AGV装配线系统
考虑到当前国内的实际情况，为提高AGV系统的可靠性，AGV上使用的主要零、部件全部是从国外著名公司购买的。例如，磁导航传感器，带有直流伺服电机、抱闸、编码器、测速机的驱动轮总成，充电连接器，伺服电机放大器，开关，继电器，无线通讯模块，控制计算机等。
Considering the current situation in China and for the purpose of improving AGV system reliability, the main components used on AGV are purchased from international famous company. For example, the magnetic navigation sensor, DC servo motor, holding brake, coder, driving wheel assembly of the tachometer, charge linker, servo motor amplifier, switch, relay, wireless communication module and control computer, etc.
新松公司的AGV具有多种工作模式，提供自动运行方式、离线运行方式及手动运行方式，可在各种情况下满足生产的需要，提高整个系统的可用性。其中离线运行方式是让AGV脱离AGV控制台的调度，AGV按地图及内部预定程序进行半自动运行的方式，可用于系统调试及AGV控制台停电时的紧急生产。
SIASUN AGV has manifold working modes and provides automatic, offline and manual running methods to meet production needs under different circumstances in order to improve the usability of the whole system. Among them, offline running method is to let AGV break away from the dispatch of the console and move semi-automatically according to the map and internal preset program. This can be used for system debugging and emergency production when AGV console is in the situation of power cut.
AGV使用的是48V电池组，正常情况下AGV每个工作循环只消耗4%以下的电量，因而即使主电源停电，AGV仍能以其剩余电容量继续运行一段时间，另在AGV控制台中用户可安装相应容量的UPS，使AGV控制台在主电源停电的情况下也可以继续运行一段时间，且AGV控制台中的UPS我们选择的是在线式的产品，也可有效地滤除外网电源的波动，保证整个系统的稳定运行。
AGV uses 48V battery charger. In normal circumstance, AGV only consumes electricity of less than 4% in every working cycle, so even the main power supply is cut off, AGV can continue to run with the rest of electricity for a period of time. Besides, user can install UPS of relevant capacity in the AGV console to enable AGV to run continuously for a period of time when the main power supply is cut off. Moreover, we choose online products for the UPS of the AGV console and can filter out effectively
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the fluctuation of electrical source in the external network to ensure stable running of the whole system.
15.7 在线快速自动充电方法和快速充电电池的应用Online Automatic Instant Charge Method and Application of Instant Rechargeable Battery
采用可以快速充电的碱性电池，充电电流可以大于放电电流的数十倍，这样在系统设计时就可以采用大电流充电，以很短的充电时间补充电池容量，获得相对长的工作时间。现在系统设计的充电时间和放电时间之比为1：6，即电池工作时间为充电时间的6倍。AGV能够自动检测电池容量的状态，在需要的时候，通过控制台的管理，完成电池容量的补充，实现了在线快速自动充电技术。
We use instant rechargeable alkaline battery. The charge current can be several tens of the current used, thus when designing the system, we can adopt large electricity for charge so that we can make up battery capacity in a very short charging time and get relative long working time. The current rate of charging time versus using time in system design is 1:6, i.e. battery working time is 6 times of charging time. AGV can test automatically the state of battery capacity, and finish the supplement of battery capacity through the management of the console when needed to realize online automatic instant charge technology.
在每个循环中，AGV的耗电量是电池容量的10%，AGV电池基本是工作在浮充状态或浅度放电状态，所以保证电池的使用寿命3年以上。
In each cycle, AGV consumption of power supply is only 10% of the battery capacity. The AGV battery is in the basic working state of floating charge or light discharge, thus ensuring the battery longevity to be over 3 years.
如果在节假日放假时间较长的情况下，AGV电池有少量的自放电，正常情况下AGV运行几个循环就可以将自放电的能量补充上来。保险起见可以在放假前将AGV的供电保险丝拔掉。
During the holidays, AGV battery will have small amount of self-discharge. Normally, AGV will make up for these energies after running for several cycles. To ensure the safety, the power supply fuze can be pulled out before holiday.
这种设计的优点是明显的，AGV系统可以连续三班生产。在连续三班生产的情况下，不用增加AGV，充电机和电池的数量。
The advantage of the design is apparent. AGV system can work continuously for
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3 shifts without increase the number of AGV, charger or battery.
在电池的使用过程中，会有一定的记忆效应，可以通过电池活化装置定期（正常6个月）活化，消除记忆效应。在该项目中，新松公司赠送一套电池活化装置。
In the course of battery usage, there will be certain memory effect, which can be activated periodically (normally 6 months) through battery activation fixture for elimination. In this project, SIASUN will present one set of battery activation fixture for free.
15.8 故障修复时间（MTR）Mean Time of Repair（MTR）
AGV系统的故障修复时间有两类： There’re two kinds of MTR for AGV system:
? 系统的修复时间System MTR ? 部件的修复时间 Component MTR 系统的修复时间：System MTR
系统的修复时间是指在整个系统中一台AGV出现故障，AGV下线修复，系统恢复正常运行的停顿时间，这个时间通常为3～5分钟。实际上通过多AGV的组合提高了系统运行的可靠性，出现故障也不影响整条生产线的运行。
System MTR means the pause time for the system to recover normal running when in the whole system there is one AGV has malfunction and must be removed from the line for repair. Usually the time is 3-5 minutes. In fact, by combination of multi-AGVs, system-running reliability is improved and the whole production line will not be influenced due to malfunction.
部件的修复时间：Component MTR
主要有以下两点Mainly including the following two aspects:
1）对于局限于各类功能单元内的故障（指可以快速插拔的功能单元），在确认故障后应能在5～30分钟内更换功能模块并恢复运行。
In terms of the malfunction localized in each function cell (means the fast plug in and out function cell), the function module can be replaced and recovered for running within 5-30 minutes after confirmation of malfunction.
2）对于拆装重大部件，如驱动电机、车轮等应能在1～2小时内完成。 In terms of removing and installing important parts, such as driving motor and wheels, etc, can be finished within 1-2 hours.
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15.9 平均无故障时间（MTBF）Mean Time To Failures（MTTF）
除了正常的维护和保养以外，AGV的平均无故障时间是4000小时。 Besides normal maintenance and care, AGV MTTF is 4000 hours. 16. AGV运行路线图 AGV Running Route Graph
双举升装配型AGV为全方位移动轮系结构设计，实现了所占运行空间最小化。 Dual lift assembly AGV is designed with the structure of omni-directional moving wheels to realize minimization of occupied running space. 16.1 装配线AGV运行布局图 Assembly AGV Running Layout
16.2 样机车间AGV运行布局图 Sample Workshop AGV Running Layout
本图为样机车间用AGV的运行路线图（假想情况）。具体情况可以根据用户的实际情况进行具体设计。
The picture shows the running route (in hypothesis) of the sample workshop AGV. It can be designed specifically upon customer’s requirement and actual situation.
本方案设计配备AGV一台、一台充电器，不需要控制台。
This plan design has included one AGV and one charger and has no need for console.
AGV运行采用离线自动运行方式（在AGV操作面板上菜单选择方式操作）。
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