AGV装配线系统
9. AGV 动态装配解决方案AGV Dynamic Assembly Solution
目前汽车装配基本采用连续运转装配方式，在工艺链及车身连续运行下装配发动机或后桥是动态装配的关键。新松公司开发的动态跟踪传感器是采用专用位置传感器，当AGV进入被装车身下方，检测到合作目标，AGV通过检测安放在被装车身下放的合作目标，计算AGV与被装车身间的位置，调整AGV的运行速度，使AGV保持与被装车身同步运行实现动态装配。
Currently, AGV assembly basically adopts the method of continuous running assembly. The key to dynamic assembly is to assemble engine or rear axle with process chain and body continuously moving. The dynamic tracking sensor developed by SIASUN uses special position sensor. When AGV moves to the underneath of the body and find the cooperative target, it will calculate the distance between AGV and the body to make adjustment of running speed in order to ensure synchronous moving between AGV and the body to be assembled and thus realize dynamic assembly. 10. AGV 主要设备AGV Main Equipment
10.1 AGV（LGV）车载控制器 AGV（LGV）Vehicle Controller
AGV控制器使用国际著名工控品牌研华成熟的前接线系列主机作为处理器核心，配合新松公司多年来为AGV专业开发的各种功能模块，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。
As the core of processor, the mature front connection series host computer of Advantech, an international famous brand, is adopted as AGV controller. This plus all kinds of function modules developed especially for AGV by SIASUN in many years have realized universality and modularization of AGV controller. The performance of each function module is stable and reliable and their job allocations are clear. This ensures flexible configuration of AGV’s whole performance and makes it convenient to enlarge and maintain different system functions.
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AGV装配线系统
10.2 AGV（LGV）驱动系统AGV（LGV）Drive System
AGV驱动轮使用欧洲进口的AGV专用全方位驱动轮。该种车轮集成了行驶与转向两个单元，该种AGV专用车轮外层使用树脂橡胶材料作成，具有强度高、耐磨损、稳定性高、具有一定的弹性等优点，非常适合于AGV系统的使用。转向单元使用一个独立的伺服电机装有旋转编码器及高精度位置检测电位计，转向单元可在±90o的范围内转动，控制驱动电机的驱动轴向，配合驱动单元的正反
转，可使车轮沿任意方向运动。车轮单独组成一驱动机械系，在一个轮支架内安装有直流伺服电机、同轴减速器、抱闸、旋转编码器及测速机等，车轮结构紧凑、空间占用少、可控性高、性能可靠、维护简单。在装配型AGV中装有两个独立控制的驱动轮。
AGV driving wheel adopts special omni-directional driving wheel, which is imported from Europe. This wheel integrates the two units of moving and turning. The external of the special AGV wheel is made of colophony rubber, which has high intensity, durability, stability and some elasticity and is very suitable for the use of AGV system. The steering unit uses a separate servo motor equipped with a revolving coder and a high accuracy position test potentiometer. It can turn in the scope of±90 degrees, control the axial direction of driving motor and cooperate with the turning of the driving unit to run the wheels to move in any directions. The wheels form a separate drive mechanical system. There is DC servo motor, common axle speed reducer, holding brake, revolving coder and tachometer installed in a wheel bracket. The wheel structure is tight, which occupies little space. It is highly controllable with reliable performance and is easy to maintain. There are two separate controlled driving wheels in assembly AGV.
10.3 导航系统Navigation System
装配型AGV使用磁导航，在AGV下方装有磁传感器专业公司为AGV专门设计的磁导航传感器，该传感器结构紧凑、使用简单、
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AGV装配线系统
导航范围宽、导航精度高、灵敏度高、搞干扰性好，AGV地标传感器使用同一系列的横向产品，安装尺寸更小，可与导航传感器使用相同的信号磁条。
Assembly AGV uses magnetic navigation. There’s a magnetic sensor designed especially for AGV by professional magnetic sensor company under AGV. This sensor is tight in structure, easy to use, wide in navigation scope and has high navigation accuracy, sensitivity and good performance in anti-jamming. AGV land mark sensor uses the same series transverse products with small installation dimension and can use the same signal magnetic strip with the navigation sensor.
AGV的地面磁导航系统是AGV在运行过程中所能达到的路径，主要由以下几部分构成：运行路径导航线、地标导航线和弯道导航线。采用磁导航的方法，运行路径导航线由长500mm、宽50mm、厚度为1mm的磁性橡胶铺设而成，根据路径的具体要求可以进行适当的裁剪。地标导航线由长150mm、宽50mm、厚度为1mm的磁性橡胶铺设而成，在地图上地标是各个站点的标志。弯道导航线由路径导航线和地标导航线构成，如图[3]所示：
AGV ground magnetic navigation system is the path that AGV can reach in its running course. It mainly includes running path navigation line, land mark navigation line and crooked path navigation line. Magnetic navigation is used and the running path navigation line is paved by the magnetic rubber of 500mm length, 50mm width and 1mm thickness and can be altered according to specific requirements on path. The land mark navigation line is made by the magnetic rubber of 150mm length, 50mm width and 1mm thickness and the mark on the map is the symbol for each station. The crooked path navigation line is formed by path navigation line and land mark navigation line, as shown in Picture 3:
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导航线 Navigation line 地标land mark 图[3] 导航线及地标 Picture 3: Navigation line & land mark AGV装配线系统
AGV在弯道的运行分成下述几个步骤：
AGV’s running in the crooked path can be divided into the following steps: ? 找到地标。Finding the land mark.
? 按一定的转弯半径，AGV靠码盘的位置编程来完成圆弧的轨迹。 By certain turning radius, AGV will finish the arc track by programming the
code position.
? 寻找导航线，按导航线的路径行走。
Finding the navigation line and run in accordance with its path. 10.4在线自动充电系统Online Automatic Charge System
AGV使用高容量镍镉充电电池作为供电电源该种电池一方面在短时间内可提供较大的放电电流，在AGV启动时可提供给驱动系统以较大的加速度，另一方面该种电池的最大充电电流可达到额定放电电流的10倍以上，使用大电流充电即可减少电池的充电时间，AGV的充电运行时间比可达到1：8，
AGV可利用在线停车操作的时间进行在线充电，快速补充损失的电量，使AGV在线连续运行成为了可能。
AGV uses high capacity and nickel cadmium rechargeable battery as power supply. This kind of battery can provide large electrical current within a short time and provide drive system with great acceleration when AGV is started up. On the other hand, the maximum charge current of this kind of battery can reach over 10 times of the rated electrical current. By using large electricity current for charge, the electrification time can be reduced and the rate of charge time versus running time of AGV can be 1:6. AGV can use online break time to charge and make up quickly the loss of electricity to make it possible to run AGV continuously online.
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