AGV裝配線技術(shù)方案

長安福特汽車有限公司南京公司ChanganFordAutomobileCo.,Ltd.NanjingCompany

發(fā)動機(jī)、前后橋AGV（統(tǒng)Engine&AxelAGVSystem技術(shù)方案TechnicalPlan沈陽新松機(jī)器人自動化股份有限公司ShenyangSIASUNRobot&AutomationCo.,Ltd.目錄Contents概述Summary 設(shè)計(jì)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裝配輸送系統(tǒng)概述AGVAssembly&TransportationSystemSummary自動導(dǎo)弓I車AG源統(tǒng)技術(shù)才旨標(biāo)AutomatedGuidedVehicleAGVSystemTechnicalSpecification AGV工作過程描述AGVWorkingProcessDescription 發(fā)動機(jī)裝配升降工作臺EngineAssemblyLifterWorktable 一伸縮套筒式升降工作臺ExtensionSleeveLifterWorktable 剪式液壓機(jī)構(gòu)升降工作臺ScissorHydraulicLifterWorktable.....托盤底面距發(fā)動機(jī)最高點(diǎn)距離與升降平臺高度關(guān)系計(jì)算 CalculationontheRelationBetweenDistancefromPalletBottomtoEngineZenithandHeightofLifterTable 后懸裝酉『舉升裝置RearSuspensionAssemblyLiftingEquipment 伸縮套筒式升降工作臺 剪式液壓機(jī)構(gòu)升降工作臺ScissorHydraulicLifterWorktable..…升降平臺上平面到地面的高度計(jì)算CalculationontheHeightfromthePlaneoftheLifterTabletotheGround 不同軸品E車體裝配實(shí)現(xiàn)BodyofDifferentWheelbasesAssemblyRealization AGV動態(tài)裝配解決方案AGVDynamicAssemblySolution AGV主要設(shè)備AGVMainEquipment AGV(LGV車載控制器AGV(LGVVehicleController AGV(LGV驅(qū)動系統(tǒng)AGV(LGVDriveSystem 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-contactBumperDevice AGV安全系統(tǒng)AGVSafetySystem 非接觸防碰裝置Non-contactBumperDevice 接觸式防碰裝置ContactBumperDevice 離線保護(hù)系統(tǒng)OflineGuardingSystem 信息交互系統(tǒng)InformationExchangeSystem 緊急停車系統(tǒng)EmergencyStopSystem 多AG避碰Multi-AGVCollisionPrevention AGVE制臺和調(diào)度管理系統(tǒng)AGVDonsole&DispatchingManagementSystemAGV控制臺AGVConsole 調(diào)度管理系統(tǒng)DispatchingManagementSystem AGW載控制系統(tǒng)和數(shù)據(jù)采集AGVVehicleControlSystem&DataCollection 導(dǎo)航線的鋪設(shè)NavigationLinePaving AGV系統(tǒng)特點(diǎn)AGVSystemCharacteristics 高速無線局域網(wǎng)的建立和應(yīng)用 SetupandApplicationofHigh-speedWirelessLAN AGV運(yùn)行的靈活性FlexibilityofAGVRunning 高精度導(dǎo)航系統(tǒng)HighAccuracyNavigationSystem 友好的人機(jī)界面UserFriendlyHumanMachineInterface 完善的自診斷系統(tǒng)PefectSelf-diagnosisSystem AGVW靠性措施MeasuresonAGVReliability 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(shí)間(MTRMeanTimeofRepair(MTR AG源統(tǒng)的故障修復(fù)時(shí)間有兩類： There'retwokindsofMTRorAGVsystem:平均無故障時(shí)間(MTBFMeanTimeToFailures(MTTF AGV運(yùn)行路線圖AGVRunningRouteGraph 裝酉己線AGV!行布局圖AssemblyAGVRunningLayout 樣機(jī)車IWAGV!行布局圖SampleWorkshopAGVRunningLayout....環(huán)行裝配線AG源統(tǒng)設(shè)備清單CircularAssemblyAGVSystemEquipmentList 項(xiàng)目進(jìn)度ProjectSchedule 培訓(xùn)ITraining 培訓(xùn)人員的范圍、數(shù)量及時(shí)間Scope,amountandtimefortrainingpeople 培訓(xùn)I的內(nèi)容Trainingcontent 售后月艮務(wù)After-saleservice .概述Summary根據(jù)長安福特汽車有限公司南京公司發(fā)動機(jī)、前后橋 AGV（統(tǒng)的設(shè)計(jì)要求，新松公司采用的裝配型AGV系統(tǒng)進(jìn)行發(fā)動機(jī)、前后橋與車身合裝，具有同步動態(tài)跟蹤功能的AGV可實(shí)現(xiàn)發(fā)動機(jī)、前后橋在裝配段任何工位同時(shí)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。AGV8統(tǒng)由一條近似梯形的環(huán)線組成，在裝配段進(jìn)行前懸掛 /發(fā)動機(jī)、后橋與車身合裝，在非裝配段進(jìn)行發(fā)動機(jī)、前后橋由分裝線往 AGV裝配托盤上吊裝，并可在非裝配段進(jìn)行部分零部件的組裝。根據(jù)產(chǎn)量及裝配時(shí)間確定環(huán)線上 AG\?量。AccordingtodesignrequirementofChanganFordAutomobileCo.,Ltd.onengineandaxleAGVsystem,SIASUNusesassemblyAGVsystemforengine,axleandbodydecking,andAGVwiththefunctionofsynchronizationdynamictrackingcanrealizesimultaneousassemblyofengineandaxleatanyassemblyzoneorstations.Byusingmagneticnavigation, groundconstructionissmallandbychangingthepathofmagneticstripupontechnicalrequirementsandmodifyingslightlycontrolprogram,thelengthofassemblypathcanbealteredtomeetdifferentassemblyprocessrequirements.AGVsystemisformedbyaloopline,whichisclosetoatrapezium.Theassemblyzoneisusedforfrontsuspension/engine,rearaxleandbodydeckingandthenon-assemblyzoneisusedforengineandaxle

suspendingonAGVassemblypalletthroughsubassemblylineandalsoforassemblyofpartofcomponents.ThenumberofAGVonthelooplineissetaccordingtooutputandassemblytime.整個(gè)系統(tǒng)包括AGVAGV空制臺、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,datacollectionsystemandassemblyjig,etc..設(shè)計(jì)依據(jù)DesignGist生產(chǎn)工藝基本要求BasicRequirementofProductionProcess工位間品EDistancebetweenstations: 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380±10%50HZ±2%3相5線Powersupply:AC380Powersupply:AC380±10%50HZ±2%3phases5linesTOC\o"1-5"\h\z溫度： -5 C?45cTemperature: -5C?45c濕度： 60 —95%Humidity: 60 —95%防護(hù)等級： IP54Protectiongrade:IP54\o"CurrentDocument"絕緣等級： B 級Insulationlevel:LevelB責(zé)任范圍ResponsibilityScope:AGV?配系統(tǒng)總體設(shè)計(jì)、制造。AGVassemblysystemdesignandmanufacturing.AGW體設(shè)計(jì)、制造。AGVvehicledesignandmanufacturing.AGVg配系統(tǒng)發(fā)運(yùn)前調(diào)試、考機(jī)實(shí)驗(yàn)。AGVassemblysystemdebuggingandtrialrunningbeforedelivery.AGVg配系統(tǒng)運(yùn)輸、接收、搬運(yùn)

AGVassemblysystemtransport,reception,carriage.vehiclecontrolAGV空制系統(tǒng)設(shè)計(jì)、制造，車載控制軟件、調(diào)度軟件設(shè)計(jì)vehiclecontrolAGVcontrolsystemdesignandmanufacturing,software,schedulersoftwaredesign.AGVT作環(huán)線設(shè)計(jì)、制造，地面導(dǎo)航線布局設(shè)計(jì)、敷設(shè)。AGVworkinglooplinedesignandmanufacturing,groundnavigationlinelayoutdesignandlaying.7）現(xiàn)場安裝、單機(jī)調(diào)試、全線聯(lián)動調(diào)試。Fieldinstallation,unitmachinedebuggingandcompletelinelinkagedebugging.8）技術(shù)培訓(xùn)和售后服務(wù)。Technicaltrainingandafter-salesservice..AGV裝配輸送系統(tǒng)概述AGVAssembly&TransportationSystemSummary妗動機(jī)/后橋AGVfe配輸送系統(tǒng)由AGVAGVfe而導(dǎo)引系統(tǒng)、在線自動充電系A(chǔ)GVgroundguidedsystem,onlineautomaticchargesystem,AGV:onsole,dataAGVgroundguidedsystem,onlineautomaticchargesystem,AGV:onsole,dataAGVAGV完成發(fā)動機(jī)或后懸掛系的輸送和輔助裝配工作。裝配人員可以站在AGW的腳踏板上進(jìn)行裝配作業(yè)，腳踏板采用花紋鋁板制造，操作安全。AGVconductstransportationofengineorrearsuspensionandassistantassemblyjobs.AssemblyoperatorcanstandandworkonAGWedal,whichismadeofaluminumboardwithdecorativefiguresandsafetooperate.AGVtfe面導(dǎo)引系統(tǒng)AGVGroundGuidedSystem:地面導(dǎo)引系統(tǒng)是AGV^行的路線和軌跡，AGV勺導(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.Whentheprocesshasconfirmedthatthemagneticstripshavebeenembeddedunderground,thegroundwillbesmoothandwon'tinfluencepeopleorvehicletopass.在線自動充電系統(tǒng)OnlineAutomaticChargeSystem:為了保證AGV24小時(shí)連續(xù)運(yùn)行，充電系統(tǒng)采用大電流快速充電的方法為AGV#充電量。AGV勺充電過程是在控制臺的監(jiān)控下自動進(jìn)行的。ToensureAGMorun24hourscontinuously,chargesystemusesthetotomethodoflargeelectricalcurrentandinstantelectrificationchargeAGV.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(fù)責(zé)數(shù)據(jù)采集系統(tǒng)的數(shù)據(jù)處理，與上位機(jī)交換信息，生成 AGV勺運(yùn)行任務(wù)，解決多AGV之間的避碰問題。ConsoleandAGVdispatchingmanagementsystemisthedispatchingmanagementcenterofAGVsystem,responsiblefordataprocessingindatacollectionsystemandinformationexchangewithuppercomputertocreateAGVwningtasksandsolvetheproblemsofmultiAGVcollision.通訊系統(tǒng)CommunicationSystem通訊系統(tǒng)由無線局域網(wǎng)組成。AGVf控制臺之間采用無線電臺進(jìn)行信息交換，通訊協(xié)議為TCP/IP協(xié)議?？刂婆_可與上位機(jī)之間采用以太網(wǎng)進(jìn)行數(shù)據(jù)傳輸。Communicationsystemisformedbywirelesslocalnetwork.Wirelesstransmitter-receiverisadoptedbetweenAGVandconsoletoexchangeinformationandthecommunicationprotocolisTCP/IPprotocol.Ethernetisusedbetweenconsoleandtheuppercomputer

fordatatransmission.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(yùn)行到位，運(yùn)行到位將發(fā)出信號通知處在等待站點(diǎn)的AGV可以側(cè)移運(yùn)行，實(shí)現(xiàn)順序裝配。如果沒有車身通過，等待站點(diǎn)的AGW臺終處于等待狀態(tài)。如果有車身通過，但等待站點(diǎn)沒有AGVR寺，AGV空制臺將通知總控室。Photoelectricitytestingsystemisusedtocheckifthebodyonthesuspendingtoolsofthemaintransmissionlinehasruntotheposition,wheresignalwillbesenttoinformAGVatthewaitingstationtomovesidewaystorealizesequenceassembly.Ifthebodyhasn'tpassed,AGVatthewaitingstationwillstayallalonginthestatusofwaiting.Ifpassed,butthere 'snoAGVwaitingatthestation,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(jī)構(gòu)的AGV其主要技術(shù)指標(biāo)：MaintechnicalspecificationsofAGVwithsynchronizationtrackingandliftingframeworkinclude:AGVS空制方式:控制站集中調(diào)度、監(jiān)控、管理AGVS空制方式:控制站集中調(diào)度、監(jiān)控、管理AGVK統(tǒng)的運(yùn)行狀態(tài)AGVScontrolmode:controlstationmakescentralizeddispatch,monitoring&controlandmanagementontherunningstateofAGVsystemAGV空制方式具備功能：全自動/半自動/手動AGVcontrolfunction:automatic/semi-automatic/manual通訊方式： 無線局域網(wǎng)Communication: wirelessLANAGVt航方式： 磁導(dǎo)航AGVnavigationmethod:magneticnavigationAGV1動方式： 雙舵輪驅(qū)動。AGVsteering: poweredwheelsteering負(fù)載能力： 2000KG(以最終設(shè)計(jì)為準(zhǔn))Payload: 2000KG(subjecttofinaldesign)AGV自重： 2000KG(以最終設(shè)計(jì)為準(zhǔn))AGVweight: 2000KG(subjecttofinaldesign)士10mm同步跟蹤精度： ±10mm士10mmSynchronizationtrackingaccuracy:運(yùn)動方向： 全方位(所占用運(yùn)行空間最小化)Movingdirection:Omni-directionalmoving(tominimizeoccupiedrunningspace)最大速度： 直線60m/min,側(cè)移30m/minMaximumspeed:straight60m /min,sidewaysmoving30m/minTOC\o"1-5"\h\z導(dǎo)航精度： ±10mmNavigationaccuracy: ± 10mm停車精度： ±10mmParkingaccuracy: ± 10mm工作時(shí)間： 24 小時(shí)連續(xù)(三班)Workingtime: 24hourscontinuously(3shifts)防碰裝置： 四周安裝接觸式保險(xiǎn)杠，前后另安裝激光防碰裝置。Collisionpreventiondevice:contactbumperinstalledaroundandlasercollisionpreventiondeviceinstalledinthefront&backside舉升裝置： 雙舉升機(jī)構(gòu)，可以同步舉升或單獨(dú)舉開。Liftingequipment:dualliftframework,forsynchronizationliftingorseparatelifting

托盤夾具： 按照實(shí)際需要設(shè)計(jì)(本方案中不含該部分內(nèi)容)Palletfixture:designaccordingtodemands(notincludedinthissolution)電池組： 48沙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(shí)現(xiàn)在線自動充電，保證連續(xù) 24小時(shí)工作Charging: automatic chargerrealizesonlinequickchargetoensure24hourscontinuousworking操作高度： 裝配人員站在AGVg供的腳踏板上相對靜止進(jìn)行零部件裝配，腳踏板到地面高度200mmOperationheight:OperatorstandsonAGVfootpedaltoassemblypartsinrelativestillconditionandtheheightfromthefootpedaltothegroundis200mm.車體尺寸： 4800mnK1800mnX900mm長x寬x高(舉開前)(lengthBodydimension:4800mmx1800mnX900mm(length義width義height(before/afterlifting))AGV工作過程描述AGVWorkingProcessDescriptionAGV小車按控制臺計(jì)算機(jī)的指令行駛到后橋總成上裝點(diǎn)，由操作人員根據(jù)生產(chǎn)計(jì)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，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(rèn)信號，允許AGV0下一個(gè)站點(diǎn)運(yùn)行；AGVwillrunuponconsolecomputerorderstoloadingpointofrearaxlefinalassemblyandoperatorwillcompletethisbasedonproductionplan.AftertherearaxlefinalassemblyismovedfromtherearaxlesubassemblylineandplacedwellontherearaxlefixtureofAGV^earaxleliftingdevice,operatorpressesthebuttononthevehicletosentsignal,informingAGVthatloadinghasbeenfinishedandallowAGVtomovetowardsnextstation.AGV小車行駛到發(fā)動機(jī)總成上裝點(diǎn)，由操作人員根據(jù)生產(chǎn)計(jì)劃完成發(fā)動機(jī)總成的吊裝，當(dāng)將發(fā)動機(jī)總成從發(fā)動機(jī)分裝線吊到 AGV發(fā)動機(jī)舉升裝置上的發(fā)動機(jī)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(rèn)信號，允許AGV0下一個(gè)站點(diǎn)運(yùn)行AGVrunstoloadingpointofenginefinalassemblyandoperatorwillcompleteenginefinalassemblysuspending.WhentheenginefinalassemblyismovedandplacedwellontheenginefixtureofAGVengineliftingdevicefromenginesubassemblyline,operatorthensendsconfirmationsignalofthecompletionofloadingbypressingoperationbuttononthebodytoinformAGVvehicletomovetowardsnextstation.AGV小車按控制計(jì)算機(jī)的指令行駛到等待地點(diǎn)；AGVmovestowaitingplaceaccordingtotheorderfromcontrolcomputer.AGV小車在某一停留時(shí)間相對長的站點(diǎn)(動力總成上裝點(diǎn)或其它點(diǎn))進(jìn)行自動充電；AGVwillchargeitselfautomaticallyatonestation(powertrainassemblyloadingpointorotherpoint)forrelevantlongwaitingtime.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(jī)前后懸掛總成AGV按預(yù)定時(shí)間、速度進(jìn)入懸鏈下方(時(shí)間、速度根據(jù)生產(chǎn)線要求可通過車載顯示器進(jìn)行更改)，在裝配段快速向前運(yùn)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，人工操作舉開手控盒或腳踏開關(guān)，進(jìn)行舉升裝置上升操作，操作人員可以同時(shí)或單獨(dú)發(fā)動機(jī)舉升裝置和后橋舉升裝置。在舉升裝置上升同時(shí)，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等自動落下舉升裝置到零點(diǎn)。當(dāng)前后舉開裝置全部復(fù)位到零點(diǎn)以后，AGV等加速離開裝配工位，在非裝配段加載站備好發(fā)動機(jī)及后橋，完成一次工作循環(huán)AGVconsolewilltestthesignalofbodypositionontheprocesschain.Whenloadedbodyhasgottentotheposition,AGVwithengineandfront&rearsuspensionassemblyisdispatchedaccordingtosettimeandspeedtotheunderneathofthesuspendingchain(time&speedcanbechangedthroughvehicle displayeraccordingtorequirementsoftheproduction line). ThenAGVmovesforwardquicklyintheassemblyzoneandcapturesintheprearrangedareathecooperativetargetsetinadvanceonthebody.Aftertracking<stateisstable,manualcontrolboxorfootpedalswitchisdonebymanualoperationtoraisethelifter.Operatorcanrunsimultaneouslyorseparatelytheengineliftingdeviceandrearaxelliftingdevice.Whentheliftingdeviceisraised,thelockfixtureisopenedtomakethetablefloating.Operatorpressesthebuttonforliftingandatthesametimeputsthebodylocatingpinsonthefixtureintotheprocesslocatingholeofthebody.Whengettingtotheinstallationposition,allboltinstallationholesarelocated.Thenassemblyworkerswillinstallthesetboltsandpressthebuttonontheliftingfixtureaftercompletionofassembly.AGVwilllowertheliftingfixturetozeroautomatically.Whenallliftingfixturesreachzero,AGVwillacceleratetoleaveassemblystation.Afterequippedwithengineandrearaxleatloadingstation,AGVfinishesoneworkingcycle.當(dāng)發(fā)動機(jī)前后懸掛總成不能及時(shí)供應(yīng)時(shí)，可通過設(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(yùn)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(yùn)行。Whenengineandfront&rearsuspensionassemblycan'tbesuppliedintime,makemanualcontrolbyusingemergencystopswitchontheassemblystationtostopsuspendingchaintorun.Evenwithoutpressingthesuspensionchainemergencyswitch,AGVsystemcanalsoapplytostoprunningthroughtheconsole.當(dāng)AGV!入報(bào)警工位(裝配工位末端)而未完成合裝時(shí)， AGV等自動停止運(yùn)行，AGV空制臺報(bào)警并控制工藝鏈停線，直到完成裝配后自動恢復(fù)運(yùn)行。WhenAGVentersintoalarmingstation(attheendofassemblystation)andhasn'tfinishedassembly,AGVwillstopautomaticallyandAGVconsolewillalarmandcontroltheprocesschaintostop.Afterassembly,itwillrecoverautomatically.5)AGVS分裝工位的運(yùn)行速度可根據(jù)現(xiàn)場實(shí)際設(shè)置。AGVrunningspeedinsubassemblystationcanbesetupaccordingtoactualsituation..發(fā)動機(jī)裝配升降工作臺EngineAssemblyLifterWorktable

AG\a動機(jī)裝配升降工作臺是將發(fā)動機(jī)前懸總成舉開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(jī)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(jī)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(jī)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。AGVengineassemblylifterworktableistheequipmentthatliftsenginefrontsuspensionfinalassemblytotheassemblyposition.Now,basedoncustomerrequirements,ourcompanymainlyadoptspuremechanicaldrivingextensionsleevelifterworktable.Tomeetdifferentdemandsinvariousapplicationfields,ourcompanymakesthescissorhydrauliclifterworktabletobeanoptionaldeviceforcustomertochoose.ThemaindifferencebetweenthesetwoliesinthefactthatthepreviousoneusesDCservomotortodrivelifterandtheexecutivecomponentisballscrew,whilethelatteradoptshydraulicpumpingstationtodrivelifterandtheexecutivecomponentishydrauliccylinder.伸縮套筒式升降工作臺ExtensionSleeveLifterWorktable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(jī)構(gòu)進(jìn)行兩個(gè)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。舉升裝置是完成開降動作的主要裝置，其主要由滾珠絲杠機(jī)構(gòu)、一層起重鏈輪組合、二層起重鏈輪組合、電機(jī)減速機(jī)、齒輪傳動及各伸縮套筒組成。該電機(jī)采用進(jìn)口的直流電機(jī)、減速器一體機(jī)，滾珠絲杠及螺母等零件采用德國進(jìn)口零件，性能可靠，傳動穩(wěn)定。Thisequipmentisformedbytheslidingworktable,liftingdeviceandmanualcontrolbox,etc(Seethelifterworktable《sketch).Amongthem,theslidingworktablecanmovehorizontallyintwodirectionsthroughstraightbearingcombinationinthecourseofapplication.Besides,itcanalsorotateincertainanglebythisstructure.Theliftingfixtureisthemaindevicetofinishtheactionoflifting andlowering.Itiscomposedofballscrew,onelayerliftchainwheelcombination,twolayersliftchainwheelcombination,motorreducer,geardrivingandeachextensionsleeve.ThemotoradoptstheimportedDCmotorandreducerofonemachine.Parts,suchastheballscrewandnutareimportedfromGermany.Theyarereliableinperformanceandstableindriving.AG印開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開裝置兩側(cè)的手控操作盒或腳踏開關(guān)實(shí)現(xiàn)舉升裝置的上升或下降。待 AGV進(jìn)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開裝置升降。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(gè)舉升裝置安裝有編碼器，可時(shí)時(shí)反饋提升的位置，舉升的高滑動平臺上平面到地面高度: 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(jī)合裝托盤上安裝托盤位置傳感器，用于監(jiān)測發(fā)動機(jī)合裝托盤在下降過程中是否與升降臺分離，確保操作安全。AGVliftingequipmentcanbeoperatedmanuallytoascendanddescend.Operatorcanrunitthroughmanualoperationboxorfootswitchatthetwosidesoftheliftingequipment.AfterAGVentersintoassemblypathandtrackthebody,operatoropensthelockequipmentofslideflatandusesliftingmanualcontrolboxtooperateliftingequipment.Afterassembly,pressthecompletionbutton,theliftingequipmentwillautomatically.returntoitsinitialposition.Thenoperatorlockstheslideflat.Eachliftingequipmentisinstalledwithacoder,whichcanmakefeedbackontheliftingposition.Liftingheight,includingaltitudetobeliftedandmaximumheightcanalsobesetthroughsoftware.Thepalletpositionsensorisinstalledontheenginedeckingpalletforthepurposeofmonitoringiftheenginedeckingpallethasseparatedfromtheliftertableinthecourseofloweringtoensureoperationsafetyasaresult.發(fā)動機(jī)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:（車長）方向±250mm（車寬）方向平臺滑動量:（車長）方向±250mm（車寬）方向±75mmTableslidinglength:X(vehiclelength)direction250mmY(vehiclewidth)directionTableslidinglength:X(vehiclelength)direction250mmY(vehiclewidth)direction±75mm旋轉(zhuǎn)角度:±10度Rotatingangle:±10degrees平臺形式:直線軸承滑動平臺Tablemode:straightbearingslidetable舉開方式:直流電機(jī)驅(qū)動伸縮套筒舉開Liftingmethod:DCmotordrivingextensionsleevelifting舉升速度:最大12000mm/min旋轉(zhuǎn)角度:±10度Rotatingangle:±10degrees平臺形式:直線軸承滑動平臺Tablemode:straightbearingslidetable舉開方式:直流電機(jī)驅(qū)動伸縮套筒舉開Liftingmethod:DCmotordrivingextensionsleevelifting舉升速度:最大12000mm/minLiftingspeed:Maxi.12000mm/min提升量1050mm提升量1050mmLiftinglength:1050mmLiftinglength:1050mm平臺尺寸:以最終圖紙尺寸為主。平臺尺寸:Tabledimension: subjecttofinaldimensionondrawings剪式液壓機(jī)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(jī)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(jī)構(gòu)進(jìn)行兩個(gè)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(jìn)口的泵站，在整個(gè)裝置下部安裝接油盤，保持 AGV運(yùn)行地面清潔，性能可靠，傳動穩(wěn)定。Thisequipmentismadeupofslidingworktable,scissorhydraulicliftingdeviceandmanualcontrolbox,etc.Amongthem,theslidingworktablecanmovehorizontallyintwodirectionsthroughbearingcombinationinthecourseofapplication.Besides,itcanalsorotateincertainanglebythisstructure.Theliftingfixtureisthemaindevicetofinishtheactionofliftingandlowering.Itiscomposedofhydraulicdrivingsystem,scissorfork,centralizedlubricationsystemandhydraulicgreasecylinder,etc.ThishydraulicdrivingsystemadoptsimportedpumpingstationandthegreasetrayisinstalledunderthewholedeviceinordertokeepAGVrunningpathclean,makeitsperformancereliableanditsdrivingstable.AG印開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開裝置兩側(cè)的手控操作盒或腳踏開關(guān)實(shí)現(xiàn)舉升裝置的上升或下降。待 AGV進(jìn)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開裝置升降。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(gè)舉升裝置安裝有編碼器，可時(shí)時(shí)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.Operatorcanrunitthroughmanualoperationboxorfootswitchatthetwosidesoftheliftingequipment.AfterAGVentersintoassemblypathandtrackthebody,operatoropensthelockequipmentofslideflatandusesliftingmanualcontrolboxtooperateliftingequipment.Afterassembly,pressthecompletionbutton,theliftingequipmentwillautomaticallyreturntoitsinitialposition.Thenoperatorlockstheslideflat.Eachliftingequipmentisinstalledwithacoder,whichcanmakefeedbackontheliftingposition.Liftingheight,includingaltitudetobeliftedandmaximumheightcanalsobesetthroughsoftware.發(fā)動機(jī)舉升主要技術(shù)指標(biāo)：MainTechnicalSpecificationsofEngineLifting:額定舉升重量： 1000kGRatingliftingweight: 1000kG滑動平臺上平面到地面高度： 550mmHeightfromtheplaneofslidingtabletotheground:550mm

平臺滑動量:（車長）方向士250mm（車寬）方向士75mmTableslidinglength:X(vehiclelength)direction250mmY(vehiclewidth)direction士75mm旋轉(zhuǎn)角度:±10度Rotatingangle:士10degrees平臺形式:直線軸承滑動平臺Tablemode:straightbearingslidetable舉升速度:平臺滑動量:（車長）方向士250mm（車寬）方向士75mmTableslidinglength:X(vehiclelength)direction250mmY(vehiclewidth)direction士75mm旋轉(zhuǎn)角度:±10度Rotatingangle:士10degrees平臺形式:直線軸承滑動平臺Tablemode:straightbearingslidetable舉升速度:最大12,000mm/minLiftingspeed:Maxi.12000mm/min提升量,100mmLiftinglength:1,100mmTabledimension:平臺尺寸：以最終圖紙尺寸為主。Tabledimension:subjecttofinaldimensionondrawings注Notes：1.剪式舉升機(jī)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)ThescissorliftingdevicehasbeenappliedintheautomobileassemblyproductionlineforShenyangBrillianceJinbeiAutomobileCo.,Ltd...剪式液壓機(jī)構(gòu)升降工作臺安全措施：Safetyprecautionsofscissorhydrauliclifterworktable:a）安全罩Safetycover:為防止在升降過程中手接觸到舉升裝置，剪式液壓機(jī)構(gòu)升降工作臺安裝有滿足用戶招標(biāo)書要求的折疊式或鋼板式安全罩。Topreventhandtouchontheliftingfixtureduringthecourseofraisingandlowering,thescissorhydrauliclifterworktableisequippedwithfoldawayorsteelboardsafetycovertomeettherequirementsspecifiedincustomer'sbiddocument.b）安全鎖止機(jī)構(gòu)Safetylock:為安全起見，舉升裝置設(shè)置裝有滿足用戶招標(biāo)書要求的防止降落的安全鎖止機(jī)構(gòu)。Forthepurposeofsafety,theliftingfixtureissetuptohaveasafetylockframeworktoavoidloweringaccordingtotherequirementsoncustomer'sbiddocument.c）懸掛點(diǎn)Suspendingpoint為了設(shè)備維護(hù)便利，安裝高于舉升裝置的懸掛點(diǎn)，而且舉升裝置應(yīng)該用有吊環(huán)的螺釘固定。Inordertomaketheequipmentmaintenanceconvenient,thesuspendingpointisinstalledhigherthantheliftingfixture,whichshouldusetheboltwiththeswingingringsforfastness..采用剪式舉升機(jī)構(gòu)可以滿足招標(biāo)書要求的相關(guān)件尺寸鏈關(guān)系 ，如下圖所示：Byadoptingscissorliftingfixture,requirementsinthebiddocumentonrelatedpartsdimensionchainrelationscanbemet,seethefollowingpicture:6.3托盤底面距發(fā)動機(jī)最高點(diǎn)距離與升降平臺高度關(guān)系計(jì)算 CalculationontheRelationBetweenDistancefromPalletBottomtoEngineZenithandHeightofLifterTable采用伸縮套筒式升降工作臺升降平臺結(jié)構(gòu)， 由于受到機(jī)械結(jié)構(gòu)限制，需要重新核定各個(gè)組成環(huán)節(jié)之間的尺寸關(guān)系，在相互協(xié)商的基礎(chǔ)上實(shí)現(xiàn)滿足裝配工作需要的尺寸鏈關(guān)系。Theliftertablestructureusesextensionsleeveliftingandloweringworktable.Duetolimitationonmechanicalstructure,thedimensionbetweeneachcomposingpartneedstoberecheckedtorealizethedimensionchainrelationsthatmeettheassemblyworkingrequirementsonthebasisofmutualnegotiation.以上介紹兩種舉升裝置各項(xiàng)基本參數(shù)是初步確定的參數(shù)尺寸，根據(jù)用戶給定的尺寸，可以做適當(dāng)?shù)男薷恼{(diào)整，達(dá)到最終滿足現(xiàn)場使用要求。Allbasicspecificationsofthetwokindsoflifterintroducedabovearesetforinitialparameterdimension.Theycanbeamendedoradjustedaccordingtocustomer'sspecificdimensionssothatfieldapplicationrequirementscanbeachievedfinally.需要提供的現(xiàn)場數(shù)據(jù)：Dataneedtoprovide:a.車身吊具最低點(diǎn)到地面的高度：H1(應(yīng)考慮裝配人員站在AGV!行裝配的合適高度，腳踏板距地面200mmHeightfromthenadirofbodyliftingappliancetotheground:H1(shouldconsiderthesuitableheightforworkerstoassemblyonAGVandthedistancefromfootpedaltogroundis200mm)b.車身最低點(diǎn)到地面的高度：H2(應(yīng)考慮裝配人員站在AGVS行裝配的合適高度，腳踏板距地面200mmHeightfrombodynadirtotheground:H2(shouldconsiderthesuitableheightforworkerstoassemblyonAGVandthedistancefromfootpedaltogroundis200mm)c.裝在托盤夾具上發(fā)動機(jī)最高點(diǎn)到托盤底面的高度： H3Heightfromthezenithofengineequippedonthepalletfixturetopalletbottom:H3

d.吊具車身發(fā)動機(jī)安裝孔定位平面到地面的高度:d.吊具車身發(fā)動機(jī)安裝孔定位平面到地面的高度:H4Heightfromtheplaneoforientationoftheengineinstallationholeoflifterappliancebodytotheground:H4e.AGVt發(fā)動機(jī)與車身固定安裝孔定位平面到地面的高度： H5HeightfromtheplaneoforientationofsetinstallationholeofAGVengineandbody:H5通過以上數(shù)據(jù)可以計(jì)算出AGVF臺上平面到地面的高度及AGV勺額定舉開行程。Basedonabovedata,heightfromtheplaneofAGVtabletothegroundandratingliftcoursecanbecalculated.AGVf臺上平面到地面的高度(最大) H6=H2-H3-50mm(安全余量)HeightfromtheplaneofAGVtabletotheground(Max.)H6=H2-H3-50mm(marginofsafety)AGV勺額定舉升行程H7=H4-H5AGVratingliftcourseH7=H4-H5例如：Forexample:H1=1730mnrjH2=1850mmH6=900mmH7=1050mm貝^要求ThenitshouldbeH3<H2-H6-50mm=900mm

7.后懸裝酉己舉升裝置RearSuspensionAssemblyLiftingEquipmentAGVt懸裝配升降工作臺是將后懸總成舉開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(jī)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(jī)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(jī)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。AGVrearsuspensionassemblylifterworktableistheequipmentthatliftsrearsuspensionfinalassemblytotheassemblyposition.Now,basedoncustomerrequirements,ourcompanymainlyadoptspuremechanicaldrivingextensionsleevelifterworktable.Tomeetdifferentdemandsinvariousapplicationfields,ourcompanymakesthescissorhydrauliclifterapplicationworktabletobeanoptionaldeviceforcustomertochoose.ThemainworktabletobeanoptionaldifferencebetweenthesetwoliesinthefactthatthepreviousoneusesDCservomotortodrivelifterandtheexecutivecomponentisballscrew,whilethelatter adopts hydraulicpumpingstation todrivelifterandtheexecutivecomponentishydrauliccylinder.伸縮套筒式升降工作臺該裝置主要由滑動工作平臺、舉升裝置、手控盒、滾球平臺等組成(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(jī)構(gòu)進(jìn)行兩個(gè)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(jī)構(gòu)、一層起重鏈輪組合、二層起重鏈輪組合、電機(jī)減速機(jī)、齒輪傳動及各伸縮套筒組成。該電機(jī)采用進(jìn)口的直流電機(jī)、減速器一體機(jī)，滾珠絲杠及螺母等零件采用德國進(jìn)口零件，性能可靠，傳動穩(wěn)定。滾球平臺為一板式結(jié)構(gòu)，在臺面安裝萬向滾球，便于后橋托盤在平臺上全方位移動，在平臺四周安裝導(dǎo)向裝置，避免托盤滑下工作臺或傾覆。Thisequipmentisformedbytheslidingworktable,liftingdevice,manualcontrolboxandrollingballtable,etc(Seethelifterworktablesketch).Amongthem,theslidingworktablecanmovehorizontallyintwodirectionsthroughstraightbearingcombinationinthecourseofapplication.Besides,itcanalsorotateincertainanglebythisstructure.Theliftingfixtureisthemaindevicetofinishtheactionofliftingandlowering.Itiscomposedofballscrew,onelayerliftchainwheelcombination,twolayersliftchainwheelcombination,motorreducer,geardrivingandeachextensionsleeve.ThemotoradoptstheimportedDCmotorandreducerofonemachine.Parts,suchastheballscrewandnutareimportedfromGermany.Theyarereliableinperformanceandstableindriving.Therollingtableisofoneboardstructure.Theuniversalrollingballis

installedonthetablesothatitisconvenientfortherearaxlepallettomoveinalldirectionsonthetable.Guidingfixtureisinstalledaroundthetabletoavoidpalletslideoffthetableoroverturn.AG印開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開裝置兩側(cè)的手控操作盒或腳踏開關(guān)實(shí)現(xiàn)舉升裝置的上升或下降。待 AGV進(jìn)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開裝置升降。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(gè)舉升裝置安裝有編碼器，可時(shí)時(shí)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.Operatorcanrunitthroughmanualoperationboxorfootswitchatthetwosidesoftheliftingequipment.AfterAGVentersintoassemblypathandtrackthebody,operatoropensthelockequipmentof