automatic guided vehicle systems (agvs) - lomag … filoguide/agv technologie.pdf · • electronic...
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Automatic Guided Vehicle Systems (AGVS)Unit Load Carrier Vehicles
©1999 Rapistan Systems Litho USA Form 20001 1/99
Sales Inquiries: (616) 451-6525 General Phone: (616) 451-6200 Email: [email protected] www.rapistan.com
CustomerService,
Education,and Training
PaperlessOrder
Fulfillment
DistributionConveyorSystems
In-ProcessConveyorSystems
AutomaticGuided Vehicle
Systems
AutomatedStorage/RetrievalSystems
Air Cargoand Baggage
HandlingSystems
Integration,Controls and
Software
AutomatedElectrifiedMonorailSystems
HeavyUnit LoadConveyors
USA: 507 Plymouth Ave. NE Grand Rapids, MI 49505 FAX (616) 451-6425
Canada: 7300 Rapistan Court, Mississauga, Ont. L5N 5SI Phone: (905) 567-7300 FAX: (905) 567-0585
Mexico: Apartado Postal 573, Tlalnepantla, Est. de Mex., Mexico Phone: 52-5-394-5404 FAX: 52-5-394-4992
Brazil: Av Pres Juscelino, 642, CEP 09950-370, Dia., Sao Paulo, Brazil Phone: 011-55-11-4076-2000 FAX: 011-55-11-4076-26
The name for materials handling
AGV picks load fromnon-powered loadstand using satellitedrive mechanism.
• Deliver and move loads upondemand
• Zone containment of manual forklift trucks
• Improved response time
• Safe vehicle movement
• Elimination of “conveyor walls”
• Adaptable to manual backup
• Re-usable asset
• Reduced product damage
• Better housekeeping
• Better discipline
• Improved logistics
• Electronic tracking of material
• Efficient scheduling
• Reduced aisle traffic
• Adaptable to future changes
• Reduction in workforce
• Flexible routing
AGVS Benefits
Mechanical:DC-20 DL-40 DC-40 (Unicar®)/DX-40 DC-600
Load Deck: Roller conveyor, chain Roller conveyor, chain Application specific - Application specific -lift/lower deck, extractor lift/lower deck, extractor lift deck or conveyor lift deck or conveyormechanism, parasitic mechanism, parasiticdrive drive
Deck HeightLowered: N/A 15” with roller deck, 23”/27” with roller deck, N/A
18” with lift/lower deck 25.5”/29” with lift/lower deck
Deck HeightRaised: N/A 10” lift 10” lift nominal N/A
Capacity: 3,000 lbs max. 4,000 lbs max. 4,000/3,000 lbs max. 60,000 lbs max.
DriveConfiguration: Integrated module - Motor, transmission, Dual wheel drive with Planetary gear
motor, transmission, drive wheel in vertical swivel castersdrive wheel column
Drive Motor: 1.5 HP, series wound 1.5 HP, series wound (2) 1.3 HP motors (2) 5 HP 19V DC series wound
Drive Wheel: 10” dia. x 4” wide rubber 10” dia. x 4” wide rubber (2) 14” O.D. x 4” wide (4) 28” O.D. x 10” wide xpolyurethane 22” I.D. polyurethane
Frame: .375” steel construction .375” steel construction Unitized structural steel Structural steel and 1/2” plate
Brakes: Electrical fail-safe brake Automotive type drum Electric fail safe brakes (2) 40 ft. lb. 48V DC fail safeand shoe design
BatteryCompartment: 38.38”L x 8”W x 14.31”H 32.75”L x 13.5”W x 25.62”H Roller conveyor access 64.5”L x 28”W x 30”H
Battery Type: 270 AH capacity Up to 570 AH capacity 48V, 200 AH capacity 48V, 1300 AH capacity
ManualOperation: Pendant Pendant Pendant Pendant, tow ports - one at
each end of vehicle
Approx. Weight: 2270 lbs, with battery 3200 lbs, with battery 3,000 lbs, with battery 20,000 lbs, with battery
Speed: 2.3 mph or 200 fpm 2.3 mph or 200 fpm 2.3 mph or 200 fpm Variable, loaded: 130 fpmunloaded: 160 fpm
Onboard Display: Touch sensitive keypad Touch sensitive keypad Touch sensitive keypad Touch sensitive keypadwith characters with characters with characters with characters
Rear Casters: Dual 6” dia. x 2.25” wide Dual 6” dia. x 2.25” wide N/A N/Apoly poly
Turning Radius: 4’ 6’ 3’ nominal and spin turn 10’ minimumwhere necessary
Steering: Drive wheel Drive wheel Bi-directional 2 wheel Bi-directional 4 wheel differential (independent)
Control:Controller: Single board computer Single board computer Intel based microprocessor Intel based microprocessor
Electrical System: 24V 24V 48V, 200 AHC 48V, 1300 AHC
Speed Control: Solid state Solid state Solid state Solid state
Control PanelModes: Recirculate, maintenance, Recirculate, maintenance, Recirculate, maintenance, Recirculate, maintenance,
computer, onboard computer, onboard computer, onboard computer, onboard
NavigationSystem: Wire Virtual wireless or Virtual wireless or Virtual wireless or
wire based wire based wire based
Communications: Two way continuous RF RF continuous RF continuous
PositioningAccuracy: ±1/2” ±1/2” ±1” longitudinal, ±1/2” longitudinal,
±1” latitudinal in stands ±1/2” latitudinal in stands
Guidance Method: 4 frequency phase 4 frequency phase Wireless (gyro) or Wireless (gyro) ordetection detection wire based wire based
Specifications
Note: Vehicle specifications are for reference only and are subject to change based on application.
On the cover:Model DC-40 (Unicar®)
A 20,000 lb capacity unit load carrier vehiclepicks up a stack of sheet metal parts froma stamping press.
Dependable
Adaptable
A load istransferredautomaticallyfrom the AGVto a wrappingmachine. Loadstabilizer gripraises duringload transfer.
AGV transportingdiesel engine totest station.
An AGV withautomaticlift/lower deckaccommodates3 work-in-process loads.
A bi-directional unit loadAGV delivers a steel coil to adrop off station.
AGV parts kits formanufacturing andservice are retrieved from a high density, narrow aislestorage system.
The Company Behind the Leading AGV Product Line
Inventors of AGVTechnology
The history of Rapistan SystemsAGVS product group dates back to1953 with the introduction of theworld’s first automatic guidedvehicle. Since then, our aggressiveengineering has produced a seriesof breakthroughs, such as the firstsolid state controls (1962), the firstmicroprocessor controls (1978), andthe first autonomous guidancesystem - Virtual Path Guidance(1994).
Controlled Manufacturing
Rapistan Systems is one of theworld’s leading AGV systemcompanies; able to retain totalcontrol of our own technology.From onboard controls to vehicle
frames, Rapistan Systems designsand manufactures criticalcomponents in its own verticallyintegrated plant.
Accessibility in Service andParts
Rapistan Systems offers a variety ofmaintenance, training, and serviceprograms that will protect theinvestment you have made. A 24-hour 800 number puts you in touchwith parts, service, and engineeringresources 7 days a week.
Vehicle Features
Fully automated operationincludes:
• Real-time continuouscommunications
• Onboard path routing logic
• Onboard traffic control logic (formulti-vehicle systems)
• Automatic return to batterycharge area upon sensing lowbattery
Each USA manufacturedAGV has:
• Drive motor, transmission, anddrive wheel integrated in abalanced vertical column (DL-40)or in a single module (DC-40,DC-20)
• Rugged steel frame constructionto withstand industrialenvironments
Automatic loadtransfer options:
• Roller conveyor
• Lift/lower deck
• Chain conveyor
• Satellite drive
• Extractor device
Automatic Load Transfer
Heavy Duty Capacity
Efficient
Versatile
“Works-in-a-drawer”control cabinet is easyto access.
All unit loadcarrier modelsuse a plug-inpendantcontroller formanualoperation.
Options:
• Virtual Path™ non-wire guidance
• Automatic charging
• Bi-directional guidance
• Towing package (DL-40 only)
• Vehicle Manager schedulingcomputer
Optional satellitedrive mechanismallows loadtransfer to non-powered stand.
(optional)
Onboard display paneluses over 100 Englishtext messages.
AGVsimulationmodels canpredict systembehavior andoptimizesystem design.
System Controls
Smart AGV technology:
Rapistan Systems’ smart AGVtechnology provides decentralizedsystem intelligence controls wherethey are most useful - onboard theAGV.
AGVs can communicate with eachother, and with an optional VehicleManager PC anywhere in the systemby means of a RF (Radio Frequency)CSM (Constant System Monitor)Communications Multiplexor.
Vehicle Controls
Control display panel featuresinclude:
• Easy to read, durable, 40character by 2 line display
• Status, prompts, and errormessages displayed in English
• Operator prompts for input(decreasing operator interfacetime)
• Display of vehicle’s current status,i.e., on path, off path, low battery,etc.
• Over 100 English text displaymessages
• Invalid entry notification whichreduces input errors
• Easy to customize for specialapplications
The RF CSM re-transmits the locationand status from each AGV to allother AGVs operating in the system.An optional Rapistan Systems VehicleManager PC is utilized when AGVsneed to be scheduled by remoteinput.
A Vehicle Manager system cangather data from remote I/O devicesand schedule all AGV assignments,
utilizing an optimizing “look forwork” strategy.
The RF CSM can also be networkedwith a Windows® format AGViewcolor graphics system monitor.
• Dispatching via remote data entryterminal
• Host computer interfacecapability
• AGView color graphicssystem monitor andperformance recorder
Simulation Optimizes AGVSystem Design
Rapistan Systems engineers bring tocomputer simulation a wealth ofknowledge and experience in howAGV systems and controls operate.The resulting benefit is designexperimentation, where systemperformance can be optimizedbefore system implementation.
RFCSM
CommunicationsMultiplexor
VehicleManager
PC(optional)
Design
Satellite Drive
Programmable
“Works-in-a-drawer”control cabinet is easyto access.
All unit loadcarrier modelsuse a plug-inpendantcontroller formanualoperation.
Options:
• Virtual Path™ non-wire guidance
• Automatic charging
• Bi-directional guidance
• Towing package (DL-40 only)
• Vehicle Manager schedulingcomputer
Optional satellitedrive mechanismallows loadtransfer to non-powered stand.
(optional)
Onboard display paneluses over 100 Englishtext messages.
AGVsimulationmodels canpredict systembehavior andoptimizesystem design.
System Controls
Smart AGV technology:
Rapistan Systems’ smart AGVtechnology provides decentralizedsystem intelligence controls wherethey are most useful - onboard theAGV.
AGVs can communicate with eachother, and with an optional VehicleManager PC anywhere in the systemby means of a RF (Radio Frequency)CSM (Constant System Monitor)Communications Multiplexor.
Vehicle Controls
Control display panel featuresinclude:
• Easy to read, durable, 40character by 2 line display
• Status, prompts, and errormessages displayed in English
• Operator prompts for input(decreasing operator interfacetime)
• Display of vehicle’s current status,i.e., on path, off path, low battery,etc.
• Over 100 English text displaymessages
• Invalid entry notification whichreduces input errors
• Easy to customize for specialapplications
The RF CSM re-transmits the locationand status from each AGV to allother AGVs operating in the system.An optional Rapistan Systems VehicleManager PC is utilized when AGVsneed to be scheduled by remoteinput.
A Vehicle Manager system cangather data from remote I/O devicesand schedule all AGV assignments,
utilizing an optimizing “look forwork” strategy.
The RF CSM can also be networkedwith a Windows® format AGViewcolor graphics system monitor.
• Dispatching via remote data entryterminal
• Host computer interfacecapability
• AGView color graphicssystem monitor andperformance recorder
Simulation Optimizes AGVSystem Design
Rapistan Systems engineers bring tocomputer simulation a wealth ofknowledge and experience in howAGV systems and controls operate.The resulting benefit is designexperimentation, where systemperformance can be optimizedbefore system implementation.
RFCSM
CommunicationsMultiplexor
VehicleManager
PC(optional)
Design
Satellite Drive
Programmable
A load istransferredautomaticallyfrom the AGVto a wrappingmachine. Loadstabilizer gripraises duringload transfer.
AGV transportingdiesel engine totest station.
An AGV withautomaticlift/lower deckaccommodates3 work-in-process loads.
A bi-directional unit loadAGV delivers a steel coil to adrop off station.
AGV parts kits formanufacturing andservice are retrieved from a high density, narrow aislestorage system.
The Company Behind the Leading AGV Product Line
Inventors of AGVTechnology
The history of Rapistan SystemsAGVS product group dates back to1953 with the introduction of theworld’s first automatic guidedvehicle. Since then, our aggressiveengineering has produced a seriesof breakthroughs, such as the firstsolid state controls (1962), the firstmicroprocessor controls (1978), andthe first autonomous guidancesystem - Virtual Path Guidance(1994).
Controlled Manufacturing
Rapistan Systems is one of theworld’s leading AGV systemcompanies; able to retain totalcontrol of our own technology.From onboard controls to vehicle
frames, Rapistan Systems designsand manufactures criticalcomponents in its own verticallyintegrated plant.
Accessibility in Service andParts
Rapistan Systems offers a variety ofmaintenance, training, and serviceprograms that will protect theinvestment you have made. A 24-hour 800 number puts you in touchwith parts, service, and engineeringresources 7 days a week.
Vehicle Features
Fully automated operationincludes:
• Real-time continuouscommunications
• Onboard path routing logic
• Onboard traffic control logic (formulti-vehicle systems)
• Automatic return to batterycharge area upon sensing lowbattery
Each USA manufacturedAGV has:
• Drive motor, transmission, anddrive wheel integrated in abalanced vertical column (DL-40)or in a single module (DC-40,DC-20)
• Rugged steel frame constructionto withstand industrialenvironments
Automatic loadtransfer options:
• Roller conveyor
• Lift/lower deck
• Chain conveyor
• Satellite drive
• Extractor device
Automatic Load Transfer
Heavy Duty Capacity
Efficient
Versatile
AGV picks load fromnon-powered loadstand using satellitedrive mechanism.
• Deliver and move loads upondemand
• Zone containment of manual forklift trucks
• Improved response time
• Safe vehicle movement
• Elimination of “conveyor walls”
• Adaptable to manual backup
• Re-usable asset
• Reduced product damage
• Better housekeeping
• Better discipline
• Improved logistics
• Electronic tracking of material
• Efficient scheduling
• Reduced aisle traffic
• Adaptable to future changes
• Reduction in workforce
• Flexible routing
AGVS Benefits
Mechanical:DC-20 DL-40 DC-40 (Unicar®)/DX-40 DC-600
Load Deck: Roller conveyor, chain Roller conveyor, chain Application specific - Application specific -lift/lower deck, extractor lift/lower deck, extractor lift deck or conveyor lift deck or conveyormechanism, parasitic mechanism, parasiticdrive drive
Deck HeightLowered: N/A 15” with roller deck, 23”/27” with roller deck, N/A
18” with lift/lower deck 25.5”/29” with lift/lower deck
Deck HeightRaised: N/A 10” lift 10” lift nominal N/A
Capacity: 3,000 lbs max. 4,000 lbs max. 4,000/3,000 lbs max. 60,000 lbs max.
DriveConfiguration: Integrated module - Motor, transmission, Dual wheel drive with Planetary gear
motor, transmission, drive wheel in vertical swivel castersdrive wheel column
Drive Motor: 1.5 HP, series wound 1.5 HP, series wound (2) 1.3 HP motors (2) 5 HP 19V DC series wound
Drive Wheel: 10” dia. x 4” wide rubber 10” dia. x 4” wide rubber (2) 14” O.D. x 4” wide (4) 28” O.D. x 10” wide xpolyurethane 22” I.D. polyurethane
Frame: .375” steel construction .375” steel construction Unitized structural steel Structural steel and 1/2” plate
Brakes: Electrical fail-safe brake Automotive type drum Electric fail safe brakes (2) 40 ft. lb. 48V DC fail safeand shoe design
BatteryCompartment: 38.38”L x 8”W x 14.31”H 32.75”L x 13.5”W x 25.62”H Roller conveyor access 64.5”L x 28”W x 30”H
Battery Type: 270 AH capacity Up to 570 AH capacity 48V, 200 AH capacity 48V, 1300 AH capacity
ManualOperation: Pendant Pendant Pendant Pendant, tow ports - one at
each end of vehicle
Approx. Weight: 2270 lbs, with battery 3200 lbs, with battery 3,000 lbs, with battery 20,000 lbs, with battery
Speed: 2.3 mph or 200 fpm 2.3 mph or 200 fpm 2.3 mph or 200 fpm Variable, loaded: 130 fpmunloaded: 160 fpm
Onboard Display: Touch sensitive keypad Touch sensitive keypad Touch sensitive keypad Touch sensitive keypadwith characters with characters with characters with characters
Rear Casters: Dual 6” dia. x 2.25” wide Dual 6” dia. x 2.25” wide N/A N/Apoly poly
Turning Radius: 4’ 6’ 3’ nominal and spin turn 10’ minimumwhere necessary
Steering: Drive wheel Drive wheel Bi-directional 2 wheel Bi-directional 4 wheel differential (independent)
Control:Controller: Single board computer Single board computer Intel based microprocessor Intel based microprocessor
Electrical System: 24V 24V 48V, 200 AHC 48V, 1300 AHC
Speed Control: Solid state Solid state Solid state Solid state
Control PanelModes: Recirculate, maintenance, Recirculate, maintenance, Recirculate, maintenance, Recirculate, maintenance,
computer, onboard computer, onboard computer, onboard computer, onboard
NavigationSystem: Wire Virtual wireless or Virtual wireless or Virtual wireless or
wire based wire based wire based
Communications: Two way continuous RF RF continuous RF continuous
PositioningAccuracy: ±1/2” ±1/2” ±1” longitudinal, ±1/2” longitudinal,
±1” latitudinal in stands ±1/2” latitudinal in stands
Guidance Method: 4 frequency phase 4 frequency phase Wireless (gyro) or Wireless (gyro) ordetection detection wire based wire based
Specifications
Note: Vehicle specifications are for reference only and are subject to change based on application.
On the cover:Model DC-40 (Unicar®)
A 20,000 lb capacity unit load carrier vehiclepicks up a stack of sheet metal parts froma stamping press.
Dependable
Adaptable
Automatic Guided Vehicle Systems (AGVS)Unit Load Carrier Vehicles
©1999 Rapistan Systems Litho USA Form 20001 1/99
Sales Inquiries: (616) 451-6525 General Phone: (616) 451-6200 Email: [email protected] www.rapistan.com
CustomerService,
Education,and Training
PaperlessOrder
Fulfillment
DistributionConveyorSystems
In-ProcessConveyorSystems
AutomaticGuided Vehicle
Systems
AutomatedStorage/RetrievalSystems
Air Cargoand Baggage
HandlingSystems
Integration,Controls and
Software
AutomatedElectrifiedMonorailSystems
HeavyUnit LoadConveyors
USA: 507 Plymouth Ave. NE Grand Rapids, MI 49505 FAX (616) 451-6425
Canada: 7300 Rapistan Court, Mississauga, Ont. L5N 5SI Phone: (905) 567-7300 FAX: (905) 567-0585
Mexico: Apartado Postal 573, Tlalnepantla, Est. de Mex., Mexico Phone: 52-5-394-5404 FAX: 52-5-394-4992
Brazil: Av Pres Juscelino, 642, CEP 09950-370, Dia., Sao Paulo, Brazil Phone: 011-55-11-4076-2000 FAX: 011-55-11-4076-26
The name for materials handling