.z.-----總結(jié)資料長安福特汽車****公司ChanganFordAutomobileCo.,Ltd.Nanjingpany發(fā)動機、前后橋AGV系統(tǒng)Engine&A*elAGVSystem技術(shù)方案TechnicalPlan**新松機器人自動化股份**ShenyangSIASUNRobot&AutomationCo.,Ltd.-.z.目錄ContentsTOC\o"1-3"\h\z1.概述Summary52.設(shè)計依據(jù)DesignGist52.1生產(chǎn)工藝根本要求BasicRequirementofProductionProcess52.2現(xiàn)場根本技術(shù)條件BasicFieldTechnicalCondition62.3責任范圍ResponsibilityScope：63.AGV裝配輸送系統(tǒng)概述AGVAssembly&TransportationSystemSummary74.自動導引車AGV系統(tǒng)技術(shù)指標AutomatedGuidedVehicleAGVSystemTechnicalSpecification95.AGV工作過程描述AGVWorkingProcessDescription116.發(fā)動機裝配升降工作臺EngineAssemblyLifterWorktable146.1伸縮套筒式升降工作臺E*tensionSleeveLifterWorktable146.2剪式液壓機構(gòu)升降工作臺ScissorHydraulicLifterWorktable166.3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CalculationontheRelationBetweenDistancefromPalletBottomtoEngineZenithandHeightofLifterTable197.后懸裝配舉升裝置RearSuspensionAssemblyLiftingEquipment227.1伸縮套筒式升降工作臺227.2剪式液壓機構(gòu)升降工作臺ScissorHydraulicLifterWorktable247.3升降平臺上平面到地面的高度計算CalculationontheHeightfromthePlaneoftheLifterTabletotheGround268.不同軸距車體裝配實現(xiàn)BodyofDifferentWheelbasesAssemblyRealization289.AGV動態(tài)裝配解決方案AGVDynamicAssemblySolution2910.AGV主要設(shè)備AGVMainEquipment2910.1AGV〔LGV〕車載控制器AGV〔LGV〕VehicleController2910.2AGV〔LGV〕驅(qū)動系統(tǒng)AGV〔LGV〕DriveSystem3010.3導航系統(tǒng)NavigationSystem3010.4在線自動充電系統(tǒng)OnlineAutomaticChargeSystem3210.5無線局域網(wǎng)通訊系統(tǒng)WirelessLANmunicationSystem3310.6驅(qū)動控制系統(tǒng)DriveControlSystem3410.7非接觸防碰裝置Non-contactBumperDevice3511.AGV平安系統(tǒng)AGVSafetySystem3511.1非接觸防碰裝置Non-contactBumperDevice3511.2接觸式防碰裝置ContactBumperDevice3611.3離線保護系統(tǒng)OfflineGuardingSystem3611.4信息交互系統(tǒng)InformationE*changeSystem3611.5緊急停車系統(tǒng)EmergencyStopSystem3711.6多AGV避碰Multi-AGVCollisionPrevention3712.AGV控制臺和調(diào)度管理系統(tǒng)AGVConsole&DispatchingManagementSystem3712.1AGV控制臺AGVConsole3712.2調(diào)度管理系統(tǒng)DispatchingManagementSystem3813.AGV車載控制系統(tǒng)和數(shù)據(jù)采集AGVVehicleControlSystem&DataCollection4014.導航線的鋪設(shè)NavigationLinePaving4115.AGV系統(tǒng)特點AGVSystemCharacteristics4215.1高速無線局域網(wǎng)的建立和應(yīng)用SetupandApplicationofHigh-speedWirelessLAN4215.2AGV運行的靈活性Fle*ibilityofAGVRunning4315.3高精度導航系統(tǒng)HighAccuracyNavigationSystem4315.4友好的人機界面UserFriendlyHumanMachineInterface4415.5完善的自診斷系統(tǒng)PerfectSelf-diagnosisSystem4415.6AGV可靠性措施MeasuresonAGVReliability4415.7在線快速自動充電方法和快速充電電池的應(yīng)用OnlineAutomaticInstantChargeMethodandApplicationofInstantRechargeableBattery4615.8故障修復(fù)時間〔MTR〕MeanTimeofRepair〔MTR〕47AGV系統(tǒng)的故障修復(fù)時間有兩類：There’retwokindsofMTRforAGVsystem:4715.9平均無故障時間〔MTBF〕MeanTimeToFailures〔MTTF〕4816.AGV運行路線圖AGVRunningRouteGraph4816.1裝配線AGV運行布局圖AssemblyAGVRunningLayout4816.2樣機車間AGV運行布局圖SampleWorkshopAGVRunningLayout4818.環(huán)行裝配線AGV系統(tǒng)設(shè)備清單CircularAssemblyAGVSystemEquipmentList5119.工程進度ProjectSchedule5320.培訓Training5320.1培訓人員的范圍、數(shù)量及時間Scope,amountandtimefortrainingpeople5420.2培訓的內(nèi)容Trainingcontent5421.售后效勞After-saleservice551.概述Summary 根據(jù)長安福特汽車****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)進展發(fā)動機、前后橋與車身合裝，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。導航方式采用磁導航，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，在裝配段進展前懸掛/發(fā)動機、后橋與車身合裝，在非裝配段進展發(fā)動機、前后橋由分裝線往AGV裝配托盤上吊裝，并可在非裝配段進展局部零部件的組裝。根據(jù)產(chǎn)量及裝配時間確定環(huán)線上AGV數(shù)量。AccordingtodesignrequirementofChanganFordAutomobileCo.,Ltd.onengineanda*leAGVsystem,SIASUNusesassemblyAGVsystemforengine,a*leandbodydecking,andAGVwiththefunctionofsynchronizationdynamictrackingcanrealizesimultaneousassemblyofengineanda*leatanyassemblyzoneorstations.Byusingmagneticnavigation,groundconstructionissmallandbychangingthepathofmagneticstripupontechnicalrequirementsandmodifyingslightlycontrolprogram,thelengthofassemblypathcanbealteredtomeetdifferentassemblyprocessrequirements.AGVsystemisformedbyaloopline,whichisclosetoatrapezium.Theassemblyzoneisusedforfrontsuspension/engine,reara*leandbodydeckingandthenon-assemblyzoneisusedforengineanda*lesuspendingonAGVassemblypalletthroughsubassemblylineandalsoforassemblyofpartofponents.ThenumberofAGVonthelooplineissetaccordingtooutputandassemblytime.整個系統(tǒng)包括AGV、AGV控制臺、充電系統(tǒng)、導航系統(tǒng)、通訊系統(tǒng)、數(shù)據(jù)采集系統(tǒng)和裝配夾具等幾局部組成。ThewholesystemincludesAGV,AGVconsole,chargesystem,navigationsystem,municationsystem,datacollectionsystemandassemblyjig,etc.2.設(shè)計依據(jù)DesignGist2.1生產(chǎn)工藝根本要求BasicRequirementofProductionProcess工位間距Distancebetweenstations：5，800mm生產(chǎn)節(jié)拍Productionrate：最大：1分鐘/輛Ma*.:1minute/vehicle最?。?分鐘/輛Min.:5minutes/vehicle2.2現(xiàn)場根本技術(shù)條件BasicFieldTechnicalCondition動力電源：交流380±10%50HZ±2%3相5線Powersupply:AC380±10%50HZ±2%3phases5lines溫度：-5℃～45℃Temperature:-5℃～45℃濕度：60—95%Humidity:60—95%防護等級：IP54Protectiongrade:IP54絕緣等級：B級Insulationlevel:LevelB2.3責任范圍ResponsibilityScope：AGV裝配系統(tǒng)總體設(shè)計、制造。AGVassemblysystemdesignandmanufacturing.2〕AGV車體設(shè)計、制造。AGVvehicledesignandmanufacturing.3〕AGV裝配系統(tǒng)發(fā)運前調(diào)試、考機實驗。AGVassemblysystemdebuggingandtrialrunningbeforedelivery.4〕AGV裝配系統(tǒng)運輸、接收、搬運。AGVassemblysystemtransport,reception,carriage.5〕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,unitmachinedebuggingandpletelinelinkagedebugging.8〕技術(shù)培訓和售后效勞。Technicaltrainingandafter-salesservice.控制臺Console充電器Charger3.AGV裝配輸送系統(tǒng)概述AGVAssembly&TransportationSystemSummary控制臺Console充電器Charger發(fā)動機/后橋AGV裝配輸送系統(tǒng)由AGV、AGV地面導引系統(tǒng)、在線自動充電系統(tǒng)、AGV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。Engine/reara*leAGVassembly&transportationsystemincludesAGV,AGVgroundguidedsystem,onlineautomaticchargesystem,AGVconsole,datacollectionsystem,AGVdispatchingmanagementsystemandmunicationsystem,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車的腳踏板上進展裝配作業(yè)，腳踏板采用花紋鋁板制造，操作平安。AGVconductstransportationofengineorrearsuspensionandassistantassemblyjobs.AssemblyoperatorcanstandandworkonAGVpedal,whichismadeofaluminumboardwithdecorativefiguresandsafetooperate.AGV地面導引系統(tǒng)AGVGroundGuidedSystem：地面導引系統(tǒng)是AGV運行的路線和軌跡，AGV的導引系統(tǒng)采用基于地圖的磁帶導航方法。當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)控下自動進展的。ToensureAGVtorun24hourscontinuously,chargesystemusesthemethodoflargeelectricalcurrentandinstantelectrificationtochargeAGV.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。ConsoleandAGVdispatchingmanagementsystemisthedispatchingmanagementcenterofAGVsystem,responsiblefordataprocessingindatacollectionsystemandinformatione*changewithupperputertocreateAGVrunningtasksandsolvetheproblemsofmultiAGVcollision.通訊系統(tǒng)municationSystem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展信息交換，通訊協(xié)議為TCP/IP協(xié)議。控制臺可與上位機之間采用以太網(wǎng)進展數(shù)據(jù)傳輸。municationsystemisformedbywirelesslocalnetwork.Wirelesstransmitter-receiverisadoptedbetweenAGVandconsoletoe*changeinformationandthemunicationprotocolisTCP/IPprotocol.Ethernetisusedbetweenconsoleandtheupperputerfordatatransmission.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.Ifthebodyhasn’tpassed,AGVatthewaitingstationwillstayallalonginthestatusofwaiting.Ifpassed,butthere’snoAGVwaitingatthestation,AGVconsolewillnotifythegeneralcontrolroom.4.自動導引車AGV系統(tǒng)技術(shù)指標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：MaintechnicalspecificationsofAGVwithsynchronizationtrackingandliftingframeworkinclude: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)AGVScontrolmode:controlstationmakescentralizeddispatch,monitoring&controlandmanagementontherunningstateofAGVsystemAGV控制方式具備功能：全自動／半自動／手動AGVcontrolfunction:automatic/semi-automatic/manual通訊方式： 無線局域網(wǎng)munication:wirelessLANAGV導航方式： 磁導航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〕Payload:2000KG(subjecttofinaldesign)AGV自重： 2000KG〔以最終設(shè)計為準〕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〕Movingdirection:Omni-directionalmoving(tominimizeoccupiedrunningspace)最大速度： 直線60m／min，側(cè)移30m／minMa*imumspeed:straight60m／min，sidewaysmoving30m／min導航精度： ±10mmNavigationaccuracy:±10mm停車精度： ±10mmParkingaccuracy:±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。Collisionpreventiondevice:contactbumperinstalledaroundandlasercollisionpreventiondeviceinstalledinthefront&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托盤夾具：按照實際需要設(shè)計〔本方案中不含該局部內(nèi)容〕Palletfi*ture:designaccordingtodemands(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操作高度：裝配人員站在AGV提供的腳踏板上相對靜止進展零部件裝配，腳踏板到地面高度200mm。Operationheight:OperatorstandsonAGVfootpedaltoassemblypartsinrelativestillconditionandtheheightfromthefootpedaltothegroundis200mm.車體尺寸： 4800mm×1800mm×900mm長×寬×高(舉升前)Bodydimension:4800mm×1800mm×900mm(length×width×height(before/afterlifting))5.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)方案完成后橋總成的吊裝，當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)出完成上件確認信號，允許AGV向下一個站點運行；AGVwillrunuponconsoleputerorderstoloadingpointofreara*lefinalassemblyandoperatorwillpletethisbasedonproductionplan.Afterthereara*lefinalassemblyismovedfromthereara*lesubassemblylineandplacedwellonthereara*lefi*tureofAGVreara*leliftingdevice,operatorpressesthebuttononthevehicletosentsignal,informingAGVthatloadinghasbeenfinishedandallowAGVtomovetowardsne*tstation.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)方案完成發(fā)動機總成的吊裝，當將發(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AGVrunstoloadingpointofenginefinalassemblyandoperatorwillpleteenginefinalassemblysuspending.Whentheenginefinalassemblyismovedandplacedwellontheenginefi*tureofAGVengineliftingdevicefromenginesubassemblyline,operatorthensendsconfirmationsignalofthepletionofloadingbypressingoperationbuttononthebodytoinformAGVvehicletomovetowardsne*tstation.AGV小車按控制計算機的指令行駛到等待地點；AGVmovestowaitingplaceaccordingtotheorderfromcontrolputer.AGV小車在*一停留時間相對長的站點〔動力總成上裝點或其它點〕進展自動充電；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)線要求可通過車載顯示器進展更改〕，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。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)，進展舉升裝置上升操作，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，翻開平臺鎖定裝置，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完畢按鈕，AGV將自動落下舉升裝置到零點。當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，完成一次工作循環(huán)。AGVconsolewilltestthesignalofbodypositionontheprocesschain.Whenloadedbodyhasgottentotheposition,AGVwithengineandfront&rearsuspensionassemblyisdispatchedaccordingtosettimeandspeedtotheunderneathofthesuspendingchain(time&speedcanbechangedthroughvehicledisplayeraccordingtorequirementsoftheproductionline).ThenAGVmovesforwardquicklyintheassemblyzoneandcapturesintheprearrangedareathecooperativetargetsetinadvanceonthebody.Aftertrackingstateisstable,manualcontrolbo*orfootpedalswitchisdonebymanualoperationtoraisethelifter.Operatorcanrunsimultaneouslyorseparatelytheengineliftingdeviceandreara*elliftingdevice.Whentheliftingdeviceisraised,thelockfi*tureisopenedtomakethetablefloating.Operatorpressesthebuttonforliftingandatthesametimeputsthebodylocatingpinsonthefi*tureintotheprocesslocatingholeofthebody.Whengettingtotheinstallationposition,allboltinstallationholesarelocated.Thenassemblyworkerswillinstallthesetboltsandpressthebuttonontheliftingfi*tureafterpletionofassembly.AGVwilllowertheliftingfi*turetozeroautomatically.Whenallliftingfi*turesreachzero,AGVwillacceleratetoleaveassemblystation.Afterequippedwithengineandreara*leatloadingstation,AGVfinishesoneworkingcycle.當發(fā)動機前后懸掛總成不能及時供給時，可通過設(shè)置在裝配工位的懸鏈急停開關(guān)，由人工控制，停頓懸鏈運行。即使不按懸鏈急停，AGV系統(tǒng)也會通過控制臺申請停頓懸鏈運行。Whenengineandfront&rearsuspensionassemblycan’tbesuppliedintime,makemanualcontrolbyusingemergencystopswitchontheassemblystationtostopsuspendingchaintorun.Evenwithoutpressingthesuspensionchainemergencyswitch,AGVsystemcanalsoapplytostoprunningthroughtheconsole.當AGV進入報警工位〔裝配工位末端〕而未完成合裝時，AGV將自動停頓運行，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)andhasn’tfinishedassembly,AGVwillstopautomaticallyandAGVconsolewillalarmandcontroltheprocesschaintostop.Afterassembly,itwillrecoverautomatically.〔5〕AGV在分裝工位的運行速度可根據(jù)現(xiàn)場實際設(shè)置。AGVrunningspeedinsubassemblystationcanbesetupaccordingtoactualsituation.6.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。AGVengineassemblylifterworktableistheequipmentthatliftsenginefrontsuspensionfinalassemblytotheassemblyposition.Now,basedoncustomerrequirements,ourpanymainlyadoptspuremechanicaldrivinge*tensionsleevelifterworktable.Tomeetdifferentdemandsinvariousapplicationfields,ourpanymakesthescissorhydrauliclifterworktabletobeanoptionaldeviceforcustomertochoose.ThemaindifferencebetweenthesetwoliesinthefactthatthepreviousoneusesDCservomotortodrivelifterandthee*ecutiveponentisballscrew,whilethelatteradoptshydraulicpumpingstationtodrivelifterandthee*ecutiveponentishydrauliccylinder.6.1伸縮套筒式升降工作臺E*tensionSleeveLifterWorktable該裝置主要由滑開工作平臺、舉升裝置、手控盒等組成〔如圖升降工作臺簡圖〕，其中滑開工作平臺在使用過程中可通過直線軸承組合的機構(gòu)進展兩個方向的水平移動，另外滑開工作臺通過組合軸承構(gòu)造可旋轉(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,liftingdeviceandmanualcontrolbo*,etc(Seethelifterworktablesketch).Amongthem,theslidingworktablecanmovehorizontallyintwodirectionsthroughstraightbearingbinationinthecourseofapplication.Besides,itcanalsorotateincertainanglebythisstructure.Theliftingfi*tureisthemaindevicetofinishtheactionofliftingandlowering.Itisposedofballscrew,onelayerliftchainwheelbination,twolayersliftchainwheelbination,motorreducer,geardrivingandeache*tensionsleeve.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。裝配完畢后，按動裝配完畢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，可時時反應(yīng)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。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別離，確保操作平安。AGVliftingequipmentcanbeoperatedmanuallytoascendanddescend.Operatorcanrunitthroughmanualoperationbo*orfootswitchatthetwosidesoftheliftingequipment.AfterAGVentersintoassemblypathandtrackthebody,operatoropensthelockequipmentofslideflatandusesliftingmanualcontrolbo*tooperateliftingequipment.Afterassembly,pressthepletionbutton,theliftingequipmentwillautomaticallyreturntoitsinitialposition.Thenoperatorlockstheslideflat.Eachliftingequipmentisinstalledwithacoder,whichcanmakefeedbackontheliftingposition.Liftingheight,includingaltitudetobeliftedandma*imumheightcanalsobesetthroughsoftware.Thepalletpositionsensorisinstalledontheenginedeckingpalletforthepurposeofmonitoringiftheenginedeckingpallethasseparatedfromtheliftertableinthecourseofloweringtoensureoperationsafetyasaresult.發(fā)動機舉升主要技術(shù)指標MainTechnicalSpecificationsofEngineLifting：額定舉升重量：1000kGRatingliftingweight:1000kG滑動平臺上平面到地面高度：900mmHeightfromtheplaneofslidingtabletotheground:900mm平臺滑動量：*〔車長〕方向±250mmY〔車寬〕方向±75mmTableslidinglength:*(vehiclelength)direction±250mmY(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舉升方式：直流電機驅(qū)動伸縮套筒舉升Liftingmethod:DCmotordrivinge*tensionsleevelifting舉升速度：最大12000mm/minLiftingspeed:Ma*i.12000mm/min提升量：1050mmLiftinglength:1050mm平臺尺寸：以最終圖紙尺寸為主。Tabledimension:subjecttofinaldimensionondrawings6.2剪式液壓機構(gòu)升降工作臺ScissorHydraulicLifterWorktable該裝置主要由滑開工作平臺、剪式液壓機構(gòu)舉升裝置、手控盒等組成，其中滑開工作平臺在使用過程中可通過軸承組合的機構(gòu)進展兩個方向的水平移動，另外滑開工作臺通過組合軸承構(gòu)造可旋轉(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。Thisequipmentismadeupofslidingworktable,scissorhydraulicliftingdeviceandmanualcontrolbo*,etc.Amongthem,theslidingworktablecanmovehorizontallyintwodirectionsthroughbearingbinationinthecourseofapplication.Besides,itcanalsorotateincertainanglebythisstructure.Theliftingfi*tureisthemaindevicetofinishtheactionofliftingandlowering.Itisposedofhydraulicdrivingsystem,scissorfork,centralizedlubricationsystemandhydraulicgreasecylinder,etc.ThishydraulicdrivingsystemadoptsimportedpumpingstationandthegreasetrayisinstalledunderthewholedeviceinordertokeepAGVrunningpathclean,makeitsperformancereliableanditsdrivingstable.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。裝配完畢后，按動裝配完畢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，可時時反應(yīng)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.Operatorcanrunitthroughmanualoperationbo*orfootswitchatthetwosidesoftheliftingequipment.AfterAGVentersintoassemblypathandtrackthebody,operatoropensthelockequipmentofslideflatandusesliftingmanualcontrolbo*tooperateliftingequipment.Afterassembly,pressthepletionbutton,theliftingequipmentwillautomaticallyreturntoitsinitialposition.Thenoperatorlockstheslideflat.Eachliftingequipmentisinstalledwithacoder,whichcanmakefeedbackontheliftingposition.Liftingheight,includingaltitudetobeliftedandma*imumheightcanalsobesetthroughsoftware.發(fā)動機舉升主要技術(shù)指標：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±250mmY〔車寬〕方向±75mmTableslidinglength:*(vehiclelength)direction±250mmY(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舉升速度：最大12，000mm/minLiftingspeed:Ma*i.12000mm/min提升量：1，100mmLiftinglength:1,100mm平臺尺寸：以最終圖紙尺寸為主。Tabledimension:subjecttofinaldimensionondrawings注Notes：1.剪式舉升機構(gòu)曾應(yīng)用于**華晨金杯汽車**的汽車裝配生產(chǎn)線。ThescissorliftingdevicehasbeenappliedintheautomobileassemblyproductionlineforShenyangBrillianceJinbeiAutomobileCo.,Ltd..2.剪式液壓機構(gòu)升降工作臺平安措施：Safetyprecautionsofscissorhydrauliclifterworktable:平安罩Safetycover：為防止在升降過程中手接觸到舉升裝置，剪式液壓機構(gòu)升降工作臺安裝有滿足用戶招標書要求的折疊式或鋼板式平安罩。Topreventhandtouchontheliftingfi*tureduringthecourseofraisingandlowering,thescissorhydrauliclifterworktableisequippedwithfoldawayorsteelboardsafetycovertomeettherequirementsspecifiedincustomer’sbiddocument.平安鎖止機構(gòu)Safetylock：為平安起見，舉升裝置設(shè)置裝有滿足用戶招標書要求的防止降落的平安鎖止機構(gòu)。Forthepurposeofsafety,theliftingfi*tureissetuptohaveasafetylockframeworktoavoidloweringaccordingtotherequirementsoncustomer’sbiddocument.懸掛點Suspendingpoint為了設(shè)備維護便利，安裝高于舉升裝置的懸掛點，而且舉升裝置應(yīng)該用有吊環(huán)的螺釘固定。Inordertomaketheequipmentmaintenanceconvenient,thesuspendingpointisinstalledhigherthantheliftingfi*ture,whichshouldusetheboltwiththeswingingringsforfastness.3.采用剪式舉升機構(gòu)可以滿足招標書要求的相關(guān)件尺寸鏈關(guān)系,如下列圖所示：Byadoptingscissorliftingfi*ture,requirementsinthebiddocumentonrelatedpartsdimensionchainrelationscanbemet,seethefollowingpicture:6.3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CalculationontheRelationBetweenDistancefromPalletBottomtoEngineZenithandHeightofLifterTable采用伸縮套筒式升降工作臺升降平臺構(gòu)造，由于受到機械構(gòu)造限制，需要重新核定各個組成環(huán)節(jié)之間的尺寸關(guān)系，在相互協(xié)商的根底上實現(xiàn)滿足裝配工作需要的尺寸鏈關(guān)系。Theliftertablestructureusese*tensionsleeveliftingandloweringworktable.Duetolimitationonmechanicalstructure,thedimensionbetweeneachposingpartneedstoberecheckedtorealizethedimensionchainrelationsthatmeettheassemblyworkingrequirementsonthebasisofmutualnegotiation.以上介紹兩種舉升裝置各項根本參數(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?shù)男薷恼{(diào)整，到達最終滿足現(xiàn)場使用要求。Allbasicspecificationsofthetwokindsoflifterintroducedabovearesetforinitialparameterdimension.Theycanbeamendedoradjustedaccordingtocustomer’sspecificdimensionssothatfieldapplicationrequirementscanbeachievedfinally.需要提供的現(xiàn)場數(shù)據(jù)：Dataneedtoprovide:車身吊具最低點到地面的