(fā)動機裝配升降工作臺EngineAssemblyLifterWorktable伸縮套筒式升降工作臺ExtensionSleeveLifterWorktable剪式液壓機構(gòu)升降工作臺ScissorHydraulicLifterWorktable托盤底面距發(fā)動機最高點距離與升降平臺高度關(guān)系計算Cal

3、culationontheRelationBetweenDistancefromPalletBottomtoEngineZenithandHeightofLifterTable后懸裝配舉升裝置RearSuspensionAssemblyLiftingEquipment7.1伸縮套筒式升降工作臺剪式液壓機構(gòu)升降工作臺ScissorHydraulicLifterWorktable升降平臺上平面至U地面的高度計算CalculationontheHeightfromthePlaneoftheLifterTabletotheGround不同軸距車體裝配實現(xiàn)BodyofDifferentWheelbase

4、sAssemblyRealizationAGV動態(tài)裝配解決方案AGVDynamicAssemblySolutionAGV主要設(shè)備AGVMainEquipmentAGV(LGV)車載控制器AGV(LGV)VehicleControllerAGV(LGV)驅(qū)動系統(tǒng)AGV(LGV)DriveSystem導(dǎo)航系統(tǒng)NavigationSystem在線自動充電系統(tǒng)OnlineAutomaticChargeSystem無線局域網(wǎng)通訊系統(tǒng)WirelessLANCommunicationSystem驅(qū)動控制系統(tǒng)DriveControlSystem非接觸防碰裝置Non-contactBumperDeviceAGV

5、安全系統(tǒng)AGVSafetySystem11.1非接觸防碰裝置Non-contactBumperDevice接觸式防碰裝置ContactBumperDevice離線保護系統(tǒng)OfflineGuardingSystem信息交互系統(tǒng)InformationExchangeSystem緊急停車系統(tǒng)EmergencyStopSystem多AGV避碰Multi-AGVCollisionPreventionAGV控制臺和調(diào)度管理系統(tǒng)AGVConsole&DispatchingManagementSystemAGV控制臺AGVConsole調(diào)度管理系統(tǒng)DispatchingManagementSystemAGV車

6、載控制系統(tǒng)和數(shù)據(jù)采集AGVVehicleControlSystem&DataCollection導(dǎo)航線的鋪設(shè)NavigationLinePavingAGV系統(tǒng)特點AGVSystemCharacteristics高速無線局域網(wǎng)的建立和應(yīng)用SetupandApplicationofHigh-speedWirelessLANAGV運行的靈活性FlexibilityofAGVRunning高精度導(dǎo)航系統(tǒng)HighAccuracyNavigationSystem友好的人機界面UserFriendlyHumanMachineInterface完善的自診斷系統(tǒng)PerfectSelf-diagnosisSyst

7、emAGV可靠性措施MeasuresonAGVReliability15.7在線快速自動充電方法和快速充電電池的應(yīng)用OnlineAutomaticInstantChargeMethodandApplicationofInstantRechargeableBattery故障修復(fù)時間(MTR)MeanTimeofRepair(MTR)AGV系統(tǒng)的故障修復(fù)時間有兩類：ThereretwokindsofMTRforAGVsystem:平均無故障時間(MTBF)MeanTimeToFailures(MTTF)AGV運行路線圖AGVRunningRouteGraph裝配線AGV運行布局圖AssemblyA

8、GVRunningLayout16.2,樣機車間AGV運行布局圖SampleWorkshopAGVRunningLayout.環(huán)行裝配線AGV系統(tǒng)設(shè)備清單CircularAssemblyAGVSystemEquipmentList項目進度ProjectSchedule培訓(xùn)Training培訓(xùn)人員的范圍、數(shù)量及時間Scope,amountandtimefortrainingpeople培訓(xùn)的內(nèi)容Trainingcontent售后服務(wù)Aftersaleservice概述Summary根據(jù)長安福特汽車有限公司南京公司發(fā)動機、前后橋AGV系統(tǒng)的設(shè)計要求，新松公司采用的裝配型AGV系統(tǒng)進行發(fā)動機、前后橋

9、與車身合裝，具有同步動態(tài)跟蹤功能的AGV可實現(xiàn)發(fā)動機、前后橋在裝配段任何工位同時裝配。導(dǎo)航方式采用磁導(dǎo)航，地面施工量小，只要根據(jù)工藝要求變更磁條的粘貼路徑，在對控制程序稍加改動，就可以改變裝配路線的長短，適應(yīng)不同的裝配工藝要求。AGV系統(tǒng)由一條近似梯形的環(huán)線組成，在裝配段進行前懸掛/發(fā)動機、后橋與車身合裝，在非裝配段進行發(fā)動機、前后橋由分裝線往AGV裝配托盤上吊裝，并可在非裝配段進行部分零部件的組裝。根據(jù)產(chǎn)量及裝配時間確定環(huán)線上AGV數(shù)量。AccordingtodesignrequirementofChanganFordAutomobileCo.,Ltd.onengineandaxleAGVs

10、ystem,SIASUNusesassemblyAGVsystemforengine,axleandbodydecking,andAGVwiththefunctionofsynchronizationdynamictrackingcanrealizesimultaneousassemblyofengineandaxleatanyassemblyzoneorstations.Byusingmagneticnavigation,groundconstruetionissmallandbychangingthepathofmagneticstripupontechnicalrequirementsa

11、ndmodifyingslightlycontrolprogram,thelengthofassemblypathcanbealteredtomeetdifferentassemblyprocessrequirements.AGVsystemisformedbyaloopline,whichisclosetoatrapezium.Theassemblyzoneisusedforfrontsuspension/engine,rearaxleandbodydeckingandthenonassemblyzoneisusedforengineandaxlesuspendingonAGVassembl

12、ypalletthroughsubassemblylineandalsoforassemblyofpartofcomponents.ThenumberofAGVonthelooplineissetaccordingtooutputandassemblytime.整個系統(tǒng)包括AGV、AGV控制臺、充電系統(tǒng)、導(dǎo)航系統(tǒng)、通訊系統(tǒng)、數(shù)據(jù)采集系統(tǒng)和裝配夾具等幾部分組成。ThewholesystemincludesAGV,AGVconsole,chargesystem,navigationsystem,communicationsystem,datacollectionsystemandassemblyj

13、ig,etc.設(shè)計依據(jù)DesignGist生產(chǎn)工藝基本要求BasicRequirementofProductionProcess工位間距Distancebetweenstations：5，800mm生產(chǎn)節(jié)拍Productionrate：最大：1分鐘/輛Max.:1minute/vehicle最小：5分鐘/輛Min.:5minutes/vehicle現(xiàn)場基本技術(shù)條件BasicFieldTechnicalCondition動力電源：交流38010%50HZ2%3相5線Powersupply:AC38010%50HZ2%3phases5lines溫度：5C45CTemperature:-5C45C濕

14、度：6095%Humidity:6095%防護等級：IP54Protectiongrade:IP54絕緣等級：B級Insulationlevel:LevelB責(zé)任范圍ResponsibilityScope：AGV裝配系統(tǒng)總體設(shè)計、制造。AGVassemblysystemdesignandmanufacturing.AGV車體設(shè)計、制造。AGVvehicledesignandmanufacturing.AGV裝配系統(tǒng)發(fā)運前調(diào)試、考機實驗。AGVassemblysystemdebuggingandtrialrunningbeforedelivery.AGV裝配系統(tǒng)運輸、接收、搬運。AGVassem

15、blysystemtransport,reception,carriage.AGV控制系統(tǒng)設(shè)計、制造，車載控制軟件、調(diào)度軟件設(shè)計。AGVcontrolsystemdesignandmanufacturing,vehiclecontrolsoftware,schedulersoftwaredesign.6）AGV工作環(huán)線設(shè)計、制造，地面導(dǎo)航線布局設(shè)計、敷設(shè)。AGVworkinglooplinedesignandmanufacturing,groundnavigationlinelayoutdesignandlaying.7）現(xiàn)場安裝、單機調(diào)試、全線聯(lián)動調(diào)試。Fieldinstallation,u

16、nitmachinedebuggingandcompletelinelinkagedebugging.8）技術(shù)培訓(xùn)和售后服務(wù)。Technicaltrainingandaftersalesservice.Engine/rearaxleAGVsemhlAGVgroundguidedsystem,onlineautomaticchargesystem,AGVconsole,dataAGV裝配輸送系統(tǒng)概述AGVAssembly&TransportationSystemSummary統(tǒng)3:控制臺、數(shù)據(jù)采集系統(tǒng)、|AGV調(diào)度管理系統(tǒng)和通訊系統(tǒng)等構(gòu)成。Tt7rTl,發(fā)動機/后橋AGV裝配輸送系統(tǒng)由AGV、A

17、GV地面導(dǎo)引系統(tǒng)、在線自動充電系0ansportationsystemincludesAGV,collectione2m,AGVdispatchingmanagementSystemandyPmmuDication2system,etc.AGV：AGV完成發(fā)動機或后懸掛系的輸送和輔助裝配工作。裝配人員可以站在AGV車的腳踏板上進行裝配作業(yè)，腳踏板采用花紋鋁板制造，操作安全。AGVconductstransportationofengineorrearsuspensionandassistantassemblyjobs.AssemblyoperatorcanstandandworkonAGVpe

18、dal,whichismadeofaluminumboardwithdecorativefiguresandsafetooperate.AGV地面導(dǎo)引系統(tǒng)AGVGroundGuidedSystem：地面導(dǎo)引系統(tǒng)是AGV運行的路線和軌跡，AGV的導(dǎo)引系統(tǒng)采用基于地圖的磁帶導(dǎo)航方法。當(dāng)工藝確定磁條埋入地下后，地面將保持平整狀態(tài)，完全不影響人、車通行。GroundguidedsystemisAGVrunningpathandtrack.AGVguidedsystemadoptsthemethodofmagnetictapenavigationbasedonthemap.Whentheprocessh

19、asconfirmedthatthemagneticstripshavebeenembeddedunderground,thegroundwillbesmoothandwontinfluencepeopleorvehicletopass.在線自動充電系統(tǒng)OnlineAutomaticChargeSystem：為了保證AGV24小時連續(xù)運行，充電系統(tǒng)采用大電流快速充電的方法為AGV補充電量。AGV的充電過程是在控制臺的監(jiān)控下自動進行的。ToensureAGVtorun24hourscontinuously,chargesystemusesthemethodoflargeelectricalcur

20、rentandinstantelectrificationtochargeAGV.AGVchargeprocessisconductedautomaticallyunderthesupervisionandcontroloftheconsole.AGV控制臺和AGV調(diào)度管理系統(tǒng)AGVConsoleandAGVDispatchingManagementSystem控制臺和AGV調(diào)度管理系統(tǒng)是AGV系統(tǒng)的調(diào)度管理中心，負責(zé)數(shù)據(jù)采集系統(tǒng)的數(shù)據(jù)處理，與上位機交換信息，生成AGV的運行任務(wù)，解決多AGV之間的避碰問題。ConsoleandAGVdispatchingmanagementsystemist

21、hedispatchingmanagementcenterofAGVsystem,responsiblefordataprocessingindatacollectionsystemandinformationexchangewithuppercomputertocreateAGVrunningtasksandsolvetheproblemsofmultiAGVcollision.通訊系統(tǒng)CommunicationSystem通訊系統(tǒng)由無線局域網(wǎng)組成。AGV與控制臺之間采用無線電臺進行信息交換，通訊協(xié)議為TCP/IP協(xié)議?？刂婆_可與上位機之間采用以太網(wǎng)進行數(shù)據(jù)傳輸。Communications

22、ystemisformedbywirelesslocalnetwork.Wirelesstransmitter-receiverisadoptedbetweenAGVandconsoletoexchangeinformationandthecommunicationprotocolisTCP/IPprotocol.Ethernetisusedbetweenconsoleandtheuppercomputerfordatatransmission.光電檢測系統(tǒng)PhotoelectricityTestingSystem光電檢測系統(tǒng)是用于檢測主輸送線吊具上車身是否運行到位，運行到位將發(fā)出信號通知處在

23、等待站點的AGV可以側(cè)移運行，實現(xiàn)順序裝配。如果沒有車身通過，等待站點的AGV始終處于等待狀態(tài)。如果有車身通過，但等待站點沒有AGV等待，AGV控制臺將通知總控室。Photoelectricitytestingsystemisusedtocheckifthebodyonthesuspendingtoolsofthemaintransmissionlinehasruntotheposition,wheresignalwillbesenttoinformAGVatthewaitingstationtomovesidewaystorealizesequenceassembly.Ifthebodyha

24、sntpassed,AGVatthewaitingstationwillstayallalonginthestatusofwaiting.Ifpassed,buttheresnoAGVwaitingatthestation,AGVconsolewillnotifythegeneralcontrolroom.自動導(dǎo)引車AGV系統(tǒng)技術(shù)指標(biāo)AutomatedGuidedVehicleAGVSystemTechnicalSpecification此圖片僅供參考Thispictureisforreferenceonly帶有同步跟蹤和舉升機構(gòu)的AGV，其主要技術(shù)指標(biāo)：Maintechnicalspecif

25、icationsofAGVwithsynchronizationtrackingandliftingframeworkinclude:AGVS控制方式:控制站集中調(diào)度、監(jiān)控、管理AGV系統(tǒng)的運行狀態(tài)monitoring&controlandmanagementontherunningstateofAGVsystemAGVScontrolmode:controlstationmakescentralizeddispatch,AGV控制方式具備功能：全自動/半自動/手動AGVcontrolfunction:automatic/semiautomatic/manual通訊方式：無線局域網(wǎng)Commun

26、ication:wirelessLANAGV導(dǎo)航方式：磁導(dǎo)航AGVnavigationmethod:magneticnavigationAGV驅(qū)動方式：雙舵輪驅(qū)動。AGVsteering:poweredwheelsteering負載能力：2000KG（以最終設(shè)計為準(zhǔn)）Payload:2000KG(subjecttofinaldesign)AGV自重：2000KG（以最終設(shè)計為準(zhǔn)）AGVweight:2000KG(subjecttofinaldesign)同步跟蹤精度：10mmSynchronizationtrackingaccuracy:10mm運動方向：全方位（所占用運行空間最小化）Movi

27、ngdirection:Omni-directionalmoving(tominimizeoccupiedrunningspace)最大速度：直線60m/min,側(cè)移30m/minMaximumspeed:straight60m/min,sidewaysmoving30m/min導(dǎo)航精度：土10mmNavigationaccuracy:10mm停車精度：土10mmParkingaccuracy:土10mm工作時間：24小時連續(xù)（三班）Workingtime:24hourscontinuously(3shifts)防碰裝置：四周安裝接觸式保險杠，前后另安裝激光防碰裝置。Collisionprev

28、entiondevice:contactbumperinstailedaroundandlasercollisionpreventiondeviceinstalledinthefront&backside舉升裝置：雙舉升機構(gòu)，可以同步舉升或單獨舉升。Liftingequipment:dualliftframework,forsynchronizationliftingorseparatelifting(lengthXwidthXheight(before/after托盤夾具：按照實際需要設(shè)計（本方案中不含該部分內(nèi)容）Palletfixture:designaccordingtodemands(

29、notincludedinthissolution)電池組：48V/100AH，正常使用，壽命大于3年Batterycharger:48V/100AH,innormalusageanditslongevityisover3years.充電方式：全自動充電器實現(xiàn)在線自動充電，保證連續(xù)24小時工作Charging:automaticchargerrealizesonlinequickchargetoensure24hourscontinuousworking操作咼度：裝配人員站在AGV提供的腳踏板上相對靜止進行零部件裝配，腳踏板到地面咼度200mm。Operationheight:Operator

30、standsonAGVfootpedaltoassemblypartsinrelativestillconditionandtheheightfromthefootpedaltothegroundis200mm.車體尺寸：4800mmX1800mmX900mm長X寬X高(舉升前)Bodydimension:4800mmX1800mmX900mmlifting)AGV工作過程描述AGVWorkingProcessDescriptionAGV小車按控制臺計算機的指令行駛到后橋總成上裝點，由操作人員根據(jù)生產(chǎn)計劃完成后橋總成的吊裝，當(dāng)將后橋總成從后橋分裝線吊到AGV后橋舉升裝置上的后橋夾具上并放穩(wěn)后，

31、操作人員通過車體上的操作按鈕向AGV小車發(fā)出完成上件確認信號，允許AGV向下一個站點運行；AGVwillrunuponconsolecomputerorderstoloadingpointofrearaxlefinalassemblyandoperatorwillcompletethisbasedonproductionplan.AftertherearaxlefinalassemblyismovedfromtherearaxlesubassemblylineandplacedwellontherearaxlefixtureofAGVrearaxleliftingdevice,operator

32、pressesthebuttononthevehicletosentsignal,informingAGVthatloadinghasbeenfinishedandallowAGVtomovetowardsnextstation.AGV小車行駛到發(fā)動機總成上裝點，由操作人員根據(jù)生產(chǎn)計劃完成發(fā)動機總成的吊裝，當(dāng)將發(fā)動機總成從發(fā)動機分裝線吊到AGV發(fā)動機舉升裝置上的發(fā)動機夾具上并放穩(wěn)后，操作人員通過車體上的操作按鈕向AGV小車發(fā)出完成上件確認信號，允許AGV向下一個站點運行AGVrunstoloadingpointofenginefinalassemblyandoperatorwillcomple

33、teenginefinalassemblysuspending.WhentheenginefinalassemblyismovedandplacedwellontheenginefixtureofAGVengineliftingdevicefromenginesubassemblyline,operatorthensendsconfirmationsignalofthecompletionofloadingbypressingoperationbuttononthebodytoinformAGVvehicletomovetowardsnextstation.（3）AGV小車按控制計算機的指令行

34、駛到等待地點；AGVmovestowaitingplaceaccordingtotheorderfromcontrolcomputer.（4）AGV小車在某一停留時間相對長的站點（動力總成上裝點或其它點）進行自動充電；AGVwillchargeitselfautomaticallyatonestation（powertrainassemblyloadingpointorotherpoint）forrelevantlongwaitingtime.（5）AGV控制臺檢測工藝鏈上車體的位置信號，當(dāng)被裝車體到位后調(diào)度已載有發(fā)動機前后懸掛總成AGV按預(yù)定時間、速度進入懸鏈下方（時間、速度根據(jù)生產(chǎn)線要求可

35、通過車載顯示器進行更改），在裝配段快速向前運行，在預(yù)定區(qū)域捕獲預(yù)先固定在被裝車身上的合作目標(biāo)。保持穩(wěn)定跟蹤狀態(tài)后，人工操作舉升手控盒或腳踏開關(guān)，進行舉升裝置上升操作，操作人員可以同時或單獨發(fā)動機舉升裝置和后橋舉升裝置。在舉升裝置上升同時，打開平臺鎖定裝置，使舉升裝置上平臺處于浮動狀態(tài)，操作人員一邊按上升按鈕一邊夾具上車身定位銷插入車身的工藝定位孔。當(dāng)舉升到安裝位置，所有的螺栓安裝孔均已定位。由裝配人員安裝固定螺栓，完成裝配后裝配人員按一下舉升裝置上的裝配結(jié)束按鈕，AGV將自動落下舉升裝置到零點。當(dāng)前后舉升裝置全部復(fù)位到零點以后，AGV將加速離開裝配工位，在非裝配段加載站備好發(fā)動機及后橋，完成一

36、次工作循環(huán)。AGVconsolewilltestthesignalofbodypositionontheprocesschain.Whenloadedbodyhasgottentotheposition,AGVwithengineandfront&rearsuspensionassemblyisdispatchedaccordingtosettimeandspeedtotheunderneathofthesuspendingchain(time&speedcanbechangedthroughvehicledisplayeraccordingtorequirementsoftheproduct

37、ionline).ThenAGVmovesforwardquicklyintheassemblyzoneandcapturesintheprearrangedareathecooperativetargetsetinadvanceonthebody.Aftertrackingstateisstable,manualcontrolboxorfootpedalswitchisdonebymanualoperationtoraisethelifter.Operatorcanrunsimultaneouslyorseparatelytheengineliftingdeviceandrearaxelli

38、ftingdevice.Whentheliftingdeviceisraised,thelockfixtureisopenedtomakethetablefloating.Operatorpressesthebuttonforliftingandatthesametimeputsthebodylocatingpinsonthefixtureintotheprocesslocatingholeofthebody.Whengettingtotheinstallationposition,allboltinstallationholesarelocated.Thenassemblyworkerswi

39、llinstallthesetboltsandpressthebuttonontheliftingfixtureaftercompletionofassembly.AGVwilllowertheliftingfixturetozeroautomatically.Whenallliftingfixturesreachzero,AGVwillacceleratetoleaveassemblystation.Afterequippedwithengineandrearaxleatloadingstation,AGVfinishesoneworkingcycle.當(dāng)發(fā)動機前后懸掛總成不能及時供應(yīng)時，可

40、通過設(shè)置在裝配工位的懸鏈急停開關(guān)，由人工控制，停止懸鏈運行。即使不按懸鏈急停，AGV系統(tǒng)也會通過控制臺申請停止懸鏈運行。Whenengineandfront&rearsuspensionassemblycantbesuppliedintime,makemanualcontrolbyusingemergencystopswitchontheassemblystationtostopsuspendingchaintorun.Evenwithoutpressingthesuspensionchainemergencyswitch,AGVsystemcanalsoapplytostoprunningt

41、hroughtheconsole.當(dāng)AGV進入報警工位(裝配工位末端)而未完成合裝時，AGV將自動停止運行，AGV控制臺報警并控制工藝鏈停線，直到完成裝配后自動恢復(fù)運行。WhenAGVentersintoalarmingstation(attheendofassemblystation)andhasntfinishedassembly,AGVwillstopautomaticallyandAGVconsolewillalarmandcontroltheprocesschaintostop.Afterassembly,itwillrecoverautomatically.(5)AGV在分裝工位的

42、運行速度可根據(jù)現(xiàn)場實際設(shè)置。AGVrunningspeedinsubassemblystationcanbesetupaccordingtoactualsituation.發(fā)動機裝配升降工作臺EngineAssemblyLifterWorktableAGV發(fā)動機裝配升降工作臺是將發(fā)動機前懸總成舉升到裝配位置高度的設(shè)備,目前我公司應(yīng)客戶要求普遍采用純機械傳動的伸縮套筒式升降工作臺。為適應(yīng)各使用現(xiàn)場的不同要求,我公司將剪式液壓機構(gòu)升降工作臺列為備選設(shè)備供用戶選擇。兩者主要區(qū)別為前者采用直流伺服電機驅(qū)動升降,執(zhí)行元件為滾珠絲杠。后者采用液壓泵站驅(qū)動升降，執(zhí)行元件為液壓缸。AGVengineassem

43、blylifterworktableistheequipmentthatliftsenginefrontsuspensionfinalassemblytotheassemblyposition.Now,basedoncustomerrequirements,ourcompanymainlyadoptspuremechanicaldrivingextensionsleevelifterworktable.Tomeetdifferentdemandsinvariousapplicationfields,ourcompanymakesthescissorhydrauliclifterworktabl

44、etobeanoptionaldeviceforcustomertochoose.ThemaindifferencebetweenthesetwoliesinthefactthatthepreviousoneusesDCservomotortodrivelifterandtheexecutivecomponentisballscrew,whilethelatteradoptshydraulicpumpingstationtodrivelifterandtheexecutivecomponentishydrauliccylinder.伸縮套筒式升降工作臺ExtensionSleeveLifter

45、Worktable該裝置主要由滑動工作平臺、舉升裝置、手控盒等組成(如圖升降工作臺簡圖)，其中滑動工作平臺在使用過程中可通過直線軸承組合的機構(gòu)進行兩個方向的水平移動，另外滑動工作臺通過組合軸承結(jié)構(gòu)可旋轉(zhuǎn)一定的角度。舉升裝置是完成升降動作的主要裝置，其主要由滾珠絲杠機構(gòu)、一層起重鏈輪組合、二層起重鏈輪組合、電機減速機、齒輪傳動及各伸縮套筒組成。該電機采用進口的直流電機、減速器一體機，滾珠絲杠及螺母等零件采用德國進口零件，性能可靠，傳動穩(wěn)定。Thisequipmentisformedbytheslidingworktable,liftingdeviceandmanualcontrolbox,etc

46、(Seethelifterworktablesketch).Amongthem,theslidingworktablecanmovehorizontallyintwodirectionsthroughstraightbearingcombinationinthecourseofapplication.Besides,itcanalsorotateincertainanglebythisstructure.Theliftingfixtureisthemaindevicetofinishtheactionofliftingandlowering.Itiscomposedofballscrew,on

47、elayer斗liftchainwheelcombination,twolayersliftchainwheelcombination,motorreducer,geardrivingandeachextensionsleeve.ThemotoradoptstheimportedDCmotorandreducerofonemachine.Parts,suchastheballscrewandnutareimportedfromGermany.Theyarereliableinperformanceandstableindriving.AGV舉升裝置可由手動操縱上升下降，操作人員可以通過操作配套

48、在舉升裝置兩側(cè)的手控操作盒或腳踏開關(guān)實現(xiàn)舉升裝置的上升或下降。待AGV進入裝配路段并跟蹤上車身后，操作者松開滑動平臺鎖定裝置，利用舉升手控盒手動操縱舉升裝置升降。裝配結(jié)束后，按動裝配結(jié)束按鈕舉升裝置自動復(fù)位至初始位置后人工鎖定滑動平臺。每個舉升裝置安裝有編碼器，可時時反饋提升的位置，舉升的高Liftinglength:1050mm滑動平臺上平面到地面高度：900mm度也可通過軟件設(shè)定，設(shè)定需要舉升的高度及極限高度。在發(fā)動機合裝托盤上安裝托盤位置傳感器，用于監(jiān)測發(fā)動機合裝托盤在下降過程中是否與升降臺分離，確保操作安全。AGVliftingequipmentcanbeoperatedmanuall

49、ytoascendanddescend.Operatorcanrunitthroughmanualoperationboxorfootswitchatthetwosidesoftheliftingequipment.AfterAGVentersintoassemblypathandtrackthebody,operatoropensthelockequipmentofslideflatandusesliftingmanualcontrolboxtooperateliftingequipment.Afterassembly,pressthecompletionbutton,theliftinge

50、quipmentwillautomaticallyreturntoitsinitialposition.Thenoperatorlockstheslideflat.Eachliftingequipmentisinstalledwithacoder,whichcanmakefeedbackontheliftingposition.Liftingheight,includingaltitudetobeliftedandmaximumheightcanalsobesetthroughsoftware.Thepalletpositionsensorisinstalledontheenginedecki

51、ngpalletforthepurposeofmonitoringiftheenginedeckingpallethasseparatedfromtheliftertableinthecourseofloweringtoensureoperationsafetyasaresult.發(fā)動機舉升主要技術(shù)指標(biāo)MainTechnicalSpecificationsofEngineLifting：額定舉升重量：1000kGRatingliftingweight:1000kGHeightfromtheplaneofslidingtabletotheground:900mm平臺滑動量：Tableslidin

52、glength旋轉(zhuǎn)角度：Rotatingangle:平臺形式：Tablemode:舉升方式：Liftingmethod:舉升速度：Liftingspeed:提升量：X(車長)方向250mmY(車寬)方向75mmX(vehiclelength)direction250mmY(vehiclewidth)direction75mm10度10degrees直線軸承滑動平臺straightbearingslidetable直流電機驅(qū)動伸縮套筒舉升DCmotordrivingextensionsleevelifting最大12000mm/minMaxi.12000mm/min1050mm平臺尺寸：以最終圖

53、紙尺寸為主。Tabledimension:subjecttofinaldimensionondrawings剪式液壓機構(gòu)升降工作臺ScissorHydraulicLifterWorktable該裝置主要由滑動工作平臺、剪式液壓機構(gòu)舉升裝置、手控盒等組成，其中滑動工作平臺在使用過程中可通過軸承組合的機構(gòu)進行兩個方向的水平移動，另外滑動工作臺通過組合軸承結(jié)構(gòu)可旋轉(zhuǎn)一定的角度。舉升裝置是完成升降動作的主要裝置，其主要由液壓驅(qū)動系統(tǒng)、剪刀叉、集中潤滑系統(tǒng)、液壓油缸、等組成。該液壓驅(qū)動系統(tǒng)采用進口的泵站，在整個裝置下部安裝接油盤，保持AGV運行地面清潔，性能可靠，傳動穩(wěn)定。Thisequipmentis

54、madeupofslidingworktable,scissorhydraulicliftingdeviceandmanualcontrolbox,etc.Amongthem,theslidingworktable斗canmovehorizontallyintwodirectionsthroughbearingcombinationinthecourseofapplication.Besides,itcanalsorotateincertainanglebythisstructure.Theliftingfixtureisthemaindevicetofinishtheactionoflift

55、ingandlowering.Itiscomposedofhydraulicdrivingsystem,scissorfork,centralizedlubricationsystemandhydraulicgreasecylinder,etc.ThishydraulicdrivingsystemadoptsimportedpumpingstationandthegreasetrayisinstalledunderthewholedeviceinordertokeepAGVrunningpathclean,makeitsperformancereliableanditsdrivingstabl

56、e.AGV舉升裝置可由手動操縱上升下降，操作人員可以通過操作配套在舉升裝置兩側(cè)的手控操作盒或腳踏開關(guān)實現(xiàn)舉升裝置的上升或下降。待AGV進入裝配路段并跟蹤上車身后，操作者松開滑動平臺鎖定裝置，利用舉升手控盒手動操縱舉升裝置升降。裝配結(jié)束后，按動裝配結(jié)束按鈕舉升裝置自動復(fù)位至初始位置后人工鎖定滑動平臺。每個舉升裝置安裝有編碼器，可時時反饋提升的位置，舉升的高度也可通過軟件設(shè)定，設(shè)定需要舉升的高度及極限高度。AGVliftingequipmentcanbeoperatedmanuallytoascendanddescend.Operatorcanrunitthroughmanualoperation

57、boxofootswitchatthetwosidesoftheliftingequipment.AfterAGVentersintoassemblypathandtrackthebody,operatoropensthelockequipmentofslideflatandusesliftingmanualcontrolboxtooperateliftingequipment.Afterassembly,pressthecompletionbutton,theliftingequipmentwillautomaticallyreturntoitsinitialposition.Thenope

58、ratorlockstheslideflat.Eachliftingequipmentisinstalledwithacoder,whichcanmakefeedbackontheliftingposition.Liftingheight,includingaltitudetobeliftedandmaximumheightcanalsobesetthroughsoftware.lOOOkG發(fā)動機舉升主要技術(shù)扌旨標(biāo)：MainTechnicalSpecificationsofEngineLifting:額定舉升重量:Ratingliftingweight:1000kG滑動平臺上平面到地面高度：5

59、50mmHeightfromtheplaneofslidingtabletotheground:550mm平臺滑動量：X（車長）方向250mmTableslidinglength:250mmY旋轉(zhuǎn)角度：Rotatingangle:平臺形式：Tablemode:舉升速度：Liftingspeed:提升量：Liftinglength:平臺尺寸：以最終圖紙尺寸為主Tabledimension:drawingssubjecttofinaldimensiononY(車寬)方向75mmX(vehiclelength)direction(vehiclewidth)direction75mm10度10degr

60、ees直線軸承滑動平臺straightbearingslidetable最大12,000mm/minMaxi.12000mm/min100mm1,100mm注Notes：1.剪式舉升機構(gòu)曾應(yīng)用于沈陽華晨金杯汽車有限公司的汽車裝配生產(chǎn)線。ThescissorliftingdevicehasbeenappliedintheautomobileassemblyproductionlineforShenyangBrillianceJinbeiAutomobileCo.,Ltd.剪式液壓機構(gòu)升降工作臺安全措施：Safetyprecautionsofscissorhydrauliclifterworkta