AGV装配线技术方案

长安福特汽车有限公司南京公司ChanganFordAutomobileCo.,Ltd.NanjingCompany

发动机、前后桥AGV（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装配输送系统概述AGVAssembly&TransportationSystemSummary自动导弓I车AG源统技术才旨标AutomatedGuidedVehicleAGVSystemTechnicalSpecification AGV工作过程描述AGVWorkingProcessDescription 发动机装配升降工作台EngineAssemblyLifterWorktable 一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 CalculationontheRelationBetweenDistancefromPalletBottomtoEngineZenithandHeightofLifterTable 后悬装酉『举升装置RearSuspensionAssemblyLiftingEquipment 伸缩套筒式升降工作台 剪式液压机构升降工作台ScissorHydraulicLifterWorktable..…升降平台上平面到地面的高度计算CalculationontheHeightfromthePlaneoftheLifterTabletotheGround 不同轴品E车体装配实现BodyofDifferentWheelbasesAssemblyRealization AGV动态装配解决方案AGVDynamicAssemblySolution AGV主要设备AGVMainEquipment AGV(LGV车载控制器AGV(LGVVehicleController AGV(LGV驱动系统AGV(LGVDriveSystem 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-contactBumperDevice AGV安全系统AGVSafetySystem 非接触防碰装置Non-contactBumperDevice 接触式防碰装置ContactBumperDevice 离线保护系统OflineGuardingSystem 信息交互系统InformationExchangeSystem 紧急停车系统EmergencyStopSystem 多AG避碰Multi-AGVCollisionPrevention AGVE制台和调度管理系统AGVDonsole&DispatchingManagementSystemAGV控制台AGVConsole 调度管理系统DispatchingManagementSystem AGW载控制系统和数据采集AGVVehicleControlSystem&DataCollection 导航线的铺设NavigationLinePaving AGV系统特点AGVSystemCharacteristics 高速无线局域网的建立和应用 SetupandApplicationofHigh-speedWirelessLAN AGV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PefectSelf-diagnosisSystem AGVW靠性措施MeasuresonAGVReliability 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(MTRMeanTimeofRepair(MTR AG源统的故障修复时间有两类： There'retwokindsofMTRorAGVsystem:平均无故障时间(MTBFMeanTimeToFailures(MTTF AGV运行路线图AGVRunningRouteGraph 装酉己线AGV!行布局图AssemblyAGVRunningLayout 样机车IWAGV!行布局图SampleWorkshopAGVRunningLayout....环行装配线AG源统设备清单CircularAssemblyAGVSystemEquipmentList 项目进度ProjectSchedule 培训ITraining 培训人员的范围、数量及时间Scope,amountandtimefortrainingpeople 培训I的内容Trainingcontent 售后月艮务After-saleservice .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（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。AGV8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 AG\«量。AccordingtodesignrequirementofChanganFordAutomobileCo.,Ltd.onengineandaxleAGVsystem,SIASUNusesassemblyAGVsystemforengine,axleandbodydecking,andAGVwiththefunctionofsynchronizationdynamictrackingcanrealizesimultaneousassemblyofengineandaxleatanyassemblyzoneorstations.Byusingmagneticnavigation, groundconstructionissmallandbychangingthepathofmagneticstripupontechnicalrequirementsandmodifyingslightlycontrolprogram,thelengthofassemblypathcanbealteredtomeetdifferentassemblyprocessrequirements.AGVsystemisformedbyaloopline,whichisclosetoatrapezium.Theassemblyzoneisusedforfrontsuspension/engine,rearaxleandbodydeckingandthenon-assemblyzoneisusedforengineandaxle

suspendingonAGVassemblypalletthroughsubassemblylineandalsoforassemblyofpartofcomponents.ThenumberofAGVonthelooplineissetaccordingtooutputandassemblytime.整个系统包括AGVAGV空制台、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,datacollectionsystemandassemblyjig,etc..设计依据DesignGist生产工艺基本要求BasicRequirementofProductionProcess工位间品EDistancebetweenstations: 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380±10%50HZ±2%3相5线Powersupply:AC380Powersupply:AC380±10%50HZ±2%3phases5linesTOC\o"1-5"\h\z温度： -5 C〜45cTemperature: -5C〜45c湿度： 60 —95%Humidity: 60 —95%防护等级： IP54Protectiongrade:IP54\o"CurrentDocument"绝缘等级： B 级Insulationlevel:LevelB责任范围ResponsibilityScope:AGV®配系统总体设计、制造。AGVassemblysystemdesignandmanufacturing.AGW体设计、制造。AGVvehicledesignandmanufacturing.AGVg配系统发运前调试、考机实验。AGVassemblysystemdebuggingandtrialrunningbeforedelivery.AGVg配系统运输、接收、搬运

AGVassemblysystemtransport,reception,carriage.vehiclecontrolAGV空制系统设计、制造，车载控制软件、调度软件设计vehiclecontrolAGVcontrolsystemdesignandmanufacturing,software,schedulersoftwaredesign.AGVT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,unitmachinedebuggingandcompletelinelinkagedebugging.8）技术培训和售后服务。Technicaltrainingandafter-salesservice..AGV装配输送系统概述AGVAssembly&TransportationSystemSummary妗动机/后桥AGVfe配输送系统由AGVAGVfe而导引系统、在线自动充电系AGVgroundguidedsystem,onlineautomaticchargesystem,AGV:onsole,dataAGVgroundguidedsystem,onlineautomaticchargesystem,AGV:onsole,dataAGVAGV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AGW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.AssemblyoperatorcanstandandworkonAGWedal,whichismadeofaluminumboardwithdecorativefiguresandsafetooperate.AGVtfe面导引系统AGVGroundGuidedSystem:地面导引系统是AGV^行的路线和轨迹，AGV勺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.Whentheprocesshasconfirmedthatthemagneticstripshavebeenembeddedunderground,thegroundwillbesmoothandwon'tinfluencepeopleorvehicletopass.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#充电量。AGV勺充电过程是在控制台的监控下自动进行的。ToensureAGMorun24hourscontinuously,chargesystemusesthetotomethodoflargeelectricalcurrentandinstantelectrificationchargeAGV.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勺运行任务，解决多AGV之间的避碰问题。ConsoleandAGVdispatchingmanagementsystemisthedispatchingmanagementcenterofAGVsystem,responsiblefordataprocessingindatacollectionsystemandinformationexchangewithuppercomputertocreateAGVwningtasksandsolvetheproblemsofmultiAGVcollision.通讯系统CommunicationSystem通讯系统由无线局域网组成。AGVf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。Communicationsystemisformedbywirelesslocalnetwork.Wirelesstransmitter-receiverisadoptedbetweenAGVandconsoletoexchangeinformationandthecommunicationprotocolisTCP/IPprotocol.Ethernetisusedbetweenconsoleandtheuppercomputer

fordatatransmission.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AGW台终处于等待状态。如果有车身通过，但等待站点没有AGVR寺，AGV空制台将通知总控室。Photoelectricitytestingsystemisusedtocheckifthebodyonthesuspendingtoolsofthemaintransmissionlinehasruntotheposition,wheresignalwillbesenttoinformAGVatthewaitingstationtomovesidewaystorealizesequenceassembly.Ifthebodyhasn'tpassed,AGVatthewaitingstationwillstayallalonginthestatusofwaiting.Ifpassed,butthere 'snoAGVwaitingatthestation,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：MaintechnicalspecificationsofAGVwithsynchronizationtrackingandliftingframeworkinclude:AGVS空制方式:控制站集中调度、监控、管理AGVS空制方式:控制站集中调度、监控、管理AGVK统的运行状态AGVScontrolmode:controlstationmakescentralizeddispatch,monitoring&controlandmanagementontherunningstateofAGVsystemAGV空制方式具备功能：全自动/半自动/手动AGVcontrolfunction:automatic/semi-automatic/manual通讯方式： 无线局域网Communication: wirelessLANAGVt航方式： 磁导航AGVnavigationmethod:magneticnavigationAGV1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)士10mm同步跟踪精度： ±10mm士10mmSynchronizationtrackingaccuracy:运动方向： 全方位(所占用运行空间最小化)Movingdirection:Omni-directionalmoving(tominimizeoccupiedrunningspace)最大速度： 直线60m/min,侧移30m/minMaximumspeed:straight60m /min,sidewaysmoving30m/minTOC\o"1-5"\h\z导航精度： ±10mmNavigationaccuracy: ± 10mm停车精度： ±10mmParkingaccuracy: ± 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。Collisionpreventiondevice:contactbumperinstalledaroundandlasercollisionpreventiondeviceinstalledinthefront&backside举升装置： 双举升机构，可以同步举升或单独举开。Liftingequipment:dualliftframework,forsynchronizationliftingorseparatelifting

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(notincludedinthissolution)电池组： 48沙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: automatic chargerrealizesonlinequickchargetoensure24hourscontinuousworking操作高度： 装配人员站在AGVg供的脚踏板上相对静止进行零部件装配，脚踏板到地面高度200mmOperationheight:OperatorstandsonAGVfootpedaltoassemblypartsinrelativestillconditionandtheheightfromthefootpedaltothegroundis200mm.车体尺寸： 4800mnK1800mnX900mm长x宽x高(举开前)(lengthBodydimension:4800mmx1800mnX900mm(length义width义height(before/afterlifting))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，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AGV0下一个站点运行；AGVwillrunuponconsolecomputerorderstoloadingpointofrearaxlefinalassemblyandoperatorwillcompletethisbasedonproductionplan.AftertherearaxlefinalassemblyismovedfromtherearaxlesubassemblylineandplacedwellontherearaxlefixtureofAGV^earaxleliftingdevice,operatorpressesthebuttononthevehicletosentsignal,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AGV0下一个站点运行AGVrunstoloadingpointofenginefinalassemblyandoperatorwillcompleteenginefinalassemblysuspending.WhentheenginefinalassemblyismovedandplacedwellontheenginefixtureofAGVengineliftingdevicefromenginesubassemblyline,operatorthensendsconfirmationsignalofthecompletionofloadingbypressingoperationbuttononthebodytoinformAGVvehicletomovetowardsnextstation.AGV小车按控制计算机的指令行驶到等待地点；AGVmovestowaitingplaceaccordingtotheorderfromcontrolcomputer.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.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，人工操作举开手控盒或脚踏开关，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等自动落下举升装置到零点。当前后举开装置全部复位到零点以后，AGV等加速离开装配工位，在非装配段加载站备好发动机及后桥，完成一次工作循环AGVconsolewilltestthesignalofbodypositionontheprocesschain.Whenloadedbodyhasgottentotheposition,AGVwithengineandfront&rearsuspensionassemblyisdispatchedaccordingtosettimeandspeedtotheunderneathofthesuspendingchain(time&speedcanbechangedthroughvehicle displayeraccordingtorequirementsoftheproduction line). ThenAGVmovesforwardquicklyintheassemblyzoneandcapturesintheprearrangedareathecooperativetargetsetinadvanceonthebody.Aftertracking<stateisstable,manualcontrolboxorfootpedalswitchisdonebymanualoperationtoraisethelifter.Operatorcanrunsimultaneouslyorseparatelytheengineliftingdeviceandrearaxelliftingdevice.Whentheliftingdeviceisraised,thelockfixtureisopenedtomakethetablefloating.Operatorpressesthebuttonforliftingandatthesametimeputsthebodylocatingpinsonthefixtureintotheprocesslocatingholeofthebody.Whengettingtotheinstallationposition,allboltinstallationholesarelocated.Thenassemblyworkerswillinstallthesetboltsandpressthebuttonontheliftingfixtureaftercompletionofassembly.AGVwilllowertheliftingfixturetozeroautomatically.Whenallliftingfixturesreachzero,AGVwillacceleratetoleaveassemblystation.Afterequippedwithengineandrearaxleatloadingstation,AGVfinishesoneworkingcycle.当发动机前后悬挂总成不能及时供应时，可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&rearsuspensionassemblycan'tbesuppliedintime,makemanualcontrolbyusingemergencystopswitchontheassemblystationtostopsuspendingchaintorun.Evenwithoutpressingthesuspensionchainemergencyswitch,AGVsystemcanalsoapplytostoprunningthroughtheconsole.当AGV!入报警工位(装配工位末端)而未完成合装时， AGV等自动停止运行，AGV空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)andhasn'tfinishedassembly,AGVwillstopautomaticallyandAGVconsolewillalarmandcontroltheprocesschaintostop.Afterassembly,itwillrecoverautomatically.5)AGVS分装工位的运行速度可根据现场实际设置。AGVrunningspeedinsubassemblystationcanbesetupaccordingtoactualsituation..发动机装配升降工作台EngineAssemblyLifterWorktable

AG\a动机装配升降工作台是将发动机前悬总成举开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。AGVengineassemblylifterworktableistheequipmentthatliftsenginefrontsuspensionfinalassemblytotheassemblyposition.Now,basedoncustomerrequirements,ourcompanymainlyadoptspuremechanicaldrivingextensionsleevelifterworktable.Tomeetdifferentdemandsinvariousapplicationfields,ourcompanymakesthescissorhydrauliclifterworktabletobeanoptionaldeviceforcustomertochoose.ThemaindifferencebetweenthesetwoliesinthefactthatthepreviousoneusesDCservomotortodrivelifterandtheexecutivecomponentisballscrew,whilethelatteradoptshydraulicpumpingstationtodrivelifterandtheexecutivecomponentishydrauliccylinder.伸缩套筒式升降工作台ExtensionSleeveLifterWorktable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。举升装置是完成开降动作的主要装置，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(Seethelifterworktable《sketch).Amongthem,theslidingworktablecanmovehorizontallyintwodirectionsthroughstraightbearingcombinationinthecourseofapplication.Besides,itcanalsorotateincertainanglebythisstructure.Theliftingfixtureisthemaindevicetofinishtheactionoflifting andlowering.Itiscomposedofballscrew,onelayerliftchainwheelcombination,twolayersliftchainwheelcombination,motorreducer,geardrivingandeachextensionsleeve.ThemotoradoptstheimportedDCmotorandreducerofonemachine.Parts,suchastheballscrewandnutareimportedfromGermany.Theyarereliableinperformanceandstableindriving.AG印开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开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开装置升降。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，举升的高滑动平台上平面到地面高度: 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。AGVliftingequipmentcanbeoperatedmanuallytoascendanddescend.Operatorcanrunitthroughmanualoperationboxorfootswitchatthetwosidesoftheliftingequipment.AfterAGVentersintoassemblypathandtrackthebody,operatoropensthelockequipmentofslideflatandusesliftingmanualcontrolboxtooperateliftingequipment.Afterassembly,pressthecompletionbutton,theliftingequipmentwillautomatically.returntoitsinitialposition.Thenoperatorlockstheslideflat.Eachliftingequipmentisinstalledwithacoder,whichcanmakefeedbackontheliftingposition.Liftingheight,includingaltitudetobeliftedandmaximumheightcanalsobesetthroughsoftware.Thepalletpositionsensorisinstalledontheenginedeckingpalletforthepurposeofmonitoringiftheenginedeckingpallethasseparatedfromtheliftertableinthecourseofloweringtoensureoperationsafetyasaresult.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:（车长）方向±250mm（车宽）方向平台滑动量:（车长）方向±250mm（车宽）方向±75mmTableslidinglength:X(vehiclelength)direction250mmY(vehiclewidth)directionTableslidinglength:X(vehiclelength)direction250mmY(vehiclewidth)direction±75mm旋转角度:±10度Rotatingangle:±10degrees平台形式:直线轴承滑动平台Tablemode:straightbearingslidetable举开方式:直流电机驱动伸缩套筒举开Liftingmethod:DCmotordrivingextensionsleevelifting举升速度:最大12000mm/min旋转角度:±10度Rotatingangle:±10degrees平台形式:直线轴承滑动平台Tablemode:straightbearingslidetable举开方式:直流电机驱动伸缩套筒举开Liftingmethod:DCmotordrivingextensionsleevelifting举升速度:最大12000mm/minLiftingspeed:Maxi.12000mm/min提升量1050mm提升量1050mmLiftinglength:1050mmLiftinglength:1050mm平台尺寸:以最终图纸尺寸为主。平台尺寸: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。Thisequipmentismadeupofslidingworktable,scissorhydraulicliftingdeviceandmanualcontrolbox,etc.Amongthem,theslidingworktablecanmovehorizontallyintwodirectionsthroughbearingcombinationinthecourseofapplication.Besides,itcanalsorotateincertainanglebythisstructure.Theliftingfixtureisthemaindevicetofinishtheactionofliftingandlowering.Itiscomposedofhydraulicdrivingsystem,scissorfork,centralizedlubricationsystemandhydraulicgreasecylinder,etc.ThishydraulicdrivingsystemadoptsimportedpumpingstationandthegreasetrayisinstalledunderthewholedeviceinordertokeepAGVrunningpathclean,makeitsperformancereliableanditsdrivingstable.AG印开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开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开装置升降。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.Operatorcanrunitthroughmanualoperationboxorfootswitchatthetwosidesoftheliftingequipment.AfterAGVentersintoassemblypathandtrackthebody,operatoropensthelockequipmentofslideflatandusesliftingmanualcontrolboxtooperateliftingequipment.Afterassembly,pressthecompletionbutton,theliftingequipmentwillautomaticallyreturntoitsinitialposition.Thenoperatorlockstheslideflat.Eachliftingequipmentisinstalledwithacoder,whichcanmakefeedbackontheliftingposition.Liftingheight,includingaltitudetobeliftedandmaximumheightcanalsobesetthroughsoftware.发动机举升主要技术指标：MainTechnicalSpecificationsofEngineLifting:额定举升重量： 1000kGRatingliftingweight: 1000kG滑动平台上平面到地面高度： 550mmHeightfromtheplaneofslidingtabletotheground:550mm

平台滑动量:（车长）方向士250mm（车宽）方向士75mmTableslidinglength:X(vehiclelength)direction250mmY(vehiclewidth)direction士75mm旋转角度:±10度Rotatingangle:士10degrees平台形式:直线轴承滑动平台Tablemode:straightbearingslidetable举升速度:平台滑动量:（车长）方向士250mm（车宽）方向士75mmTableslidinglength:X(vehiclelength)direction250mmY(vehiclewidth)direction士75mm旋转角度:±10度Rotatingangle:士10degrees平台形式:直线轴承滑动平台Tablemode:straightbearingslidetable举升速度:最大12,000mm/minLiftingspeed:Maxi.12000mm/min提升量,100mmLiftinglength:1,100mmTabledimension:平台尺寸：以最终图纸尺寸为主。Tabledimension:subjecttofinaldimensionondrawings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ThescissorliftingdevicehasbeenappliedintheautomobileassemblyproductionlineforShenyangBrillianceJinbeiAutomobileCo.,Ltd...剪式液压机构升降工作台安全措施：Safetyprecautionsofscissorhydrauliclifterworktable:a）安全罩Safetycover:为防止在升降过程中手接触到举升装置，剪式液压机构升降工作台安装有满足用户招标书要求的折叠式或钢板式安全罩。Topreventhandtouchontheliftingfixtureduringthecourseofraisingandlowering,thescissorhydrauliclifterworktableisequippedwithfoldawayorsteelboardsafetycovertomeettherequirementsspecifiedincustomer'sbiddocument.b）安全锁止机构Safetylock:为安全起见，举升装置设置装有满足用户招标书要求的防止降落的安全锁止机构。Forthepurposeofsafety,theliftingfixtureissetuptohaveasafetylockframeworktoavoidloweringaccordingtotherequirementsoncustomer'sbiddocument.c）悬挂点Suspendingpoint为了设备维护便利，安装高于举升装置的悬挂点，而且举升装置应该用有吊环的螺钉固定。Inordertomaketheequipmentmaintenanceconvenient,thesuspendingpointisinstalledhigherthantheliftingfixture,whichshouldusetheboltwiththeswingingringsforfastness..采用剪式举升机构可以满足招标书要求的相关件尺寸链关系 ，如下图所示：Byadoptingscissorliftingfixture,requirementsinthebiddocumentonrelatedpartsdimensionchainrelationscanbemet,seethefollowingpicture:6.3托盘底面距发动机最高点距离与升降平台高度关系计算 CalculationontheRelationBetweenDistancefromPalletBottomtoEngineZenithandHeightofLifterTable采用伸缩套筒式升降工作台升降平台结构， 由于受到机械结构限制，需要重新核定各个组成环节之间的尺寸关系，在相互协商的基础上实现满足装配工作需要的尺寸链关系。Theliftertablestructureusesextensionsleeveliftingandloweringworktable.Duetolimitationonmechanicalstructure,thedimensionbetweeneachcomposingpartneedstoberecheckedtorealizethedimensionchainrelationsthatmeettheassemblyworkingrequirementsonthebasisofmutualnegotiation.以上介绍两种举升装置各项基本参数是初步确定的参数尺寸，根据用户给定的尺寸，可以做适当的修改调整，达到最终满足现场使用要求。Allbasicspecificationsofthetwokindsoflifterintroducedabovearesetforinitialparameterdimension.Theycanbeamendedoradjustedaccordingtocustomer'sspecificdimensionssothatfieldapplicationrequirementscanbeachievedfinally.需要提供的现场数据：Dataneedtoprovide:a.车身吊具最低点到地面的高度：H1(应考虑装配人员站在AGV!行装配的合适高度，脚踏板距地面200mmHeightfromthenadirofbodyliftingappliancetotheground:H1(shouldconsiderthesuitableheightforworkerstoassemblyonAGVandthedistancefromfootpedaltogroundis200mm)b.车身最低点到地面的高度：H2(应考虑装配人员站在AGVS行装配的合适高度，脚踏板距地面200mmHeightfrombodynadirtotheground:H2(shouldconsiderthesuitableheightforworkerstoassemblyonAGVandthedistancefromfootpedaltogroundis200mm)c.装在托盘夹具上发动机最高点到托盘底面的高度： H3Heightfromthezenithofengineequippedonthepalletfixturetopalletbottom:H3

d.吊具车身发动机安装孔定位平面到地面的高度:d.吊具车身发动机安装孔定位平面到地面的高度:H4Heightfromtheplaneoforientationoftheengineinstallationholeoflifterappliancebodytotheground:H4e.AGVt发动机与车身固定安装孔定位平面到地面的高度： H5HeightfromtheplaneoforientationofsetinstallationholeofAGVengineandbody:H5通过以上数据可以计算出AGVF台上平面到地面的高度及AGV勺额定举开行程。Basedonabovedata,heightfromtheplaneofAGVtabletothegroundandratingliftcoursecanbecalculated.AGVf台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勺额定举升行程H7=H4-H5AGVratingliftcourseH7=H4-H5例如：Forexample:H1=1730mnrjH2=1850mmH6=900mmH7=1050mm贝^要求ThenitshouldbeH3<H2-H6-50mm=900mm

7.后悬装酉己举升装置RearSuspensionAssemblyLiftingEquipmentAGVt悬装配升降工作台是将后悬总成举开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。AGVrearsuspensionassemblylifterworktableistheequipmentthatliftsrearsuspensionfinalassemblytotheassemblyposition.Now,basedoncustomerrequirements,ourcompanymainlyadoptspuremechanicaldrivingextensionsleevelifterworktable.Tomeetdifferentdemandsinvariousapplicationfields,ourcompanymakesthescissorhydrauliclifterapplicationworktabletobeanoptionaldeviceforcustomertochoose.ThemainworktabletobeanoptionaldifferencebetweenthesetwoliesinthefactthatthepreviousoneusesDCservomotortodrivelifterandtheexecutivecomponentisballscrew,whilethelatter adopts hydraulicpumpingstation todrivelifterandtheexecutivecomponentishydrauliccylinder.伸缩套筒式升降工作台该装置主要由滑动工作平台、举升装置、手控盒、滚球平台等组成(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。滚球平台为一板式结构，在台面安装万向滚球，便于后桥托盘在平台上全方位移动，在平台四周安装导向装置，避免托盘滑下工作台或倾覆。Thisequipmentisformedbytheslidingworktable,liftingdevice,manualcontrolboxandrollingballtable,etc(Seethelifterworktablesketch).Amongthem,theslidingworktablecanmovehorizontallyintwodirectionsthroughstraightbearingcombinationinthecourseofapplication.Besides,itcanalsorotateincertainanglebythisstructure.Theliftingfixtureisthemaindevicetofinishtheactionofliftingandlowering.Itiscomposedofballscrew,onelayerliftchainwheelcombination,twolayersliftchainwheelcombination,motorreducer,geardrivingandeachextensionsleeve.ThemotoradoptstheimportedDCmotorandreducerofonemachine.Parts,suchastheballscrewandnutareimportedfromGermany.Theyarereliableinperformanceandstableindriving.Therollingtableisofoneboardstructure.Theuniversalrollingballis

installedonthetablesothatitisconvenientfortherearaxlepallettomoveinalldirectionsonthetable.Guidingfixtureisinstalledaroundthetabletoavoidpalletslideoffthetableoroverturn.AG印开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开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开装置升降。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.Operatorcanrunitthroughmanualoperationboxorfootswitchatthetwosidesoftheliftingequipment.AfterAGVentersintoassemblypathandtrackthebody,operatoropensthelockequipmentof