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惯性导航AGV搬运系统

关键字导读: 惯性 AGV系统 AGV搬运

MIAOSHU:GUANXINGDAOHANGXITONG(INS,YIXIAJIANCHENGGUANDAO)SHIYIZHONGBUYILAIYUWAIBUXINXI、BUYISHOUDAOGANRAODEZIZHUSHIDAOHANGXITONG。GUANDAOTONGGUOCELIANGZAITIZAIGUANXINGCANKAOXIDEJIASUDU,ZIDONGJINXINGJIFENYUNSUAN,HUODEZAITIDESHUNSHISUDUHESHUNSHIWEIZHISHUJU,QIEBATABIANHUANDAODAOHANGZUOBIAOXIZHONG,CONGERDEDAOZAIDAOHANGZUOBIAOXIZHONGDESUDU、PIANHANGJIAOHEWEIZHIDENGXINXI。

简介

Introduction

GUANXINGDAOHANGXITONG(INS,YIXIAJIANCHENGGUANDAO)SHIYIZHONGBUYILAIYUWAIBUXINXI、BUYISHOUDAOGANRAODEZIZHUSHIDAOHANGXITONG。GUANDAOTONGGUOCELIANGZAITIZAIGUANXINGCANKAOXIDEJIASUDU,ZIDONGJINXINGJIFENYUNSUAN,HUODEZAITIDESHUNSHISUDUHESHUNSHIWEIZHISHUJU,QIEBATABIANHUANDAODAOHANGZUOBIAOXIZHONG,CONGERDEDAOZAIDAOHANGZUOBIAOXIZHONGDESUDU、PIANHANGJIAOHEWEIZHIDENGXINXI。QIYOUSHIZAIYUJIDINGLECHUSHITIAOJIANHOU,BUXUYAOWAIBUCANZHAOJIUKEQUEDINGDANGQIANWEIZHI、FANGXIANGJISUDU。SHIYONGYUGEZHONGFUZADILIHUANJINGHEWAIJIEGANRAOXIADEJINGQUEDINGWEIHEDINGXIANG,QIENENGBUDUANCELIANGWEIZHIDEBIANHUA,JINGQUEBAOCHIDONGTAIZITAIJIZHUN。

新萄京SUIZHEJINGJIJIANSHEDUIKEXUEJISHUXUYAODETIGAO,YIJIRENMENDUIGUANXINGJISHULEJIEDEBUDUANPUJIHESHENRU,GUANXINGJISHUDEYINGYONGLINGYUYIZHUBUCONGJUNYONGKUOZHANDAOMINYONG,CONGDAOHANG/ZHIDAOKUOZHANDAOWENDING/KONGZHI,BINGZHENGZAINULIKAIFAJUYOUSHICHANGJINGZHENGLIDEXINJISHUHEXINCHANPIN。

YIXIASHIXINSONGJIQIRENZIDONGHUAGUFENYOUXIANGONGSISHEJIDEGUANDAOAGVZAIMOUDAXINGDIANJIBOGONGSIYUNSHUDIANJIBODEYUANLIAO、BANCHENGPINJICHENGPINDESHILI。DIANJIBOSHILVDIANJIEDIANRONGQIZHIZAODEGUANJIANYUANCAILIAO,YOUYUDIANZICHANYEDEXUNSUFAZHAN,YOUQISHITONGXINCHANPIN、JISUANJI、JIADIANDENGZHENGJICHANPINSHICHANGDEJIJUKUODA,DUILVDIANJIBOCHANYEDEFAZHANQILETUIBOZHULANDEZUOYONG。TONGSHIYOUYULVDIANJIEDIANRONGQIDEXIAOXINGHUA、GAOXINGNENGHUA、PIANSHIHUADEYAOQIUYUELAIYUEPOQIE,DUIDIANJIBOZHIZAOYEDEJISHUHEZHILIANGTICHULEHENGAODEYAOQIU,TONGSHIYEDUIGAOXIAO、ZHENGQUEDECANGCHUGUANLITICHULEHENGAODEXUQIU。

WULIAODEZHUANGXIEBANYUNSHIWULIUGUOCHENGZHONGFASHENGPINLVGAO,HAOYONGSHIJIANZHANG,SUOXUFEIYONGDADEZUOYEHUODONG。WEILEJIANGDICHENGBENBINGTIGAOXIAOLV,ZIDONGBANYUNJISHUDESHISHISHIZAIBIXING,YINCISHOUDAOYUELAIYUEDUODEGUANZHU。ZAIZHONGDUODEBANYUNJISHUZHONG,YINWEI  AGV(Automatic Guided Vehicle)DEYOUYUEXING,SHIQICHENGWEISHIXIANWULIAOZIDONGBANYUNDEZUIJIAJIEJUEFANGAN。AGVYESHIDANGJINROUXINGZHIZAOXITONGHEZIDONGHUACANGCHUXITONGZHONGWULIUYUNSHUDEYOUXIAOSHOUDUAN,SHIWULIULINGYUZHONGSHOUTUIDEJIANDANYOUXIAODEZIDONGWULIAOYUNSHUFANGSHI。YINCIXINTAOJINGCAIYONGAGVZUOWEICIXIANGMUDEZAITIPEIHEZHENGGEWULIUXITONGSHIXIANHUOWUDECHUANSHUHEYUNSONG。AGVDEYINGYONGSHIXIANLEQIYUANLIAO、BANCHENGPIN、CHENGPINCANGCHUGUANLIDEZIDONGHUA、ZHINENGHUA、XINXIHUA,TIGAOLEGONGZUOXIAOLV,JIANGDILECHACUOLV,TONGSHIYESHIDIANJIBOSHENGCHANZUOYELIUCHENGDEZONGHEZIDONGHUASHUIPINGMAISHANGYIGEXINDETAIJIE。

新萄京YOUYUCIGONGSIXIANCHANGHUANXIAN4000DUOMIZHANG,QIEJIAOCHADIANJIAODUO,PUSHECITIAOSHIGONGNANDUJIAODA,QIEKENENGCHANSHENGXIANGJIN、XIANGJIAOGUIJIZHIJIANDEGANSHE,YINCIXINTAOJINGWEIJIANGDICHENGBEN,BIANYUSHIGONG,JIYUXINGJIABIKAOLV,CAIYONGDIMIANXIANGGEYIDINGJULIYUMAICIDING,JINXINGGUANXINGDAOHANGKONGZHI,ZENGQIANGAGVZAIFUZAHUANJINGTIAOJIANXIADEKANGGANRAONENGLI,BAOZHENGAGVZAIFUZAGUIJIXINGZOUSHIYOUJIAOGAODEJINGDUDINGWEI。

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1、工作流程:

在整体布局中,各工艺环线上按照工艺需要,通过预埋磁钉布置相应的上下料站点,每个站点由AGV自动进行上下料工作。
在站点上通过手持终端对AGV下达空托盘输送指令。任务管理系统通过网络与AGV输送系统连接,根据各工位“要料”情况发指令给AGV输送系统,由AGV系统自动实现指定产品在库房与指定工位间及各工位间的运送。无任务的AGV将在指定地点进行充电任务并等待输送指令。

2、AGV基本参数技术要求

AGV的机械结构由三部分组成:车体,驱动装置和提升机构组成。根据现场托盘情况,承载能力800KG,工作状态,进行校核计算,得如下参数:
AGV驱动装置:采用双驱动轮差动形式
提升机构:采用凸轮机构,安装内导向,保证提升机构直线上下,动作平稳
提升高度:100mm
AGV导航精度为±10mm;停车位置精度为±5mm。
AGV最大速度为60m/min。
AGV设有前后接触式保险杠和前置非接触式激光防碰传感器,当AGV运行时,前方一定距离内发现障碍物,AGV可减速停车,保证AGV及周边人员设备的安全。
    车体尺寸1900×850×870(mm)。
    AGV负载能力:> 800KG。
    AGV使用48V/100AH快速充电电池
    通讯方式为:无线局域网。
新萄京    导航方式为:惯性导航。

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3、AGV电气系统的构成

AGV主要由车载控制器、伺服驱动系统、惯导系统、安全系统、供电系统、通讯系统和手动维护系统等部分构成。实现了AGV控制器的通用性与模块化,各功能模块性能稳定可靠且分工明确,即保证了AGV整体性能的灵活配置,又便于不同系统功能的扩充与维护。 

新萄京GUANDAOCHUANGANQIDEXIAOWUCHAHUISUISHIJIANLEIJICHENGDAWUCHA,QIWUCHADATISHANGYUSHIJIANCHENGZHENGBI,YINCIXUYAOBUDUANJINXINGXIUZHENG。XINSONGGUANDAOAGVSHIDUOCHUANGANQISHUJURONGHEDECHANWU,BAOKUOGAOJINGDUCIDAOHANGCHUANGANQI、TUOLUOYICHUANGANQI、QUDONGLUNMAPANCHUANGANQI,YIJIRFIDCHUANGANQIDENG。ZAIGONGZUOGUOCHENGZHONG,XINTAOJINGCAIYONGRFIDPEIHEAGVCHETIJISHIJINXINGJIUPIAN,BAOZHENGGUANDAOXITONGDEJINGDUJIKEKAOXING,CONGERBAOZHENGAGVXITONGANGUIJIYUNXING。RFIDTONGSHIZUOWEIZHANDIANSHIBIEDEZAITI,SHIAGVKEYISUISHIZIDONGSHANGXIAN,BUYONGRENGONGSHURUZHANDIANDEHAOMA,ZAISHANGXIANZHANDIANBIJIAODUODEYINGYONGXIANCHANG,WEICAOZUORENYUANTIGONGLEBIANLI,BIMIANLERENGONGSHURUCUOWUDEQINGKUANG。

4、 AGVS系统构成

DIANQIKONGZHIXITONGSHIWULIUXITONGZHONGSHEBEIZHIXINGDEKONGZHIHEXIN,BAOHANSHEBEIKONGZHICENGHEJIANKONGCENG。XIANGSHANGLIANJIEWULIUXITONGDEDIAODUJISUANJI,JIESHOUWULIAODESHUSONGZHILING;XIANGXIALIANJIESHUSONGSHEBEISHIXIANDICENGSHUSONGSHEBEIDEQUDONG、SHUSONGWULIAODEJIANCEYUSHIBIE;WANCHENGWULIAOSHUSONGJIGUOCHENGKONGZHIXINXIDECHUANDI。CIWAIHAITIGONGNEIRONGFENGFU、XINGXIANGSHENGDONGDERENJIJIEMIAN、ANQUANBAOHUCUOSHIHEDUOZHONGCAOZUOMOSHI,FUZHUGONGZUORENYUANJINXINGSHEBEICAOZUOHEWEIHU。

AGV通过控制台负责与立库管理计算机交换信息,根据所要输送铝箔托盘的信息生成AGV的运行任务,同时解决运行中多AGV之间的避碰问题。AGV控制台在调度管理过程中将AGV系统的状态反馈给仓库的中心控制管理系统。AGV控制台和各AGV之间组成无线局域网。AGV与控制台之间采用无线局域网进行信息交换。通过多个无线接入点的组合,覆盖AGV运行的区域,使AGV在跨越不同的区域时实现自动漫游,实现无缝连接。
由于采用集中控制的方式,控制台将成为AGVS系统的核心。它与生产调度管理计算机系统留有接口,可以接受调度命令和报告AGV的运行情况。控制台应满足工业现场环境要求,有足够的运算速度和管理能力。控制台主要功能包括通讯管理、AGV运行状态、数据采集和运行状态显示。控制台在实时调度在线AGV的同时将在屏幕上显示系统工作状态,包括在线AGV的数量、位置(包括AGV处于的地标位置)状态、已完成的装配数量等。控制台负责AGV运行中的交通管理。保证运行中的AGV与AGV间不发生碰撞和AGV追尾等事故。控制台将对进入系统和退出系统的AGV进行管理,以保证系统安全运行。

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AGV调度管理系统采用集中调度管理方式,控制台根据生产管理系统下达的运输任务,AGV的工作状态、运行情况,通过通讯系统将命令和任务传递给被选中的AGV,被选中的AGV根据控制台的命令完成物料托盘的输送。任务完成后,AGV通知控制台任务完成情况,并回到待命位置,等待下一次任务。

结束语

GUANXINGDAOHANGAGVZAIDIANZIXINGYEDEYINGYONG,TIXIANCHULEGUANDAOXITONGDEWANQUANZIZHU、BUSHOUGANRAO、BUSHOUXUJIAXINHAODEYINGXIANGDENGYOUSHI,TIXIANLEAGVDEXIANJINXING、SHIYONGXING、JINGJIXING、ANQUANXING、KEKAOXINGDENGTEDIAN,CUJINLEXITONGDEGAOXIAOXINGHESHIYONGXING。DIANZIXINGYETONGGUOAGVSHUSONGXITONGDEYINGYONG,TIDAILECHUANTONGDEYONGRENGONGQUDONGXIAOCHEDEYUNSHUGONGZUO,CUJINLEQIYEJISHUJINBU,GAISHANLEGONGRENDEGONGZUOHUANJINGTIAOJIAN,TIGAOLEZIDONGHUASHENGCHANSHUIPING,YOUXIAODIJIEFANGLELAODONGSHENGCHANLI,JIANQINGLELAODONGQIANGDU,TONGSHICUJINLEQIYERENYUANSUZHI、GUANLISHUIPINGDETIGAO,CUJINLEQIYEDEBIAOZHUNHUA、GUIFANHUA、XINXIHUADEJICHUJIANSHE。

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