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惯性导航AGV搬运体系

关键字导读: 惯性 AGV体系 AGV搬运

MIAOXIE: GUANXINGDAOHANGTIXI(INS,YIXIAJIANCHENGGUANDAO)SHIYIZHONGBUYIKAOYUNEIBUXINXI、BUYIZAODAOJIAORAODEZILISHIDAOHANGTIXI。GUANDAOJINGYOUJINCHENGZHANGLIANGZAITIZAIGUANXINGCANKAOXIDEJIASULV,ZHUDONGTINGZHIJIFENYUNSUAN,QUDEZAITIDECHASHISULVHECHASHIWEIZHISHUJU,QIEBATABIANGENGDAODAOHANGZUOBIAOXIZHONG,CONGERQUDEZAIDAOHANGZUOBIAOXIZHONGDESULV、PIANHANGJIAOHEWEIZHIDENGXINXI。

简介

Introduction

GUANXINGDAOHANGTIXI(INS,YIXIAJIANCHENGGUANDAO)SHIYIZHONGBUYIKAOYUNEIBUXINXI、BUYIZAODAOJIAORAODEZILISHIDAOHANGTIXI。GUANDAOJINGYOUJINCHENGZHANGLIANGZAITIZAIGUANXINGCANKAOXIDEJIASULV,ZHUDONGTINGZHIJIFENYUNSUAN,QUDEZAITIDECHASHISULVHECHASHIWEIZHISHUJU,QIEBATABIANGENGDAODAOHANGZUOBIAOXIZHONG,CONGERQUDEZAIDAOHANGZUOBIAOXIZHONGDESULV、PIANHANGJIAOHEWEIZHIDENGXINXI。QISHANGFENGZAIYUJIDINGLECHUSHIQIANTIHOU,BUXUYAONEIBUCANZHAOBIANKEKENDINGYIHOUWEIZHI、BIAODEMUDEJISULV。HEYONGYUGELEIPANGZADIYUQINGKUANGHEWAIJIEJIAORAOXIADEJINGKENDINGWEIHEDINGXIANG,QIENENGBUSHIZHANGLIANGWEIZHIDEBIANGENG,QIEQUEJIANCHIJINGTAIZISHIJIZHUN。

GENZHEJINGJIJIANSHEDUIKEXUEJISHUXUYAODEQIANJIN,HERENMENDUIGUANXINGJISHULINGHUIDEBUSHIQIANJINHESHENQIE,GUANXINGJISHUDELIYONGFANCHOUYIMANMANCANJUNYONGKUOZHANDAOMINYONG,CONGDAOHANG/ZHIDAOKUOZHANDAOBUBIAN/JIEZHI,BINGZHENGZAIJINLIKAIPIJUBEISHICHANGHEZUOLIDEXINJISHUHEXINCHANWU。

YIXIASHIXINSONGJIXIERENZHUDONGHUAGUFENYOUXIANGONGSISHEXIANGDEGUANDAOAGVZAIMOUDAXINGDIANJIBOGONGSIYUNSHUDIANJIBODEZHILIAO、BANZHIPINJIZHIPINDESHILI。DIANJIBOSHILVDIANJIEDIANRONGQIZHIZUODEGUANJIANYUANZILIAO,YINWEIDIANZICAICHANDEMINJIESHENGZHANG,TEBIESHITONGXINCHANWU、JIJIAOJI、JIADIANDENGLINGJIANCHANWUSHICHANGDEJIJUKUOZHAN,DUILVDIANJIBOCAICHANDESHENGZHANGQILEHUOSHANGJIAYOUDEGANHUA。TONGSHIYINWEILVDIANJIEDIANRONGQIDEXIAOXINGHUA、GAOJINENGHUA、PIANSHIHUADEQINGQIUYULAIYUHUOJI,DUIDIANJIBOZHIGONGKEDEJISHUHEPINZHITICHULEHENGAODEQINGQIU,TONGSHIYEDUIGAOXIAO、ZHUNQUEDECANGCHUBANLITICHULEHENGAODEXUYAO。

WULIAODEZHUANGXIEBANYUNSHIWULIUJINCHENGZHONGCHANSHENGPINCIGAO,HAOYONGSHIHOUZHANG,SUOXUYONGDUDADEGONGKEGOUDANG。WEILEXIAJIANGBENQIANBINGQIANJINXIAOLI,ZHUDONGBANYUNJISHUDESHIXINGSHIZAIBIXING,SHIYIZAODAOYULAIYUDUODECUNJUAN。ZAIHAOFANDEBANYUNJISHUZHONG,YINWEI  AGV(Automatic Guided Vehicle)DEYOUSHENGXING,SHIQICHENGWEISHIXIANWULIAOZHUDONGBANYUNDEZUIHAOCHULIJIHUA。AGVYESHIXIANJINROUXINGZHIZUOTIXIHEZHUDONGHUACANGCHUTIXIZHONGWULIUYUNSHUDEYOUYONGSHOUWAN,SHIWULIUFANCHOUZHONGSHOUTUIDEJIANLVEYOUYONGDEZHUDONGWULIAOYUNSHUTILI。SHIYIZANMENJIENAAGVZUOWEICIMINGMUDEZAITIGONGTONGQUANBUWULIUTIXISHIXIANHUOSEDECHUANSHUHEBAOSONG。AGVDELIYONGSHIXIANLEQIZHILIAO、BANZHIPIN、ZHIPINCANGCHUBANLIDEZHUDONGHUA、ZHINENGHUA、XINXIHUA,QIANJINLESHIMINGXIAOLI,XIAJIANGLEGUOSHILV,TONGSHIYESHIDIANJIBOCHUCHANGONGKELIUCHENGDEZONGHEZHUDONGHUACHENGDUMAISHANGYIGEXINDETAIJIE。

YINWEICIGONGSIXIANCHANGHUANXIAN4000DUOMIZHANG,QIECHUANCHADIANJIAODUO,PUSHECITIAOSHIGONGNANDUJIAODA,QIENENGGOUCHANSHENGFUJIN、DINGJIAOGUIJIZHIJIANDEGANYU,SHIYIZANMENWEIXIAJIANGBENQIAN,BIANYUSHIGONG,JIYUXINGJIABIZHENZHUO,JIENAKONGZHONGXIANGGEBIRANJIANGEYUMAICIDING,TINGZHIGUANXINGDAOHANGJIEZHI,JIAQIANGAGVZAIPANGZAQINGKUANGQIANTIXIADEKANGJIAORAOCAINENG,BAOZHANGAGVZAIPANGZAGUIJIXINGZOUSHIYOUJIAOGAODEJINGDUDINGWEI。

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1、使命流程:

在全体规划中,各工艺环线上按照工艺须要,经由进程预埋磁钉安排响应的高低料站点,每一个站点由AGV主动停止高低料使命。
在站点上经由进程手持终端对AGV下达空托盘保送指令。使命办理体系经由进程收集与AGV保送体系毗连,按照各工位“要料”情况发指令给AGV保送体系,由AGV体系主动实现指定产物在库房与指定工位间及各工位间的保送。无使命的AGV将在指定地点停止充电使命并期待保送指令。

2、AGV根基参数技术请求

AGV的机械规划由三局部构成: 车体,驱动拆卸和晋升机构构成。按照现场托盘情况,承载才能800KG,使命状况,停止校核计较,得以下参数:
AGV驱动拆卸: 接纳双驱动轮差动情势
晋升机构: 接纳凸轮机构,装置内导向,保障晋升机构直线高低,举措安稳
晋升高度: 100mm
AGV导航精度为±10mm;泊车位置精度为±5mm。
AGV最大速率为60m/min。
AGV设有前后打仗式保险杠和前置非打仗式激光防碰传感器,当AGV运转时,后方必然间隔内发明妨碍物,AGV可加速泊车,保障AGV及周边职员设备的宁静。
    车体尺寸1900×850×870(mm)。
    AGV负载才能: > 800KG。
    AGV利用48V/100AH疾速充电电池
    通信体例为: 无线局域网。
    导航体例为: 惯性导航。

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3、AGV电气体系的构成

AGV首要由车载节制器、伺服驱动体系、惯导体系、宁静体系、供电体系、通信体系和手动掩护体系等局部构成。实现了AGV节制器的通用性与模块化,各功效模块机能不变靠得住且合作明白,即保障了AGV全体机能的矫捷设置设备摆设,又便于差别体系功效的扩大与掩护。 

GUANDAOCHUANGANQIDEXIAOPIANCHAHUISUISHIHOUJILEICHENGDAPIANCHA,QIPIANCHADAZHISHANGYUSHIHOUCHENGFANBI,SHIYIXUYAOBUSHITINGZHIPIGAI。XINSONGGUANDAOAGVSHIDUOCHUANGANQISHUJURONGHUIDECHANWU,BAOLUOGAOJINGDUCIDAOHANGCHUANGANQI、TUOLUOYICHUANGANQI、QUDONGLUNMAPANCHUANGANQI,HERFIDCHUANGANQIDENG。ZAISHIMINGJINCHENGZHONG,ZANMENJIENARFIDGONGTONGAGVCHETIJISHITINGZHIJIUPIAN,BAOZHANGGUANDAOTIXIDEJINGDUJIKAODEZHUXING,CONGERBAOZHANGAGVTIXIANGUIJIYUNZHUAN。RFIDTONGSHIZUOWEIZHANDIANBIANRENDEZAITI,SHIAGVNENGGOUSUISHIZHUDONGSHANGXIAN,BUBIYESHENGSHUCHUZHANDIANDEHAOMA,ZAISHANGXIANZHANDIANBINIDUODELIYONGXIANCHANG,WEICAOZONGZHIYUANGONGJILEFANGBIAN,FANGZHILEYESHENGSHUCHUMAOBINGDEQINGKUANG。

4、 AGVS体系构成

DIANQIJIEZHITIXISHIWULIUTIXIZHONGSHEBEILVXINGDEJIEZHIJIAODIAN,BAOLUOSHEBEIJIEZHICENGHEJIANKONGCENG。XIANGSHANGPILIANWULIUTIXIDEDIAOJIJIJIAOJI,JIEGUANWULIAODEBAOSONGZHILING;XIANGXIAPILIANBAOSONGSHEBEISHIXIANDICENGBAOSONGSHEBEIDEQUDONG、BAOSONGWULIAODEJIANCEYUBIANREN;SHIXIANWULIAOBAOSONGJIJINCHENGJIEZHIXINXIDETONGBAO。LINGWAIHAIGONGJINEIRONGFENGSHUO、CHOUXIANGHUOPODERENJIJIEMIAN、NINGJINGYANHUBANFAHEDUOZHONGCAOZONGXINGSHI,BANGZHUSHIMINGZHIYUANTINGZHISHEBEICAOZONGHEYANHU。

AGV经由进程节制台担任与立库办理计较机互换信息,按照所要保送铝箔托盘的信息天生AGV的运转使命,同时处理运转中多AGV之间的避碰题目。AGV节制台在调剂办理进程中将AGV体系的状况反应给堆栈的中间节制办理体系。AGV节制台和各AGV之间构成无线局域网。AGV与节制台之间接纳无线局域网停止信息互换。经由进程多个无线接入点的组合,笼盖AGV运转的地区,使AGV在逾越差别的地区时实现主动周游,实现无缝毗连。
因为接纳集合节制的体例,节制台将成为AGVS体系的焦点。它与出产调剂办理计较机体系留有接口,能够接管调剂号令和报告AGV的运转情况。节制台应知足财产现场情况请求,有充足的运算速率和办理才能。节制台首要功效包罗通信办理、AGV运转状况、数据收罗和运转状况显现。节制台在及时调剂在线AGV的同时将在屏幕上显现体系使命状况,包罗在线AGV的数目、位置(包罗AGV处于的地标位置)状况、已实现的拆卸数目等。节制台担任AGV运转中的交通办理。保障运转中的AGV与AGV间不产生碰撞和AGV追尾等变乱。节制台将对进入体系和加入体系的AGV停止办理,以保障体系宁静运转。

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AGV调剂办理体系接纳集合调剂办理体例,节制台按照出产办理体系下达的运输使命,AGV的使命状况、运转情况,经由进程通信体系将号令和使命通报给当选中的AGV,当选中的AGV按照节制台的号令实现物料托盘的保送。使命实现后,AGV告诉节制台使命实现情况,并回到待命位置,期待下一次使命。

竣事语

GUANXINGDAOHANGAGVZAIDIANZIXINGYEDELIYONG,BIAOXIANCHULEGUANDAOTIXIDEWANZHENGZILI、BUSHOUJIAORAO、BUSHOUZIXUJINGQIDENGHAODEYINGXIANGDENGSHANGFENG,BIAOXIANLEAGVDEQIANJINQIANBEIXING、SHIYONGXING、JINGJIXING、NINGJINGXING、KAODEZHUXINGDENGTESE,ZENGJINLETIXIDEGAOXIAOXINGHESHIYONGXING。DIANZIXINGYEJINGYOUJINCHENGAGVBAOSONGTIXIDELIYONG,TIHUANLECHUANTONGDEYONGYESHENGQUDONGXIAOCHEDEYUNSHUSHIMING,ZENGJINLEQIYEJISHUQIANJIN,GAILIANGLEGONGRENDESHIMINGQINGKUANGQIANTI,QIANJINLEZHUDONGHUACHUCHANCHENGDU,YOUYONGDISHUFULEXIUXICHUCHANLI,JIAZHONGLEXIUXIQIANGDU,TONGSHIZENGJINLEQIYEZHIYUANBENZHI、BANLICHENGDUDEQIANJIN,ZENGJINLEQIYEDEBIAOZHUNHUA、BIAOZHUNHUA、XINXIHUADEGENBENJIANSHE。

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