自动导引车(Automated Guided Vehicle)通常称AGV,自动导引车系统 (Automated Guided Vehicle System)通常称AGVS。AGV是一种无人驾驶搬运车,它可以按照监控系统下达的指令,根据预先设计的程序,依照车载传感器确定的位置信息,沿着规定的行驶路线和停靠位置自动行驶。AGVS由中央监控系统,AGV,通信系统,地面导引系统,装载、卸载站及其移载装置,充电站等组成。自动导引车系统广泛应用在仓库,工厂, 码头,机场中的自动化仓储系统,柔性加工,柔性装配系统,以实现物流的自动化。本文将阐述汽车工业中的各个类型的 AGVS的主要技术指标和性能特点。
Automated Guided Vehicle is usually called AGV, and Automated Guided Vehicle System is usually called AGVS. AGV is an unmanned guided vehicle, which can automatically drive along the specified driving route and parking position according to the instructions issued by the monitoring system, according to the pre-designed program, and according to the position information determined by the on-board sensors. AGVS consists of central monitoring system, AGV, communication system, ground guidance system, loading and unloading station and its transfer device, charging station, etc. Automated guided vehicle systems are widely used in warehouses, factories, docks, and airports in automated storage systems, flexible processing, and flexible assembly systems to automate logistics. This article will describe the main technical indicators and performance characteristics of various types of AGVS in the automotive industry.
近年来，国内主要汽车制造厂商在汽车及总成的装试领域都加大了技术投入和技术创新力度，在汽车装试的生产组织、信息管理和物流技术等方面取得了不小的进步。如今汽车制造技术的总趋势是：柔性化、灵捷化、智能化、信息化，围绕这一技术发展趋势，国内各主要汽车制造厂商在汽车装试技术中应用了各种类型的AGV技术。
In recent years, major domestic auto manufacturers have increased technical input and technological innovation in the field of assembly and testing of automobiles and assemblies, and have made considerable progress in the production organization, information management and logistics technology of automobile assembly and testing. Nowadays, the general trend of automobile manufacturing technology is: flexibility, agility, intelligence, and informatization. Around this technology development trend, major domestic automobile manufacturers have applied various types of AGV technology in automobile assembly and test technology.
AGV是现代物流系统中的关键设备之一，以AGV小车电池为动力，进行非接触式导引，并可根据实际需要配备不同的移载机构，以完成相应的操作任务。
AGV is one of the key equipment in modern logistics system. It is powered by AGV trolley battery for non-contact guidance, and can be equipped with different transfer mechanisms according to actual needs to complete corresponding operation tasks.
如今，越来越多的汽车制造厂将AGV技术运用到他们的装配线和物流作业中。为此，国内出现了适合于汽车装配生产线及发动机装配生产线磁带导引AGV系统，用于汽车总装和发动机、变速箱装配，从而取代传统的地链或输送机模式。AGV系统还能够满足装配线混流作业和今后汽车个性产品规模定制生产方式的需求。
Today, more and more automakers are incorporating AGV technology into their assembly lines and logistics operations. To this end, a tape-guided AGV system suitable for automobile assembly lines and engine assembly lines has emerged in China, which is used for automobile assembly and engine and gearbox assembly, thereby replacing the traditional ground chain or conveyor mode. The AGV system can also meet the needs of the mixed-flow operation of the assembly line and the large-scale customized production mode of automobile personalized products in the future.
AGV系统作为汽车、发动机装配生产线的子系统，上位控制计算机可配以相应的通信模块与生产线控制系统进行通信连接。一般AGV控制系统划分为上位控制和AGV单机控制两大部分，各控制层界面清晰、控制功能明确、结构清楚。
The AGV system is a subsystem of the automobile and engine assembly production line. The upper control computer can be equipped with the corresponding communication module to communicate with the production line control system. The general AGV control system is divided into two parts: upper control and AGV stand-alone control. The interface of each control layer is clear, the control function is clear, and the structure is clear.
通常，AGV上位控制系统负责任务（装卸操作、AGV电池充电等）生成、车辆调度、交通管理、通信管理及可视化监控等；AGV单机控制系统根据上位系统下发的任务完成AGV单机的导航／导引计算、车辆驱动及自动装卸货工作（在汽车装配线中通常是人工叉车装卸）。
Usually, the AGV upper control system is responsible for the generation of tasks (loading and unloading operations, AGV battery charging, etc.), vehicle scheduling, traffic management, communication management, and visual monitoring; Lead calculation, vehicle driving and automatic loading and unloading work (usually manual forklift loading and unloading in automobile assembly lines).
在汽车装配线中AGV的任务是顺序执行的，AGV的车辆调度和交通管理并没有任何优化过程，因此AGV单机的数量完全取决于制造商的生产能力和AGV自身运行的速度，与系统优化调度无关。
The tasks of AGVs in the automobile assembly line are executed sequentially. There is no optimization process for AGV vehicle scheduling and traffic management. Therefore, the number of single AGV machines depends entirely on the manufacturer's production capacity and the speed of AGV's own operation, and has nothing to do with system optimization scheduling.
以下就汽车行业中应用的几种典型的AGV系统进行阐述。
The following describes several typical AGV systems used in the automotive industry.
分装线AGV系统：
传统的生产线一般都是由一条连续的刚性传送设备组成，短则数米，长则数百米，如汽车发动机总成装配线、后桥总成装配线等。存在的突出问题是：
①要求每一道工序的节拍统一，否则就会因任何一道工序的停顿耽误而影响整条生产线的进程，如缺料、缺件、废品或出现意外问题。
变速箱分装AGV系统 Gearbox sub-assembly AGV system
②要求厂房很大很长很高（对于较大较重的要用行车起吊），土建成本高。
发动机分装AGV系统 Engine sub-assembly AGV system
③连续的生产线隔断了通道，造成供应线路长，人和车辆过往不方便。
后桥分装AGV系统 Rear axle sub-assembly AGV system
④连续的生产线需要大量设备，投资成本较高。
⑤刚性生产线使得一些本可以同步、交叉进行的工作失去机会。
AGV在分装系统的应用之后，不仅作为无人自动搬运车辆使用，也可当作是一个个可移动的装配台、加工台使用，他们既能自由独立地分开作业，又能准确有序地组合衔接，形成没有物理隔断，但能起动态调节作用，高度柔性的生产线。AGV作为可移动的载体，不但能够实现输送作用，而且可以根据各个工序的装配工艺，调整被装配体的各轴向的姿态调整，很大程度上提高了生产效率，降低了人工的劳动强度和难度。而且AGV系统能够完全适应目前大规模定制生产和混流装配模式，在满足客户个性化需求的同时，保证了较低的生产成本和较短的交货期。适应生产多品种产品的市场需求，提高企业的组织和设备重组能力和对市场做出敏捷反应的能力。
Sub-assembly line AGV system:
Traditional production lines are generally composed of a continuous rigid conveying equipment, ranging from a few meters in length to hundreds of meters in length, such as automobile engine assembly line, rear axle assembly assembly line, etc. The outstanding problems that exist are:
① The rhythm of each process is required to be unified, otherwise the process of the entire production line will be affected due to the delay of any process, such as lack of materials, missing parts, scraps or unexpected problems.
② The factory building is required to be large, long and tall (for larger and heavier ones, it needs to be lifted by a crane), and the civil construction cost is high.
③Continuous production lines cut off the passage, resulting in long supply lines and inconvenience for people and vehicles.
④Continuous production line requires a lot of equipment, and the investment cost is high.
⑤ Rigid production lines make some jobs that could have been synchronous and crossed lost opportunities.
After the application of the sub-assembly system, AGVs are not only used as unmanned automatic handling vehicles, but also as movable assembly tables and processing tables. They can not only operate independently and independently, but also accurately and orderly. Combined and connected to form a highly flexible production line that has no physical partition, but can play a dynamic adjustment role. As a movable carrier, AGV can not only realize the conveying function, but also adjust the posture adjustment of each axial direction of the assembled body according to the assembly process of each process, which greatly improves the production efficiency and reduces the labor intensity and cost of labor. difficulty. Moreover, the AGV system can fully adapt to the current mass customized production and mixed-flow assembly mode, which ensures lower production costs and shorter delivery times while meeting the individual needs of customers. Adapt to the market demand for producing a variety of products, improve the organization and equipment reorganization capabilities of enterprises and the ability to respond quickly to the market.
物料配送AGV系统：
轿车在混流生产的情况下，由于不同车型共线生产，各种车型需要装配的零部件不同，物料的准确及时供应对于不同车型共线生产成为轿车生产企业重点要考虑的问题。总装线上物料配送把所需的物料及时准确地送到所需的装配工位上，包括供货方进货到位于总装厂附近的物流配送中心储存，再配送到总装配线工位的整个物流的配送过程。一个好的AGV物流系统应该能够“在正确的条件下，将正确的物料按正确的数量在正确的时刻运送到正确的地点”。
发动机箱体配送AGV系统 Engine case distribution AGV system
仪表盘配送AGV系统 Dashboard distribution AGV system
小型零部件配送AGV小车系统 Small parts distribution AGV trolley system
物料配送AGV系统是一套专门为汽车生产、装配线设计的自动化物流系统系统。物料配送AGV系统通过安装在工位旁边一定数量的按钮实现物料呼叫请求，并通过车间现场和物料存储区设置信息显示板来反馈生产线上的物料呼叫请求。配送AGV系统的上位系统会实时记录下每一次物料请求发生的时间、地点和对物料请求的响应情况，并对此进行分析。物料配送系统允许操作者在其工作地点提出所需零部件的请求，指示AGV将此物料自动输送到所请求的操作者生产场地。操作者可通过AGV上装载的触摸式显示终端，获取物料的各种信息，并可通过此终端对AGV进行其他的任务操作。
Material distribution AGV system:
In the case of mixed-flow production of sedans, due to the collinear production of different models, different parts need to be assembled for each model, the accurate and timely supply of materials has become a key issue for sedan manufacturers to consider for collinear production of different models. Material distribution on the assembly line delivers the required materials to the required assembly station in a timely and accurate manner, including the supplier's purchase of goods to the logistics distribution center near the assembly plant for storage, and then distributed to the assembly line station. delivery process. A good AGV logistics system should be able to "deliver the right material to the right place at the right time in the right amount under the right conditions".
The material distribution AGV system is an automated logistics system specially designed for automobile production and assembly lines. The material distribution AGV system realizes the material call request through a certain number of buttons installed next to the workstation, and feeds back the material call request on the production line through the information display board on the workshop site and the material storage area. The upper system of the distribution AGV system will record the time, place and response to the material request in real time for each material request, and analyze it. The material distribution system allows the operator to make a request for the required parts at his workplace, instructing the AGV to automatically deliver this material to the requested operator's production site. The operator can obtain various information about the material through the touch display terminal loaded on the AGV, and can perform other task operations on the AGV through this terminal.
底盘合装AGV系统：
底盘合装AGV是汽车总装生产线实现装配自动化的关键设备。
汽车总装生产线实现装配自动化的主要难点集中在：汽车发动机、后桥、邮箱、排气筒等底盘部件合装的自动化。由于发动机、后桥质量大、体积大、形状复杂，而且必须在汽车总装自动化生产线设定的发动机、后桥装配工位，与汽车总线上输送的车体实现定位合装，这就意味着自动化设备与汽车总线输送的车体必须可实现动态跟踪：确保动态行进中的定位精确——实现合装的先决条件；同时具有一定的承载能力、举升能力、操作灵活性和可靠的安全防护措施。
合装型AGV是先进制造技术改造和提升传统装备的典范，对促进工业化发展有着重大意义——改变了传统汽车工业装配模式，大大降低了汽车装配生产成本和工人的劳动强度，使汽车装配更加经济、高效、快捷——合装型AGV作为高科技技术产品，为汽车工业的繁荣、发展作出了卓越的贡献。
Chassis combined AGV system:
The chassis assembly AGV is the key equipment for the assembly automation of the automobile assembly line.
The main difficulty in realizing assembly automation in the automobile final assembly line is: the automation of the assembly of chassis components such as automobile engine, rear axle, mailbox, exhaust pipe, etc. Because the engine and rear axle are of large mass, large volume and complex shape, and the engine and rear axle assembly station set in the automatic production line of the automobile assembly must be positioned and assembled with the body conveyed on the automobile bus, which means automation The vehicle body conveyed by the equipment and the vehicle bus must be able to achieve dynamic tracking: to ensure accurate positioning during dynamic travel - a prerequisite for joint assembly; at the same time, it has a certain bearing capacity, lifting capacity, operational flexibility and reliable safety protection measures .
Combined AGV is a model of advanced manufacturing technology to transform and upgrade traditional equipment, and it is of great significance to promote industrialization. It has changed the traditional assembly mode of the automobile industry, greatly reduced the production cost of automobile assembly and the labor intensity of workers, and made automobile assembly more efficient. Economical, efficient and fast - as a high-tech product, the combined AGV has made outstanding contributions to the prosperity and development of the automobile industry.
下文列举了几种典型的合装型AGV系统，并就其特点进行描述。
Several typical multi-pack AGV systems are listed below and their characteristics are described.
轻载单举升AGV系统 Light load single lift AGV system
特点
车体小，工作区域面积小，运动灵活。
采用筒式举升机构，可承载小于1000kg的底盘部件。
适用于小型汽车的底盘部件合装。
Features
The car body is small, the working area is small, and the movement is flexible.
Adopting a barrel-type lifting mechanism, it can carry chassis components less than 1000kg.
Chassis component assembly for small cars.
重载单举升AGV系统 Heavy-duty single-lift AGV system
特点
采用丝杠剪式举升机构，可获得更大的举升能力，可承载1200kg以下底盘部件。
适用大、中型汽车的底盘合装。
Features
The lead screw scissor lift mechanism is adopted to obtain greater lifting capacity and can carry chassis components under 1200kg.
It is suitable for the chassis assembly of large and medium-sized cars.
轻载双举升AGV系统 Light load double lift AGV system
特点
能够全方位行驶。
可同时装载动力和后桥总成。
采用筒式举升机构，可承载小于1000kg的底盘部件。
适用于中、小型汽车的底盘部件合装。
Features
Able to drive in all directions.
Power and rear axle assemblies can be loaded at the same time.
Adopting a barrel-type lifting mechanism, it can carry chassis components less than 1000kg.
It is suitable for the assembly of chassis parts of medium and small cars.
重型双举升AGV系统 Heavy duty double lift AGV system
特点
能够全方位行驶。
可同时装载动力和后桥总成。
采用丝杠剪式举升机构，可承载1200kg以下底盘部件。
适用于大、中型汽车的底盘部件合装。
Features
Able to drive in all directions.
Power and rear axle assemblies can be loaded at the same time.
Adopt lead screw scissor lift mechanism, which can carry chassis parts below 1200kg.
It is suitable for the assembly of chassis parts of large and medium-sized vehicles.
同步升降型双举升AGV系统 Synchronous lift type double lift AGV system
特点
能够全方位行驶。
可同时装载动力总成、后桥总成、排气总成、驱动轴总成。
前后举升具有同步升降功能。
适用于大、中型四驱车和有特殊工艺要求的汽车的底盘部件合装。
Features
Able to drive in all directions.
The power assembly, rear axle assembly, exhaust assembly and drive shaft assembly can be loaded at the same time.
The front and rear lifts have a synchronous lift function.
It is suitable for the assembly of chassis parts of large and medium-sized four-wheel drive vehicles and automobiles with special technological requirements.
可变轴距双举升AGV系统 Variable wheelbase double lift AGV system
特点
能够全方位行驶。
可同时装载动力和后桥总成。
采用螺旋举升机构，可承载1500kg以下底盘部件。
前后举升间距可在2438mm~2946mm之间变换，可兼容多种不同轴距车型的合装。
适用于大、中型汽车的底盘部件合装。
Features
Able to drive in all directions.
Power and rear axle assemblies can be loaded at the same time.
Adopting screw lifting mechanism, it can carry chassis parts under 1500kg.
The lifting distance between the front and rear can be changed between 2438mm and 2946mm, which is compatible with the combination of a variety of different wheelbase models.
It is suitable for the assembly of chassis parts of large and medium-sized vehicles.
载人提升双举升AGV系统 Manned lift double lift AGV system
特点
能够全方位行驶。
可同时装载动力和后桥总成。
采用丝杠剪式举升机构，可承载1200kg以下底盘部件。
AGV发动机举升前端设置有可升降载人平台
适用于发动机装配有特殊装配工艺要求的底盘部件合装。
以上只列举了几种具有代表性的AGV产品，AGV小车在汽车行业的广泛应用将带来的是国内汽车行业的全面变革，推动AGV市场产品多样化的发展。
Features
Able to drive in all directions.
Power and rear axle assemblies can be loaded at the same time.
Adopt lead screw scissor lift mechanism, which can carry chassis parts below 1200kg.
The front end of the AGV engine lift is provided with a liftable manned platform
It is suitable for the assembly of chassis components with special assembly process requirements for engine assembly.
The above only lists a few representative AGV products. The wide application of AGV cars in the automotive industry will bring about a comprehensive change in the domestic automotive industry and promote the development of product diversification in the AGV market.
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