agv (automatic guided vehicle) tech introduction_agv_eng.pdf · [automatic guided vehicle]...

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www.gtv.co.kr

2013.03.22

AGV (Automatic Guided Vehicle)

Global Technology Co., Ltd

Introduction of Global Tech’ AGV www.gtv.co.kr 2/35

Contents

1. Introduction of AGV

2. AGV Type

3. Guidance / Navigation

4. Drive & Steering

5. Control system

6. PC Solution

7. Battery

8. Delivery result

9. Training

10. The strong point of Global Tech

11. Appendix


Introduction of AGV

Introduction

AGV LGV RGV

Automatic Guided Vehicle Laser Guided Vehicle Rail Guided Vehicle

Guidance Magnet Line/sensor Laser scanner Railroad

Demerit Installation of magnet line Affected by surroundings Difficulty on curved path

Merit Very low influence by surroundings.

Path Changeable with ease. Big load transportation

[Automatic Guided Vehicle]

Transportation vehicle that transfer goods to a place on designed path automatically.

The first AGV system was built and introduced in USA in 1953. It was a modified towing

tractor that was used to pull a trailer and follow an overhead wire in a grocery warehouse.


AGV Type Fork

The manless forklift is very fast and safety to transfer the product like pallet, paper roll, drums etc.. The Attachment for pickup them is designed to prevent the product from damage.

loading capacity

0.1 ~ 5ton

± 5~10mm

The stop precision


Conveyor

The manless vehicle is very fast and safety to transfer the product like pallet, cassette etc..to the buffer zone or each process just-in-time.

loading capacity

0.1 ~ 5ton

± 5~10mm

The stop precision

AGV Type


Platform (Multi)

The wheel size and the vehicle load dispersion being the takes for realization of the high weight AGV are core technology. That is applied the Multi-wheeler Quad 8 Solution of Kollmorgen for perfectly solving the two problems. So. We make and develop the Differential Wheel Unit . Capacity is 10ton and 20ton.

loading capacity

10ton ~ 160ton

± 5~10mm

The stop precision

AGV Type


Type

Guidance / Navigation

Navigation Type Content

Reflectors which reflect laser shall be installed on wall or post within AGV moving area. - More than 3 reflectors shall be detected in 25m and allowable range of angle from laser scanner of AGV.

- Position Accuracy: ±5mm

Magnet bar shall be installed in about 12mm slot that is cut along with AGV path on floor.


Magnet spot shall be inserted in holes which are drilled along with AGV path on floor. - Interval of magnet spot: 1 m.


Laser

Spot

Magnetic


Drive & Streering

Allows the vehicle to move in any direction.

Center point of the vehicle always stays in the center of the guide path.

Highest degree of maneuverability.

360°movement in any direction.

Forward and Backward movement.


Works well in looped systems

QUAD Wheel Configuration

Diff Drive Wheel Configuration

Multi Wheeler Diff – Quad 8 Configuration

Allows the vehicle to move in any direction.

Center point of the vehicle always stays in the center of the guide path.

Very suitable for the vehicle for high load. (Maximum 160ton)

Necessary for the very high level control technology.



Configuration

Control System

AC220V Power

NT-8000 Software

Master PC

Auto Charger

Local AGV

Ethernet Wireless AP(AGV spec.)

Order AGV Status

Operational Software

( Visual c#)

NT-8000

Order

AGV Status

OP Box(3set)

-Control on master PC –

NDC8 Operational system

- Traffic order

- Monitoring of position & status

of AGV

- Job management & exeution

-Control on AGV –

Winlay Program

- Lay-out & path Program

- Vehicle Configuration

Application Program

- Definition & Configuration per part

- Parameter setup per part

OpenPCS Program

- Program for part action

- Moving order for AGV as Auto or

Semi-auto

- Drive order for Fork/Conveyor


PC Solution

Monitoring the AGV condition and work.

Monitoring the outside IO condition real time.

The traffic engineering about several AGV.

The layout organization of the Auto CAD base.

Recording the obstacle and work event list.

Supporting the OPC Client / the MODBUS Client.

Supporting the PLC interface. (SIEMENS, MITSUBISHI, Pro-face etc.)

Supporting the AGI(AGV gateway interface) component.

Providing AGV control source which a scene is applied.

Holding remote maintenance system.

Recording the obstacle and work event list.

Supporting the majority interior of a country developer for a scene.

Supporting the AGV control interface. (AGV is controlled and monitored by an external program)

Self-development solution

Securing the stability and minimizing the stability and site application time with the simulation testing.

Various expandability

Easy-to-maintenance


Battery

Most much applied to AGV.

The manufacturing cost is low and it is used in many fields of industry.

Short-lived.

The charge status durability is low.

The rapid charge and discharge are possible. The AGV charging time is short.

It is applied to the equipment requesting the reliability and stability.

Environmental issues.

The long-term preservation is difficult after discharging .

Memory effect is huge.

High magnetic stresses.

It is applied to the equipment which the small-sized AGV and quick.

The manufacturing process is complicated and a price is expensive.

The low temperature use characteristic declines.

The size is smaller than the battery which is different as the high energy storage density.

Lead-Acid Battery

The low temperature and high temperature electric discharge characteristic is excellent. .

Ni-Cd Battery

Lithium-Polymer Battery


Delivery Result

Type Fork Lift

Load 1,000kg

Motor Single Drive

Speed 60m/min

Guide Type Magnetic

Client KAI

Application Delivering the boxes of parts to production line. (2012)

Type Conveyor

Load 12,000kg

Motor Quad Drive

Speed 60,30m/min

Guide Type Laser

Client CMP

Application Pallet handling. (2009)

Type Fork Lift

Load 1,000kg

Motor Quad Drive

Speed 60m/min

Guide Type Laser

Client KAI

Application Loading the wing ribs to the rack. (2013)

Type Fork Lift

Load 500kg

Motor Single Drive

Speed 60m/min

Guide Type Magnetic

Client Samsung SDI

Application Delivery of Roll Shafts. (2011)


Type Platform(Contour Board)

Load 2,000kg

Motor Quad Drive

Speed 60m/min

Guide Type Magnetic

Client KAI

Application Delivering the fuselage(body) of the airplane to assembling line. (2010)

Type Platform(Tow)

Load 8,000kg

Motor Differential Motion Drive

Speed 3mm/min

Guide Type Magnetic

Client KAI

Application Towing the helicopter. (2012)

Type Platform(Contour Board)

Load 8,000kg

Motor Multi Drive

Speed 30m/min

Guide Type Magnetic

Client KAI

Application Delivering the fuselage(body) of the helicopter. (2012)

Type Slide Fork Lift

Load 400kg

Motor Quad Drive

Speed 30m/min

Guide Type Laser

Client KAI

Application Delivering the wing ribs. (2013)

Delivery Result


Delivery Result

Type Fork Lift

Load 1,250kg

Motor Single Drive

Speed 60m/min

Guide Type Laser

Client CHONG KUN DANG Pharm

Application Pallet handling. (‘2014)

Type Conveyor

Load 1,500kg

Motor Diff Drive

Speed 60m/min

Guide Type Magnetic

Client POSCO

Application Delivery of Roll Shafts. (‘2014)

Type Platform(Lifter (Screw Jack)

Load 2,000kg

Motor Single Drive

Speed 60m/min

Guide Type Magnetic

Client POSCO

Application Delivering the Scrap Box. (‘2015)


KAI : T-50 AGV for fuselage

♠ Moving of each T50 fuselage from each assembling station to paint booth and FASS station.

-. Transportation for front, middle, rear and full fuselage of T50.

-. Transportation using specialized jigs(Contour Board) per part

Content Description

Type

Configuration.

-. Trans. capacity : 2ton -. Nav. : Magnetic Navigation -. Vehicle Type: QUAD(crabwise)

Action -. Drive : forward/backward & Crabwise -. Up/down : for contour board -. Clamp : for contour board fixing

Power -. Lead-acid battery

Control -. Kollmorgen VMC500 Controller

Q’ty 3 (for full: 1, middle: 1, Front/Rear: 1)

Delivery Result


KAI : AGV for equipment & materials of T-50

♠ Transportation for equipment & materials of T50 between each assembling station .

-. AGV specialized only for equipments & materials.

-. Transportation between AS/RS for equipments and assembling station,

and between AS/RS for materials and assembling station.

Content Description

Type

Configuration.

-. Trans. capacity : 1ton -. Nav. : Magnetic Navigation -. Vehicle Type: Single Drive

Action -. Drive : forward/backward -. Up/down : for Fork (hydraulic)



Q’ty 2 (for equip.: 1, materials: 1)

Delivery Result


KAI : AGV for KUH

♠ Transportation for each fuselage part of KUH from each assembling station to FASS station

(full body assembling) and from FASS to Station#2(part assembling station).

-. Transportation of front, middle, shift, tailboom and full fuselage of KUH.

-. Transportation using specialized jig(Contour Board) for each fuselage part.

Content Description

Type

Configuration.

-. Trans. capacity : 8ton -. Nav. : Magnetic Navigation -. Vehicle Type: Mutiwheelers(4set)

Action -. Drive : forward/backward, crabwise -. Up/down : Contour Board -. Clamp : Contour Board fixing

Power -. Lithium-polymer Battery


Q’ty 1

Delivery Result


KAI : AGV for KUH Towing

♠ Transportation of full fuselage of KUH towing it with low speed on main assembling line.

-. Very low towing speed : 3~12mm/min.

-. 5 AGVs offer synchronized towing of 5 KUH maintaining proper interval and speed.

Content Description

Type

Configuration.

-. Towing capacity: 8ton -. Nav. : Magnetic Navigation -. Vehicle Type: Differetial+Single Drive

Action -. Drive : Forward/backward -. Up/down : Nose lading gear of KUH -. Clamp : Nose lading gear of KUH


Control -. CB40 Controller

Q’ty 5

Delivery Result


KAI : AGV of wing part of A-350

♠ Transportation of A350 wing part from machine work station to deburring station, and

from FPI station to shipment station.

-. 2 divisions of transportation: machine work st. ~deburring st., FPI ~ Shipment st..

Content Description

Type

Configuration.

-. Trans. capacity : 0.4ton -. Nav. : Laser Navigation -. Vehicle Type: QUAD

Action -. Drive : Forward/backward, crabwise -. Up/down : for quadruple fork -. Loading/unloading: Fork stretching



Q’ty 2

Delivery Result


AGV for Mandrel at Kyeongnam Techno-park

♠ Transportation from laminating machine to autoclave with mandrel.

-. Transportation of 25ton Mandrel seated on contour board.

Content Description

Type

Configuration.

-. Trans. capacity : 25ton -. Nav. : Magnetic Navigation -. Vehicle Type: Multi Drive(Crabwise) -. Dimension: 1850W x 7000L x 650H

Action -. Drive : Forward/backward, crabwise -. Up/down : Contour Board



Q’ty 1

Delivery Result


AGV for steel plate at POSCO

♠ Transportation of roller seated on jig pallet from gantry to next station

Content Description

Type

Configuration.

-. Trans. capacity : 1.5ton -. Nav. : Magnetic Navigation -. Vehicle Type: Diff Drive -. Dimension: 1780W x 2600L x 880H

Action -. Drive : Forward/backward and spin turn.


Control -. Kollmorgen CVC600 Controller

Q’ty 1

Delivery Result


AGV for pharm product at CHONG KUN DANG Pharm

♠ Transportation for pharm & materials between each assembling station .

Delivery Result

Content Description

Type

Configuration.

-. Trans. capacity : 1.25ton -. Nav. : Laser Navigation -. Vehicle Type: Single Drive -. Dimension: 1430W x 2408L x 2100H

Action -. Drive : Forward/backward



Q’ty 6


♠ Transportation for scrap box between each assembling station .

Delivery Result

Content Description

Type

Configuration.

-. Trans. capacity : 2.0ton -. Nav. : Magnetic Navigation -. Vehicle Type: Single Drive (Diff) -. Dimension: 1060W x 22290L x 515H

Action -. Drive : Forward/backward, Spin Trun

Power -. Lithium-polymer Battery


Q’ty 1

AGV for steel slice at POSCO


Training Training for management of the vehicle tool

Understanding of AGV hardware component.

Understanding of Layout designer tool.

Understanding of how the truck service tool use and connect.

Understanding of how the parameter of the diagnostic tool use and make.

Understanding of how the Navlab tool use.

Understanding of the vehicle application designer tool.

Understanding the open PCS program.

ACS hardware organization and network setting.

The Stationary controller installation and basic management training.

AGV traffic handling and high class host interlock .

Training in The base structure of the AGV and major management part.

Training in the system operator management of the AGV control system

Training in maintenance of the AGV


The strong point of Global Tech

By applying the controller of Kollmorgen in which the reliability is proved, preventing and minimize the frequent error and the possibility for the malfunction.

We can deal quickly with the problem occurrence, in company with Kollmorgen.

We organize a group to offer the quickly follow-up service that is reflected our customer’s requirements.

Possible to the Truck diagnosis tool ( TST:Truck Service Tool ) This tool is able to confirm the condition information about the AGV important device. It is easy to find and make out the vehicle information.

Possible to use the AGV run diagnosis tool ( VDT:Vehicle Diagnostic Tool ) When an AGV is automatically operated, this tool save all situation in real time. It is able to minimize the maintenance time owing to be easy to find the cause of problem and reenact thought the monitoring.

The control system application which the reliability is high.

Efficient maintenance (Convenience)

Quickly follow-up service (A/S)

Continuous technical support and training

We offer for customer to be able to efficiently operate the AGV by necessarily training in the system maintenance tool and various management programs.


Appendix>Inquiry form

Date

Company name

Person in charge of inquiry

Specification

Company

No. Content Specification (selection and illustration) Selection Remark

1 Type of AGV AGV, RGV, LGV, or etc

2 Part to be Transported Pallet, Container, Roll, Bin, Cart, Drum, Wheel, Block

3 Application device Folk(front/rear, Side), Conveyor, Platform(Low, Tower)

4 Loading capacity (ex) Max. 65,000 Kg (including pallet) (kg)

5 Load Size (W)mm * (L)mm * (H)mm

6 AGV Size (W)mm * (L)mm * (H)mm

7 How to load to AGV (ex) Roller Conveyor Feeding

8 # of trans. per hour ( )time /hr

9 Operation time a day 8hr, 16hr, 20hr, 24hr, or ( )hr Maximum

10 Battery Type Lead-acid, NI-CD, Li-Polymer

11 Capacity of battery (ex) Ni-CD Type DC48V-150Ah

12 How to charge Automatic (Floor Contact Type), auto, manual

13 Control system AGV operation, OP Box S/W operation, PLC or PC control

14 Operation system Master system, production management system


No. content specification selection remark

15 Guidance work Attaching or Burial

16 Environment Generic field, clean room, freezer, outdoor or etc

17 Floor type Epoxy coated on concrete, concrete, astile, steel plate

18 Floor condition Manhole, inclination slot or threshold of floor, basement of floor

19 Interlock autodoor ( )set, air shower ( )set, elevator ( )set

20 Primary power 220V 3ph, 380V 3ph, 440V 3ph

21 Work for primary power buyer, contractor

22 Work for 2ndary power buyer, contractor

23 Floor work buyer, contractor

24 Work for reflector buyer, contractor

24 Communication Wireless LAN

25 Speed (ex) 60 m/min (m/min)

26 Stopping accuracy 10mm

27 Type of driver Single, Quad, Multi

28 Driving 0 ~ 360˚ driving, rotation

29 Incline degree ˚

30 Delivery time ( ) month

31 Software Including or excluding, scope

32 Spare Including or excluding, scope

Appendix>Inquiry form


Laser Navigation

Guidance : A laser scanner rotates 7 revolutions per 1second and detect more than 3 laser beams from 3 reflectors and then calculate/calibrate AGV’s position. Installation : Reflectors shall be installed both side of AGV path as interval 30m. (When there is enough space on the field.) Merit : AGV path can be changed easily within its space once reflectors are installed. Demerit : Obstruction between Laser scanner and Reflectors shall be minimized.

Appendix>Laser Navi’


Laser Navigation : Reflector

Cylinder Type Reflector Flat Type Reflector

Appendix>Reflector


Magnetic Navigation

Guidance : Magnet line shall be installed on path of floor and AGV run the path detecting magnetic field. Installation: 7mm(W) x 12mm depth of slot line shall be cut on floor where magnetic bar will be inserted in. Merit : This type offer more stable and higher accuracy of driving because guide sensor detect magnetic field continuously. The sensor is located only 30mm apart from magnetic line so that guidance intensity is very higher than intensity of noise. Demerit : Magnet line shall be installed along with overall path of AGV.

Appendix>Magnetic Navi’


Magnetic Navigation : Magnetic Line installation

Magnetic Line for burial

Type : Magnetic bar/tape Size : W 6mm x H 10mm x L 1m

Inatallation 1. Mark for magnet bar on floor as layout. 2. Cut slot on floor with cutting machine/tool. 3. Insert magnetic bar into the slot confirming its polarity and coat over the magnetic bar with epoxy-resin. 4. If necessary, paint floor again within field because color of epoxy-resin is different from color of surrounding floor. 5. In general, epoxy coating work is out of our scope.

Floor Cutting : 7 x 15mm

Bar positioning after cutting

Epoxy-Resin coat.

Appendix>Magnetic installation


Spot Navigation

Guidance : AGV run the path along with pre-calculated path between spots and AGV sensor calibrate its path whenever the sensor detect next spot. Installation : Magnet spot shall be installed as 1~3m interval on AGV path. Magnet Spot : Cylindrical magnet with Ø 10mm(D) x 15mm(L) Merit : Spots can be installed on floor easily. Demerit : AGV run freely between spots so that AGV driving may not be stable by effect of surroundings. Also, the spots shall be installed again if the path should be changed.

Appendix>Spot Navi’


Spot Navigation : Spot Installation

Type : Cylindrical magnet Size : Ø10mm x 20mm

25mm

Installation 1. Mark for the spot on floor by layout. 2. Drill Ø11mm x 25mm(depth) hole on the floor. 3. Insert spots into the slot confirming its polarity and coat over the magnetic bar with epoxy-resin. 4. If necessary, paint floor again within field because color of epoxy-resin is different from color of surrounding floor. 5. In general, epoxy coating work is out of our scope.

Epoxy-Resin coat

Cylindrical magnet spot for burial

Appendix>Spot installation


AGV Component

Pro-face (Touch Panel)

OPT-500

CAN / CANopen

ACS DRIVE

Beck off PLC

VMC20 Sick 3000 Bumper Scanner

Magnetic Guided Sensor

CVC600

Motor

Wireless Transmitter -receiver

Appendix>Component

< Drive unit >


Thanks We, Global Technology Co., Ltd. desires to

contribute to our customers’ value creation by

providing YOU with the best solution engineering

service, while maintaining a tight communication

and a strong business relationship with YOU.

Thank you !!!

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