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1、AGV装配线技术方案建议书AGV装配线系统长安福特汽车有限公司南京公司Changan Ford Automobile Co., Ltd. Nanjing Company发动机、前后桥AGV系统Engine & Axel AGV System技 术 方 案Technical Plan沈阳新松机器人自动化股份有限公司Shenyang SIASUN Robot & Automation Co., Ltd.55 目 录 Contents1. 概述Summary52. 设计依据Design Gist52.1 生产工艺基本要求Basic Requirement of Production Process5
2、2.2 现场基本技术条件Basic Field Technical Condition62.3 责任范围Responsibility Scope：63. AGV装配输送系统概述AGV Assembly & Transportation System Summary74. 自动导引车AGV系统技术指标Automated Guided Vehicle AGV System Technical Specification95. AGV工作过程描述AGV Working Process Description116. 发动机装配升降工作台Engine Assembly Lifter Worktable
3、146.1 伸缩套筒式升降工作台Extension Sleeve Lifter Worktable146.2 剪式液压机构升降工作台Scissor Hydraulic Lifter Worktable166.3 托盘底面距发动机最高点距离与升降平台高度关系计算Calculation on the Relation Between Distance from Pallet Bottom to Engine Zenith and Height of Lifter Table197. 后悬装配举升装置Rear Suspension Assembly Lifting Equipment227.1 伸缩
4、套筒式升降工作台227.2 剪式液压机构升降工作台Scissor Hydraulic Lifter Worktable247.3 升降平台上平面到地面的高度计算Calculation on the Height from the Plane of the Lifter Table to the Ground268. 不同轴距车体装配实现Body of Different Wheelbases Assembly Realization289. AGV 动态装配解决方案AGV Dynamic Assembly Solution2910. AGV 主要设备AGV Main Equipment2910
5、.1 AGV（LGV）车载控制器 AGV（LGV）Vehicle Controller2910.2 AGV（LGV）驱动系统AGV（LGV）Drive System3010.3 导航系统Navigation System3010.4在线自动充电系统Online Automatic Charge System3210.5无线局域网通讯系统 Wireless LAN Communication System3310.6驱动控制系统Drive Control System3410.7非接触防碰装置Non-contact Bumper Device3511. AGV安全系统AGV Safety Sys
6、tem3511.1非接触防碰装置Non-contact Bumper Device3511.2接触式防碰装置 Contact Bumper Device3611.3离线保护系统 Offline Guarding System3611.4信息交互系统 Information Exchange System3611.5紧急停车系统Emergency Stop System3711.6多AGV避碰 Multi-AGV Collision Prevention3712. AGV控制台和调度管理系统AGV Console & Dispatching Management System3712.1 AGV
7、控制台AGV Console3712.2调度管理系统Dispatching Management System3813. AGV车载控制系统和数据采集AGV Vehicle Control System & Data Collection4014. 导航线的铺设Navigation Line Paving4115. AGV系统特点AGV System Characteristics4215.1 高速无线局域网的建立和应用 Setup and Application of High-speed Wireless LAN4215.2 AGV运行的灵活性Flexibility of AGV Runn
8、ing4315.3 高精度导航系统High Accuracy Navigation System4315.4 友好的人机界面User Friendly Human Machine Interface4415.5 完善的自诊断系统Perfect Self-diagnosis System4415.6 AGV可靠性措施Measures on AGV Reliability4415.7 在线快速自动充电方法和快速充电电池的应用Online Automatic Instant Charge Method and Application of Instant Rechargeable Battery46
9、15.8 故障修复时间（MTR）Mean Time of Repair（MTR）47AGV系统的故障修复时间有两类： Therere two kinds of MTR for AGV system:4715.9 平均无故障时间（MTBF）Mean Time To Failures（MTTF）4816. AGV运行路线图 AGV Running Route Graph4816.1 装配线AGV运行布局图 Assembly AGV Running Layout4816.2 样机车间AGV运行布局图 Sample Workshop AGV Running Layout4818. 环行装配线AGV系统
10、设备清单Circular Assembly AGV System Equipment List5119. 项目进度Project Schedule5320. 培训Training5320.1 培训人员的范围、数量及时间Scope, amount and time for training people5420.2 培训的内容Training content5421. 售后服务After-sale service551. 概述Summary根据长安福特汽车有限公司南京公司发动机、前后桥AGV系统的设计要求，新松公司采用的装配型AGV系统进行发动机、前后桥与车身合装，具有同步动态跟踪功能的AGV可
11、实现发动机、前后桥在装配段任何工位同时装配。导航方式采用磁导航，地面施工量小，只要根据工艺要求变更磁条的粘贴路径，在对控制程序稍加改动，就可以改变装配路线的长短，适应不同的装配工艺要求。AGV系统由一条近似梯形的环线组成，在装配段进行前悬挂/发动机、后桥与车身合装，在非装配段进行发动机、前后桥由分装线往AGV装配托盘上吊装，并可在非装配段进行部分零部件的组装。根据产量及装配时间确定环线上AGV数量。According to design requirement of Changan Ford Automobile Co., Ltd. on engine and axle AGV system,
12、 SIASUN uses assembly AGV system for engine, axle and body decking, and AGV with the function of synchronization dynamic tracking can realize simultaneous assembly of engine and axle at any assembly zone or stations. By using magnetic navigation, ground construction is small and by changing the path
13、 of magnetic strip upon technical requirements and modifying slightly control program, the length of assembly path can be altered to meet different assembly process requirements. AGV system is formed by a loop line, which is close to a trapezium. The assembly zone is used for front suspension/engine
14、, rear axle and body decking and the non-assembly zone is used for engine and axle suspending on AGV assembly pallet through subassembly line and also for assembly of part of components. The number of AGV on the loop line is set according to output and assembly time.整个系统包括AGV、AGV控制台、充电系统、导航系统、通讯系统、数
15、据采集系统和装配夹具等几部分组成。The whole system includes AGV, AGV console, charge system, navigation system, communication system, data collection system and assembly jig, etc. 2. 设计依据Design Gist2.1 生产工艺基本要求Basic Requirement of Production Process工位间距Distance between stations： 5，800mm生产节拍Production rate： 最大：1分钟/辆 Max.: 1minute/vehicle 最小：5分钟/辆Min.: 5minutes/vehicle2.2 现场基本技术条件Basic Field Technical Condition 动力电源： 交流38010%
