AGV装配线技术方案

1、长安福特汽车有限公司南京公司ChanganFordAutomobileCo.,Ltd.NanjingCompany发动机、前后桥AGV系统Engine&AxelAGVSystem技术方案TechnicalPlan沈阳新松机器人自动化股份有限公司ShenyangSIASUNRobot&AutomationCo.,Ltd.目录Contents概述Summary设计依据DesignGist生产工艺基本要求BasicRequirementofProductionProcess现场基本技术条件BasicFieldTechnicalCondition责任范围ResponsibilityScope：AGV装

2、配输送系统概述AGVAssembly&TransportationSystemSummary自动导弓丨车AGV系统技术扌旨标AutomatedGuidedVehicleAGVSystemTechnicalSpecificationAGV工作过程描述AGVWorkingProcessDescription发动机装配升降工作台EngineAssemblyLifterWorktable伸缩套筒式升降工作台ExtensionSleeveLifterWorktable剪式液压机构升降工作台ScissorHydraulicLifterWorktable托盘底面距发动机最高点距离与升降平台高度关系计算Cal

3、culationontheRelationBetweenDistancefromPalletBottomtoEngineZenithandHeightofLifterTable后悬装配举升装置RearSuspensionAssemblyLiftingEquipment7.1伸缩套筒式升降工作台剪式液压机构升降工作台ScissorHydraulicLifterWorktable升降平台上平面至U地面的高度计算CalculationontheHeightfromthePlaneoftheLifterTabletotheGround不同轴距车体装配实现BodyofDifferentWheelbase

4、sAssemblyRealizationAGV动态装配解决方案AGVDynamicAssemblySolutionAGV主要设备AGVMainEquipmentAGV(LGV)车载控制器AGV(LGV)VehicleControllerAGV(LGV)驱动系统AGV(LGV)DriveSystem导航系统NavigationSystem在线自动充电系统OnlineAutomaticChargeSystem无线局域网通讯系统WirelessLANCommunicationSystem驱动控制系统DriveControlSystem非接触防碰装置Non-contactBumperDeviceAGV

5、安全系统AGVSafetySystem11.1非接触防碰装置Non-contactBumperDevice接触式防碰装置ContactBumperDevice离线保护系统OfflineGuardingSystem信息交互系统InformationExchangeSystem紧急停车系统EmergencyStopSystem多AGV避碰Multi-AGVCollisionPreventionAGV控制台和调度管理系统AGVConsole&DispatchingManagementSystemAGV控制台AGVConsole调度管理系统DispatchingManagementSystemAGV车

6、载控制系统和数据采集AGVVehicleControlSystem&DataCollection导航线的铺设NavigationLinePavingAGV系统特点AGVSystemCharacteristics高速无线局域网的建立和应用SetupandApplicationofHigh-speedWirelessLANAGV运行的灵活性FlexibilityofAGVRunning高精度导航系统HighAccuracyNavigationSystem友好的人机界面UserFriendlyHumanMachineInterface完善的自诊断系统PerfectSelf-diagnosisSyst

7、emAGV可靠性措施MeasuresonAGVReliability15.7在线快速自动充电方法和快速充电电池的应用OnlineAutomaticInstantChargeMethodandApplicationofInstantRechargeableBattery故障修复时间(MTR)MeanTimeofRepair(MTR)AGV系统的故障修复时间有两类：ThereretwokindsofMTRforAGVsystem:平均无故障时间(MTBF)MeanTimeToFailures(MTTF)AGV运行路线图AGVRunningRouteGraph装配线AGV运行布局图AssemblyA

8、GVRunningLayout16.2,样机车间AGV运行布局图SampleWorkshopAGVRunningLayout.环行装配线AGV系统设备清单CircularAssemblyAGVSystemEquipmentList项目进度ProjectSchedule培训Training培训人员的范围、数量及时间Scope,amountandtimefortrainingpeople培训的内容Trainingcontent售后服务Aftersaleservice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

9、与车身合装，具有同步动态跟踪功能的AGV可实现发动机、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。AccordingtodesignrequirementofChanganFordAutomobileCo.,Ltd.onengineandaxleAGVs

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

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

12、ypalletthroughsubassemblylineandalsoforassemblyofpartofcomponents.ThenumberofAGVonthelooplineissetaccordingtooutputandassemblytime.整个系统包括AGV、AGV控制台、充电系统、导航系统、通讯系统、数据采集系统和装配夹具等几部分组成。ThewholesystemincludesAGV,AGVconsole,chargesystem,navigationsystem,communicationsystem,datacollectionsystemandassemblyj

13、ig,etc.设计依据DesignGist生产工艺基本要求BasicRequirementofProductionProcess工位间距Distancebetweenstations：5，800mm生产节拍Productionrate：最大：1分钟/辆Max.:1minute/vehicle最小：5分钟/辆Min.:5minutes/vehicle现场基本技术条件BasicFieldTechnicalCondition动力电源：交流38010%50HZ2%3相5线Powersupply:AC38010%50HZ2%3phases5lines温度：5C45CTemperature:-5C45C湿

14、度：6095%Humidity:6095%防护等级：IP54Protectiongrade:IP54绝缘等级：B级Insulationlevel:LevelB责任范围ResponsibilityScope：AGV装配系统总体设计、制造。AGVassemblysystemdesignandmanufacturing.AGV车体设计、制造。AGVvehicledesignandmanufacturing.AGV装配系统发运前调试、考机实验。AGVassemblysystemdebuggingandtrialrunningbeforedelivery.AGV装配系统运输、接收、搬运。AGVassem

15、blysystemtransport,reception,carriage.AGV控制系统设计、制造，车载控制软件、调度软件设计。AGVcontrolsystemdesignandmanufacturing,vehiclecontrolsoftware,schedulersoftwaredesign.6）AGV工作环线设计、制造，地面导航线布局设计、敷设。AGVworkinglooplinedesignandmanufacturing,groundnavigationlinelayoutdesignandlaying.7）现场安装、单机调试、全线联动调试。Fieldinstallation,u

16、nitmachinedebuggingandcompletelinelinkagedebugging.8）技术培训和售后服务。Technicaltrainingandaftersalesservice.Engine/rearaxleAGVsemhlAGVgroundguidedsystem,onlineautomaticchargesystem,AGVconsole,dataAGV装配输送系统概述AGVAssembly&TransportationSystemSummary统3:控制台、数据采集系统、|AGV调度管理系统和通讯系统等构成。Tt7rTl,发动机/后桥AGV装配输送系统由AGV、A

17、GV地面导引系统、在线自动充电系0ansportationsystemincludesAGV,collectione2m,AGVdispatchingmanagementSystemandyPmmuDication2system,etc.AGV：AGV完成发动机或后悬挂系的输送和辅助装配工作。装配人员可以站在AGV车的脚踏板上进行装配作业，脚踏板采用花纹铝板制造，操作安全。AGVconductstransportationofengineorrearsuspensionandassistantassemblyjobs.AssemblyoperatorcanstandandworkonAGVpe

18、dal,whichismadeofaluminumboardwithdecorativefiguresandsafetooperate.AGV地面导引系统AGVGroundGuidedSystem：地面导引系统是AGV运行的路线和轨迹，AGV的导引系统采用基于地图的磁带导航方法。当工艺确定磁条埋入地下后，地面将保持平整状态，完全不影响人、车通行。GroundguidedsystemisAGVrunningpathandtrack.AGVguidedsystemadoptsthemethodofmagnetictapenavigationbasedonthemap.Whentheprocessh

19、asconfirmedthatthemagneticstripshavebeenembeddedunderground,thegroundwillbesmoothandwontinfluencepeopleorvehicletopass.在线自动充电系统OnlineAutomaticChargeSystem：为了保证AGV24小时连续运行，充电系统采用大电流快速充电的方法为AGV补充电量。AGV的充电过程是在控制台的监控下自动进行的。ToensureAGVtorun24hourscontinuously,chargesystemusesthemethodoflargeelectricalcur

20、rentandinstantelectrificationtochargeAGV.AGVchargeprocessisconductedautomaticallyunderthesupervisionandcontroloftheconsole.AGV控制台和AGV调度管理系统AGVConsoleandAGVDispatchingManagementSystem控制台和AGV调度管理系统是AGV系统的调度管理中心，负责数据采集系统的数据处理，与上位机交换信息，生成AGV的运行任务，解决多AGV之间的避碰问题。ConsoleandAGVdispatchingmanagementsystemist

21、hedispatchingmanagementcenterofAGVsystem,responsiblefordataprocessingindatacollectionsystemandinformationexchangewithuppercomputertocreateAGVrunningtasksandsolvetheproblemsofmultiAGVcollision.通讯系统CommunicationSystem通讯系统由无线局域网组成。AGV与控制台之间采用无线电台进行信息交换，通讯协议为TCP/IP协议。控制台可与上位机之间采用以太网进行数据传输。Communications

22、ystemisformedbywirelesslocalnetwork.Wirelesstransmitter-receiverisadoptedbetweenAGVandconsoletoexchangeinformationandthecommunicationprotocolisTCP/IPprotocol.Ethernetisusedbetweenconsoleandtheuppercomputerfordatatransmission.光电检测系统PhotoelectricityTestingSystem光电检测系统是用于检测主输送线吊具上车身是否运行到位，运行到位将发出信号通知处在

23、等待站点的AGV可以侧移运行，实现顺序装配。如果没有车身通过，等待站点的AGV始终处于等待状态。如果有车身通过，但等待站点没有AGV等待，AGV控制台将通知总控室。Photoelectricitytestingsystemisusedtocheckifthebodyonthesuspendingtoolsofthemaintransmissionlinehasruntotheposition,wheresignalwillbesenttoinformAGVatthewaitingstationtomovesidewaystorealizesequenceassembly.Ifthebodyha

24、sntpassed,AGVatthewaitingstationwillstayallalonginthestatusofwaiting.Ifpassed,buttheresnoAGVwaitingatthestation,AGVconsolewillnotifythegeneralcontrolroom.自动导引车AGV系统技术指标AutomatedGuidedVehicleAGVSystemTechnicalSpecification此图片仅供参考Thispictureisforreferenceonly带有同步跟踪和举升机构的AGV，其主要技术指标：Maintechnicalspecif

25、icationsofAGVwithsynchronizationtrackingandliftingframeworkinclude:AGVS控制方式:控制站集中调度、监控、管理AGV系统的运行状态monitoring&controlandmanagementontherunningstateofAGVsystemAGVScontrolmode:controlstationmakescentralizeddispatch,AGV控制方式具备功能：全自动/半自动/手动AGVcontrolfunction:automatic/semiautomatic/manual通讯方式：无线局域网Commun

26、ication:wirelessLANAGV导航方式：磁导航AGVnavigationmethod:magneticnavigationAGV驱动方式：双舵轮驱动。AGVsteering:poweredwheelsteering负载能力：2000KG（以最终设计为准）Payload:2000KG(subjecttofinaldesign)AGV自重：2000KG（以最终设计为准）AGVweight:2000KG(subjecttofinaldesign)同步跟踪精度：10mmSynchronizationtrackingaccuracy:10mm运动方向：全方位（所占用运行空间最小化）Movi

27、ngdirection:Omni-directionalmoving(tominimizeoccupiedrunningspace)最大速度：直线60m/min,侧移30m/minMaximumspeed:straight60m/min,sidewaysmoving30m/min导航精度：土10mmNavigationaccuracy:10mm停车精度：土10mmParkingaccuracy:土10mm工作时间：24小时连续（三班）Workingtime:24hourscontinuously(3shifts)防碰装置：四周安装接触式保险杠，前后另安装激光防碰装置。Collisionprev

28、entiondevice:contactbumperinstailedaroundandlasercollisionpreventiondeviceinstalledinthefront&backside举升装置：双举升机构，可以同步举升或单独举升。Liftingequipment:dualliftframework,forsynchronizationliftingorseparatelifting(lengthXwidthXheight(before/after托盘夹具：按照实际需要设计（本方案中不含该部分内容）Palletfixture:designaccordingtodemands(

29、notincludedinthissolution)电池组：48V/100AH，正常使用，寿命大于3年Batterycharger:48V/100AH,innormalusageanditslongevityisover3years.充电方式：全自动充电器实现在线自动充电，保证连续24小时工作Charging:automaticchargerrealizesonlinequickchargetoensure24hourscontinuousworking操作咼度：装配人员站在AGV提供的脚踏板上相对静止进行零部件装配，脚踏板到地面咼度200mm。Operationheight:Operator

30、standsonAGVfootpedaltoassemblypartsinrelativestillconditionandtheheightfromthefootpedaltothegroundis200mm.车体尺寸：4800mmX1800mmX900mm长X宽X高(举升前)Bodydimension:4800mmX1800mmX900mmlifting)AGV工作过程描述AGVWorkingProcessDescriptionAGV小车按控制台计算机的指令行驶到后桥总成上装点，由操作人员根据生产计划完成后桥总成的吊装，当将后桥总成从后桥分装线吊到AGV后桥举升装置上的后桥夹具上并放稳后，

31、操作人员通过车体上的操作按钮向AGV小车发出完成上件确认信号，允许AGV向下一个站点运行；AGVwillrunuponconsolecomputerorderstoloadingpointofrearaxlefinalassemblyandoperatorwillcompletethisbasedonproductionplan.AftertherearaxlefinalassemblyismovedfromtherearaxlesubassemblylineandplacedwellontherearaxlefixtureofAGVrearaxleliftingdevice,operator

32、pressesthebuttononthevehicletosentsignal,informingAGVthatloadinghasbeenfinishedandallowAGVtomovetowardsnextstation.AGV小车行驶到发动机总成上装点，由操作人员根据生产计划完成发动机总成的吊装，当将发动机总成从发动机分装线吊到AGV发动机举升装置上的发动机夹具上并放稳后，操作人员通过车体上的操作按钮向AGV小车发出完成上件确认信号，允许AGV向下一个站点运行AGVrunstoloadingpointofenginefinalassemblyandoperatorwillcomple

33、teenginefinalassemblysuspending.WhentheenginefinalassemblyismovedandplacedwellontheenginefixtureofAGVengineliftingdevicefromenginesubassemblyline,operatorthensendsconfirmationsignalofthecompletionofloadingbypressingoperationbuttononthebodytoinformAGVvehicletomovetowardsnextstation.（3）AGV小车按控制计算机的指令行

34、驶到等待地点；AGVmovestowaitingplaceaccordingtotheorderfromcontrolcomputer.（4）AGV小车在某一停留时间相对长的站点（动力总成上装点或其它点）进行自动充电；AGVwillchargeitselfautomaticallyatonestation（powertrainassemblyloadingpointorotherpoint）forrelevantlongwaitingtime.（5）AGV控制台检测工艺链上车体的位置信号，当被装车体到位后调度已载有发动机前后悬挂总成AGV按预定时间、速度进入悬链下方（时间、速度根据生产线要求可

35、通过车载显示器进行更改），在装配段快速向前运行，在预定区域捕获预先固定在被装车身上的合作目标。保持稳定跟踪状态后，人工操作举升手控盒或脚踏开关，进行举升装置上升操作，操作人员可以同时或单独发动机举升装置和后桥举升装置。在举升装置上升同时，打开平台锁定装置，使举升装置上平台处于浮动状态，操作人员一边按上升按钮一边夹具上车身定位销插入车身的工艺定位孔。当举升到安装位置，所有的螺栓安装孔均已定位。由装配人员安装固定螺栓，完成装配后装配人员按一下举升装置上的装配结束按钮，AGV将自动落下举升装置到零点。当前后举升装置全部复位到零点以后，AGV将加速离开装配工位，在非装配段加载站备好发动机及后桥，完成一

36、次工作循环。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.当发动机前后悬挂总成不能及时供应时，可

40、通过设置在装配工位的悬链急停开关，由人工控制，停止悬链运行。即使不按悬链急停，AGV系统也会通过控制台申请停止悬链运行。Whenengineandfront&rearsuspensionassemblycantbesuppliedintime,makemanualcontrolbyusingemergencystopswitchontheassemblystationtostopsuspendingchaintorun.Evenwithoutpressingthesuspensionchainemergencyswitch,AGVsystemcanalsoapplytostoprunningt

41、hroughtheconsole.当AGV进入报警工位(装配工位末端)而未完成合装时，AGV将自动停止运行，AGV控制台报警并控制工艺链停线，直到完成装配后自动恢复运行。WhenAGVentersintoalarmingstation(attheendofassemblystation)andhasntfinishedassembly,AGVwillstopautomaticallyandAGVconsolewillalarmandcontroltheprocesschaintostop.Afterassembly,itwillrecoverautomatically.(5)AGV在分装工位的

42、运行速度可根据现场实际设置。AGVrunningspeedinsubassemblystationcanbesetupaccordingtoactualsituation.发动机装配升降工作台EngineAssemblyLifterWorktableAGV发动机装配升降工作台是将发动机前悬总成举升到装配位置高度的设备,目前我公司应客户要求普遍采用纯机械传动的伸缩套筒式升降工作台。为适应各使用现场的不同要求,我公司将剪式液压机构升降工作台列为备选设备供用户选择。两者主要区别为前者采用直流伺服电机驱动升降,执行元件为滚珠丝杠。后者采用液压泵站驱动升降，执行元件为液压缸。AGVengineassem

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

44、etobeanoptionaldeviceforcustomertochoose.ThemaindifferencebetweenthesetwoliesinthefactthatthepreviousoneusesDCservomotortodrivelifterandtheexecutivecomponentisballscrew,whilethelatteradoptshydraulicpumpingstationtodrivelifterandtheexecutivecomponentishydrauliccylinder.伸缩套筒式升降工作台ExtensionSleeveLifter

45、Worktable该装置主要由滑动工作平台、举升装置、手控盒等组成(如图升降工作台简图)，其中滑动工作平台在使用过程中可通过直线轴承组合的机构进行两个方向的水平移动，另外滑动工作台通过组合轴承结构可旋转一定的角度。举升装置是完成升降动作的主要装置，其主要由滚珠丝杠机构、一层起重链轮组合、二层起重链轮组合、电机减速机、齿轮传动及各伸缩套筒组成。该电机采用进口的直流电机、减速器一体机，滚珠丝杠及螺母等零件采用德国进口零件，性能可靠，传动稳定。Thisequipmentisformedbytheslidingworktable,liftingdeviceandmanualcontrolbox,etc

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

47、elayer斗liftchainwheelcombination,twolayersliftchainwheelcombination,motorreducer,geardrivingandeachextensionsleeve.ThemotoradoptstheimportedDCmotorandreducerofonemachine.Parts,suchastheballscrewandnutareimportedfromGermany.Theyarereliableinperformanceandstableindriving.AGV举升装置可由手动操纵上升下降，操作人员可以通过操作配套

48、在举升装置两侧的手控操作盒或脚踏开关实现举升装置的上升或下降。待AGV进入装配路段并跟踪上车身后，操作者松开滑动平台锁定装置，利用举升手控盒手动操纵举升装置升降。装配结束后，按动装配结束按钮举升装置自动复位至初始位置后人工锁定滑动平台。每个举升装置安装有编码器，可时时反馈提升的位置，举升的高Liftinglength:1050mm滑动平台上平面到地面高度：900mm度也可通过软件设定，设定需要举升的高度及极限高度。在发动机合装托盘上安装托盘位置传感器，用于监测发动机合装托盘在下降过程中是否与升降台分离，确保操作安全。AGVliftingequipmentcanbeoperatedmanuall

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

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

51、ngpalletforthepurposeofmonitoringiftheenginedeckingpallethasseparatedfromtheliftertableinthecourseofloweringtoensureoperationsafetyasaresult.发动机举升主要技术指标MainTechnicalSpecificationsofEngineLifting：额定举升重量：1000kGRatingliftingweight:1000kGHeightfromtheplaneofslidingtabletotheground:900mm平台滑动量：Tableslidin

52、glength旋转角度：Rotatingangle:平台形式：Tablemode:举升方式：Liftingmethod:举升速度：Liftingspeed:提升量：X(车长)方向250mmY(车宽)方向75mmX(vehiclelength)direction250mmY(vehiclewidth)direction75mm10度10degrees直线轴承滑动平台straightbearingslidetable直流电机驱动伸缩套筒举升DCmotordrivingextensionsleevelifting最大12000mm/minMaxi.12000mm/min1050mm平台尺寸：以最终图

53、纸尺寸为主。Tabledimension:subjecttofinaldimensionondrawings剪式液压机构升降工作台ScissorHydraulicLifterWorktable该装置主要由滑动工作平台、剪式液压机构举升装置、手控盒等组成，其中滑动工作平台在使用过程中可通过轴承组合的机构进行两个方向的水平移动，另外滑动工作台通过组合轴承结构可旋转一定的角度。举升装置是完成升降动作的主要装置，其主要由液压驱动系统、剪刀叉、集中润滑系统、液压油缸、等组成。该液压驱动系统采用进口的泵站，在整个装置下部安装接油盘，保持AGV运行地面清洁，性能可靠，传动稳定。Thisequipmentis

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

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

56、e.AGV举升装置可由手动操纵上升下降，操作人员可以通过操作配套在举升装置两侧的手控操作盒或脚踏开关实现举升装置的上升或下降。待AGV进入装配路段并跟踪上车身后，操作者松开滑动平台锁定装置，利用举升手控盒手动操纵举升装置升降。装配结束后，按动装配结束按钮举升装置自动复位至初始位置后人工锁定滑动平台。每个举升装置安装有编码器，可时时反馈提升的位置，举升的高度也可通过软件设定，设定需要举升的高度及极限高度。AGVliftingequipmentcanbeoperatedmanuallytoascendanddescend.Operatorcanrunitthroughmanualoperation

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

58、ratorlockstheslideflat.Eachliftingequipmentisinstalledwithacoder,whichcanmakefeedbackontheliftingposition.Liftingheight,includingaltitudetobeliftedandmaximumheightcanalsobesetthroughsoftware.lOOOkG发动机举升主要技术扌旨标：MainTechnicalSpecificationsofEngineLifting:额定举升重量:Ratingliftingweight:1000kG滑动平台上平面到地面高度：5

59、50mmHeightfromtheplaneofslidingtabletotheground:550mm平台滑动量：X（车长）方向250mmTableslidinglength:250mmY旋转角度：Rotatingangle:平台形式：Tablemode:举升速度：Liftingspeed:提升量：Liftinglength:平台尺寸：以最终图纸尺寸为主Tabledimension:drawingssubjecttofinaldimensiononY(车宽)方向75mmX(vehiclelength)direction(vehiclewidth)direction75mm10度10degr

60、ees直线轴承滑动平台straightbearingslidetable最大12,000mm/minMaxi.12000mm/min100mm1,100mm注Notes：1.剪式举升机构曾应用于沈阳华晨金杯汽车有限公司的汽车装配生产线。ThescissorliftingdevicehasbeenappliedintheautomobileassemblyproductionlineforShenyangBrillianceJinbeiAutomobileCo.,Ltd.剪式液压机构升降工作台安全措施：Safetyprecautionsofscissorhydrauliclifterworkta