AGV裝配線技術(shù)方案

1、長(zhǎng)安福特汽車有限公司南京公司changanfordautomobileco.,ltd.nanjingcompany發(fā)動(dòng)機(jī)、前后橋agv系統(tǒng)engine&axelagvsystem技術(shù)方案technicalplan沈陽(yáng)新松機(jī)器人自動(dòng)化股份有限公司shenyangsiasunrobot&automationco.,ltd.目錄contents1.概述summary.52.設(shè)計(jì)依據(jù)designgist.52.1生產(chǎn)工藝基本要求basicrequirementofproductionprocess.52.2現(xiàn)場(chǎng)基本技術(shù)條件basicfieldtechnicalcondition.62.3責(zé)任范圍res

2、ponsibilityscope：.63.agv裝配輸送系統(tǒng)概述agvassembly&transportationsystemsummary.74.自動(dòng)導(dǎo)引車agv系統(tǒng)技術(shù)指標(biāo)automatedguidedvehicleagvsystemtechnicalspecification.95.agv工作過程描述agvworkingprocessdescription.116.發(fā)動(dòng)機(jī)裝配升降工作臺(tái)engineassemblylifterworktable.146.1伸縮套筒式升降工作臺(tái)extensionsleevelifterworktable.146.2剪式液壓機(jī)構(gòu)升降工作臺(tái)scissorhyd

3、rauliclifterworktable.166.3托盤底面距發(fā)動(dòng)機(jī)最高點(diǎn)距離與升降平臺(tái)高度關(guān)系計(jì)算calculationontherelationbetweendistancefrompalletbottomtoenginezenithandheightofliftertable.197.后懸裝配舉升裝置rearsuspensionassemblyliftingequipment.227.1伸縮套筒式升降工作臺(tái).227.2剪式液壓機(jī)構(gòu)升降工作臺(tái)scissorhydrauliclifterworktable.247.3升降平臺(tái)上平面到地面的高度計(jì)算calculationontheheight

4、fromtheplaneoftheliftertabletotheground.268.不同軸距車體裝配實(shí)現(xiàn)bodyofdifferentwheelbasesassemblyrealization.289.agv動(dòng)態(tài)裝配解決方案agvdynamicassemblysolution.2910.agv主要設(shè)備agvmainequipment.2910.1agv（lgv）車載控制器agv（lgv）vehiclecontroller.2910.2agv（lgv）驅(qū)動(dòng)系統(tǒng)agv（lgv）drivesystem.3010.3導(dǎo)航系統(tǒng)navigationsystem.3010.4在線自動(dòng)充電系統(tǒng)online

5、automaticchargesystem.3210.5無線局域網(wǎng)通訊系統(tǒng)wirelesslancommunicationsystem.3310.6驅(qū)動(dòng)控制系統(tǒng)drivecontrolsystem.3410.7非接觸防碰裝置non-contactbumperdevice.3511.agv安全系統(tǒng)agvsafetysystem.3511.1非接觸防碰裝置non-contactbumperdevice.3511.2接觸式防碰裝置contactbumperdevice.3611.3離線保護(hù)系統(tǒng)offlineguardingsystem.3611.4信息交互系統(tǒng)informationexchanges

6、ystem.3611.5緊急停車系統(tǒng)emergencystopsystem.3711.6多agv避碰multi-agvcollisionprevention.3712.agv控制臺(tái)和調(diào)度管理系統(tǒng)agvconsole&dispatchingmanagementsystem.3712.1agv控制臺(tái)agvconsole.3712.2調(diào)度管理系統(tǒng)dispatchingmanagementsystem.3813.agv車載控制系統(tǒng)和數(shù)據(jù)采集agvvehiclecontrolsystem&datacollection.4014.導(dǎo)航線的鋪設(shè)navigationlinepaving.4115.agv系統(tǒng)特

7、點(diǎn)agvsystemcharacteristics.4215.1高速無線局域網(wǎng)的建立和應(yīng)用setupandapplicationofhigh-speedwirelesslan.4215.2agv運(yùn)行的靈活性flexibilityofagvrunning.4315.3高精度導(dǎo)航系統(tǒng)highaccuracynavigationsystem.4315.4友好的人機(jī)界面userfriendlyhumanmachineinterface.4415.5完善的自診斷系統(tǒng)perfectself-diagnosissystem.4415.6agv可靠性措施measuresonagvreliability.441

8、5.7在線快速自動(dòng)充電方法和快速充電電池的應(yīng)用onlineautomaticinstantchargemethodandapplicationofinstantrechargeablebattery.4615.8故障修復(fù)時(shí)間（mtr）meantimeofrepair（mtr）.47agv系統(tǒng)的故障修復(fù)時(shí)間有兩類：thereretwokindsofmtrforagvsystem:.4715.9平均無故障時(shí)間（mtbf）meantimetofailures（mttf）.4816.agv運(yùn)行路線圖agvrunningroutegraph.4816.1裝配線agv運(yùn)行布局圖assemblyagvrun

9、ninglayout.4816.2樣機(jī)車間agv運(yùn)行布局圖sampleworkshopagvrunninglayout.4818.環(huán)行裝配線agv系統(tǒng)設(shè)備清單circularassemblyagvsystemequipmentlist.5119.項(xiàng)目進(jìn)度projectschedule.5320.培訓(xùn)training.5320.1培訓(xùn)人員的范圍、數(shù)量及時(shí)間scope,amountandtimefortrainingpeople.5420.2培訓(xùn)的內(nèi)容trainingcontent.5421.售后服務(wù)after-saleservice.551.概述summary根據(jù)長(zhǎng)安福特汽車有限公司南京公司發(fā)動(dòng)

10、機(jī)、前后橋agv系統(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(dòng)機(jī)、前后橋與車身合裝，具有同步動(dòng)態(tài)跟蹤功能的agv可實(shí)現(xiàn)發(fā)動(dòng)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(duì)控制程序稍加改動(dòng)，就可以改變裝配路線的長(zhǎng)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(jìn)行前懸掛/發(fā)動(dòng)機(jī)、后橋與車身合裝，在非裝配段進(jìn)行發(fā)動(dòng)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agv數(shù)量。accordingtodesignrequirementofchanganf

11、ordautomobileco.,ltd.onengineandaxleagvsystem,siasunusesassemblyagvsystemforengine,axleandbodydecking,andagvwiththefunctionofsynchronizationdynamictrackingcanrealizesimultaneousassemblyofengineandaxleatanyassemblyzoneorstations.byusingmagneticnavigation,groundconstructionissmallandbychangingthepatho

12、fmagneticstripupontechnicalrequirementsandmodifyingslightlycontrolprogram,thelengthofassemblypathcanbealteredtomeetdifferentassemblyprocessrequirements.agvsystemisformedbyaloopline,whichisclosetoatrapezium.theassemblyzoneisusedforfrontsuspension/engine,rearaxleandbodydeckingandthenon-assemblyzoneisu

13、sedforengineandaxlesuspendingonagvassemblypalletthroughsubassemblylineandalsoforassemblyofpartofcomponents.thenumberofagvonthelooplineissetaccordingtooutputandassemblytime.整個(gè)系統(tǒng)包括agv、agv控制臺(tái)、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,communicati

14、onsystem,datacollectionsystemandassemblyjig,etc.2.設(shè)計(jì)依據(jù)designgist2.1生產(chǎn)工藝基本要求basicrequirementofproductionprocess工位間距distancebetweenstations：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/vehicle2.2現(xiàn)場(chǎng)基本技術(shù)條件basicfieldtechnicalcondition動(dòng)力電源：交流38010%50hz2%3相5線powersupply:ac380

15、10%50hz2%3phases5lines溫度：-545temperature:-545濕度：6095%humidity:6095%防護(hù)等級(jí)：ip54protectiongrade:ip54絕緣等級(jí)：b級(jí)insulationlevel:levelb2.3責(zé)任范圍responsibilityscope：1）agv裝配系統(tǒng)總體設(shè)計(jì)、制造。agvassemblysystemdesignandmanufacturing.2）agv車體設(shè)計(jì)、制造。agvvehicledesignandmanufacturing.3）agv裝配系統(tǒng)發(fā)運(yùn)前調(diào)試、考機(jī)實(shí)驗(yàn)。agvassemblysystemdebuggin

16、gandtrialrunningbeforedelivery.4）agv裝配系統(tǒng)運(yùn)輸、接收、搬運(yùn)。agvassemblysystemtransport,reception,carriage.5）agv控制系統(tǒng)設(shè)計(jì)、制造，車載控制軟件、調(diào)度軟件設(shè)計(jì)。agvcontrolsystemdesignandmanufacturing,vehiclecontrolsoftware,schedulersoftwaredesign.6）agv工作環(huán)線設(shè)計(jì)、制造，地面導(dǎo)航線布局設(shè)計(jì)、敷設(shè)。agvworkinglooplinedesignandmanufacturing,groundnavigationlinel

17、ayoutdesignandlaying.7）現(xiàn)場(chǎng)安裝、單機(jī)調(diào)試、全線聯(lián)動(dòng)調(diào)試。fieldinstallation,unitmachinedebuggingandcompletelinelinkagedebugging.8）技術(shù)培訓(xùn)和售后服務(wù)。technicaltrainingandafter-salesservice.3.agv裝配輸送系統(tǒng)概述agvassembly&transportationsystemsummary控制臺(tái)console充電器charger發(fā)動(dòng)機(jī)/后橋agv裝配輸送系統(tǒng)由agv、agv地面導(dǎo)引系統(tǒng)、在線自動(dòng)充電系統(tǒng)、agv控制臺(tái)、數(shù)據(jù)采集系統(tǒng)、agv調(diào)度管理系統(tǒng)和通訊系統(tǒng)

18、等構(gòu)成。engine/rearaxleagvassembly&transportationsystemincludesagv,agvgroundguidedsystem,onlineautomaticchargesystem,agvconsole,datacollectionsystem,agvdispatchingmanagementsystemandcommunicationsystem,etc.lagv：agv完成發(fā)動(dòng)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agv車的腳踏板上進(jìn)行裝配作業(yè)，腳踏板采用花紋鋁板制造，操作安全。agvconductstransportationofe

19、ngineorrearsuspensionandassistantassemblyjobs.assemblyoperatorcanstandandworkonagvpedal,whichismadeofaluminumboardwithdecorativefiguresandsafetooperate.lagv地面導(dǎo)引系統(tǒng)agvgroundguidedsystem：地面導(dǎo)引系統(tǒng)是agv運(yùn)行的路線和軌跡，agv的導(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。tgroundguidedsystemisagvrunningpathandtra

20、ck.agvguidedsystemadoptsthemethodofmagnetictapenavigationbasedonthemap.whentheprocesshasconfirmedthatthemagneticstripshavebeenembeddedunderground,thegroundwillbesmoothandwoninfluencepeopleorvehicletopass.l在線自動(dòng)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補(bǔ)充電量。agv的充電過程是在控制臺(tái)的監(jiān)控下自

21、動(dòng)進(jìn)行的。toensureagvtorun24hourscontinuously,chargesystemusesthemethodoflargeelectricalcurrentandinstantelectrificationtochargeagv.agvchargeprocessisconductedautomaticallyunderthesupervisionandcontroloftheconsole.lagv控制臺(tái)和agv調(diào)度管理系統(tǒng)agvconsoleandagvdispatchingmanagementsystem控制臺(tái)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)

22、采集系統(tǒng)的數(shù)據(jù)處理，與上位機(jī)交換信息，生成agv的運(yùn)行任務(wù)，解決多agv之間的避碰問題。consoleandagvdispatchingmanagementsystemisthedispatchingmanagementcenterofagvsystem,responsiblefordataprocessingindatacollectionsystemandinformationexchangewithuppercomputertocreateagvrunningtasksandsolvetheproblemsofmultiagvcollision.l通訊系統(tǒng)communicationsys

23、tem通訊系統(tǒng)由無線局域網(wǎng)組成。agv與控制臺(tái)之間采用無線電臺(tái)進(jìn)行信息交換，通訊協(xié)議為tcp/ip協(xié)議?？刂婆_(tái)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.ethernetisusedbetweenconsoleandtheuppercomputerfordata

24、transmission.l光電檢測(cè)系統(tǒng)photoelectricitytestingsystem光電檢測(cè)系統(tǒng)是用于檢測(cè)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(hào)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agv始終處于等待狀態(tài)。如果有車身通過，但等待站點(diǎn)沒有agv等待，agv控制臺(tái)將通知總控室。photoelectricitytestingsystemisusedtocheckifthebodyonthesuspendingtoolsofthemaintransmissionlinehasruntotheposition,wheresignalwi

25、llbesenttoinformagvatthewaitingstationtomovesidewaystorealizesequenceassembly.ifthebodyhasntpassed,agvatthewaitingstationwillstayallalonginthestatusofwaiting.ifpassed,buttheresnoagvwaitingatthestation,agvconsolewillnotifythegeneralcontrolroom.4.自動(dòng)導(dǎo)引車agv系統(tǒng)技術(shù)指標(biāo)automatedguidedvehicleagvsystemtechnicals

26、pecification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控制方式：控制站集中調(diào)度、監(jiān)控、管理agv系統(tǒng)的運(yùn)行狀態(tài)agvscontrolmode:controlstationmakescentralizeddispatch,monitoring&controlandmanagementontherunningstateofagvsy

27、stemagv控制方式具備功能：全自動(dòng)半自動(dòng)手動(dòng)agvcontrolfunction:automatic/semi-automatic/manual通訊方式：無線局域網(wǎng)communication:wirelesslanagv導(dǎo)航方式：磁導(dǎo)航agvnavigationmethod:magneticnavigationagv驅(qū)動(dòng)方式：雙舵輪驅(qū)動(dòng)。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(su

28、bjecttofinaldesign)同步跟蹤精度：10mmsynchronizationtrackingaccuracy:10mm運(yùn)動(dòng)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60mmin，側(cè)移30mminmaximumspeed:straight60mmin，sidewaysmoving30mmin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

29、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)舉升。liftingequipment:dualliftframework,forsynchronizationliftingorseparatelifting托盤夾具：按照實(shí)際需要設(shè)計(jì)（本

30、方案中不含該部分內(nèi)容）palletfixture:designaccordingtodemands(notincludedinthissolution)電池組：48v100ah，正常使用，壽命大于3年batterycharger:48v100ah,innormalusageanditslongevityisover3years.充電方式：全自動(dòng)充電器實(shí)現(xiàn)在線自動(dòng)充電，保證連續(xù)24小時(shí)工作charging:automaticchargerrealizesonlinequickchargetoensure24hourscontinuousworking操作高度：裝配人員站在agv提供的腳踏板上相對(duì)

31、靜止進(jìn)行零部件裝配，腳踏板到地面高度200mm。operationheight:operatorstandsonagvfootpedaltoassemblypartsinrelativestillconditionandtheheightfromthefootpedaltothegroundis200mm.車體尺寸：4800mm1800mm900mm長(zhǎng)寬高(舉升前)bodydimension:4800mm1800mm900mm(lengthwidthheight(before/afterlifting)5.agv工作過程描述agvworkingprocessdescription（1）agv小

32、車按控制臺(tái)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(hào)，允許agv向下一個(gè)站點(diǎn)運(yùn)行；agvwillrunuponconsolecomputerorderstoloadingpointofrearaxlefinalassemblyandoperatorwillcompletethisbasedonproductionplan.aftertherearaxlefinalassemblyismovedfromtherearaxlesubas

33、semblylineandplacedwellontherearaxlefixtureofagvrearaxleliftingdevice,operatorpressesthebuttononthevehicletosentsignal,informingagvthatloadinghasbeenfinishedandallowagvtomovetowardsnextstation.（2）agv小車行駛到發(fā)動(dòng)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(dòng)機(jī)總成的吊裝，當(dāng)將發(fā)動(dòng)機(jī)總成從發(fā)動(dòng)機(jī)分裝線吊到agv發(fā)動(dòng)機(jī)舉升裝置上的發(fā)動(dòng)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

34、確認(rèn)信號(hào)，允許agv向下一個(gè)站點(diǎn)運(yùn)行agvrunstoloadingpointofenginefinalassemblyandoperatorwillcompleteenginefinalassemblysuspending.whentheenginefinalassemblyismovedandplacedwellontheenginefixtureofagvengineliftingdevicefromenginesubassemblyline,operatorthensendsconfirmationsignalofthecompletionofloadingbypressingoper

35、ationbuttononthebodytoinformagvvehicletomovetowardsnextstation.（3）agv小車按控制計(jì)算機(jī)的指令行駛到等待地點(diǎn)；agvmovestowaitingplaceaccordingtotheorderfromcontrolcomputer.（4）agv小車在某一停留時(shí)間相對(duì)長(zhǎng)的站點(diǎn)（動(dòng)力總成上裝點(diǎn)或其它點(diǎn)）進(jìn)行自動(dòng)充電；agvwillchargeitselfautomaticallyatonestation(powertrainassemblyloadingpointorotherpoint)forrelevantlongwaiting

36、time.（5）agv控制臺(tái)檢測(cè)工藝鏈上車體的位置信號(hào)，當(dāng)被裝車體到位后調(diào)度已載有發(fā)動(dòng)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，人工操作舉升手控盒或腳踏開關(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(dòng)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(tái)鎖定裝置，使舉升裝置上平臺(tái)處于浮動(dòng)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

37、一下舉升裝置上的裝配結(jié)束按鈕，agv將自動(dòng)落下舉升裝置到零點(diǎn)。當(dāng)前后舉升裝置全部復(fù)位到零點(diǎn)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(dòng)機(jī)及后橋，完成一次工作循環(huán)。agvconsolewilltestthesignalofbodypositionontheprocesschain.whenloadedbodyhasgottentotheposition,agvwithengineandfront&rearsuspensionassemblyisdispatchedaccordingtosettimeandspeedtotheunderneathofthesuspendingchain

38、(time&speedcanbechangedthroughvehicledisplayeraccordingtorequirementsoftheproductionline).thenagvmovesforwardquicklyintheassemblyzoneandcapturesintheprearrangedareathecooperativetargetsetinadvanceonthebody.aftertrackingstateisstable,manualcontrolboxorfootpedalswitchisdonebymanualoperationtoraisethel

39、ifter.operatorcanrunsimultaneouslyorseparatelytheengineliftingdeviceandrearaxelliftingdevice.whentheliftingdeviceisraised,thelockfixtureisopenedtomakethetablefloating.operatorpressesthebuttonforliftingandatthesametimeputsthebodylocatingpinsonthefixtureintotheprocesslocatingholeofthebody.whengettingt

40、otheinstallationposition,allboltinstallationholesarelocated.thenassemblyworkerswillinstallthesetboltsandpressthebuttonontheliftingfixtureaftercompletionofassembly.agvwilllowertheliftingfixturetozeroautomatically.whenallliftingfixturesreachzero,agvwillacceleratetoleaveassemblystation.afterequippedwit

41、hengineandrearaxleatloadingstation,agvfinishesoneworkingcycle.當(dāng)發(fā)動(dòng)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(huì)通過控制臺(tái)申請(qǐng)停止懸鏈運(yùn)行。whenengineandfront&rearsuspensionassemblycantbesuppliedintime,makemanualcontrolbyusingemergencystopswitchontheassemblystationtostopsuspendingchaintorun.evenwit

42、houtpressingthesuspensionchainemergencyswitch,agvsystemcanalsoapplytostoprunningthroughtheconsole.當(dāng)agv進(jìn)入報(bào)警工位（裝配工位末端）而未完成合裝時(shí)，agv將自動(dòng)停止運(yùn)行，agv控制臺(tái)報(bào)警并控制工藝鏈停線，直到完成裝配后自動(dòng)恢復(fù)運(yùn)行。whenagventersintoalarmingstation(attheendofassemblystation)andhasntfinishedassembly,agvwillstopautomaticallyandagvconsolewillalarmandc

43、ontroltheprocesschaintostop.afterassembly,itwillrecoverautomatically.（5）agv在分裝工位的運(yùn)行速度可根據(jù)現(xiàn)場(chǎng)實(shí)際設(shè)置。agvrunningspeedinsubassemblystationcanbesetupaccordingtoactualsituation.6.發(fā)動(dòng)機(jī)裝配升降工作臺(tái)engineassemblylifterworktableagv發(fā)動(dòng)機(jī)裝配升降工作臺(tái)是將發(fā)動(dòng)機(jī)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(jī)械傳動(dòng)的伸縮套筒式升降工作臺(tái)。為適應(yīng)各使用現(xiàn)場(chǎng)的不同要求，我公司將剪式液壓機(jī)構(gòu)升降工作臺(tái)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(dòng)升降，執(zhí)行元件為滾珠絲杠。后者采用液壓泵站驅(qū)動(dòng)升降，執(zhí)行元件為液壓缸。agvengineassemblylifterworktableistheequipmentthatliftsenginefrontsuspensionfinalassemblytotheassemblyposition.now,b