Research And Development Of Key Technologies For Handling Robots In Tool Processing Centers

The tool processing center consists of high-efficiency automatic machine tools consisting of mechanical equipment and numerical control system.The traditional tool processing center logistics mainly relies on manual carts.On the one hand,the transportation efficiency is low.On the other hand,the labor cost also rises with the labor price.And it has increased dramatically.The emergence of the AGV logistics transportation system has effectively improved the limitations of traditional logistics and transportation,and realized the logistics informationization of the tool processing center.In recent years,the modular design of power system,energy system and sensor system has made the design and manufacture of AGV body easier and simpler.Relatively speaking,the design and development of its logistics management system has become the core technology of the whole system.Even the same AGV,under the management of different software systems,its efficiency is different.Based on the built AGV hardware platform,this paper combines a large number of literature and theoretical research to develop a multi-AGV path based on Zig Bee wireless communication network.Planning and scheduling management system.The main research contents are as follows:1.This paper studies the overall design scheme of AGV and related technologies,builds the AGV hardware platform,and selects the positioning algorithm combining relative positioning and absolute positioning through comparison and analysis,thus completing the dead reckoning algorithm and FRID landmark positioning.Mechanism research and algorithm design of fusion algorithm.Then according to the main research content of this paper,the related content and hardware scheme of Zig Bee module are introduced,and the networking and testing of Zig Bee is completed.2.Research and analysis of single AGV path planning algorithm,comprehensive project and practical application requirements for path planning Select dijstra algorithm as the single AGV path planning algorithm of this system.In the aspect of Multi-AGV system scheduling,a multi-AGV scheduling scheme based on time window is adopted,and the traditional time window calculation model is optimized,and the calculation of non-uniform driving state is added to the model,so that the time window is arranged more accurately.In order to further improve the accuracy of time window layout,this paper introduces the concept of effective time window and uses it in multi-AGV path planning algorithm based on time window.It is proved by application examples that it can effectively improve the operating efficiency of AGV and reduce the path conflict.3.Using Qt Creator to design a multi-AGV logistics management system based on Zig Bee wireless communication,used for AGV management,monitoring and path planning.The Zig Bee network is used to realize the real-time communication of the system,and the positioning technology and the multi-AGV path planning technology are organically combined,so that the logistics management system can arrange and update the time window on the basis of real-time positioning,and the path conflict occurs.The path planning is re-executed according to the location,and the time window of the new path is arranged to determine whether to wait for the idle time window.