Movingandpositioningofmobilerobot

　　Themovementandpositioningoftherobot'sseventhbearingmanipulatorinthestraightdirectioncanbeediteddirectlybytheoperationpanelandthedisplayscreen.Intheory，innumerablepositioningpointscanbesetwithintheeffectiverangeofthestraightaxis.Positionprecisionispreciselydetectedbyencoderandensuredbyservosystemtocontrolmotor.Repeatedpositioningaccuracyiswithinacertainrange.Themobilespeedissetaccordingtotheoperationrequirementsintheprescribedrange.

　　Two.Systemprogramcontrol

　　Thesignalinterfacebetweentheseventhaxissystemoftherobotandthe"robot"andthe"machinetool"systemalladoptdigitalsignaltransmission，soastoensurethestabilityandreliabilityofeachother.Ithastwokindsofoperationcontrolmodes，manualmodeandautomaticmode；itcanoperateasinglestationinmanualmode；itcanrunautomaticallyaccordingtothesetoperationprograminautomaticmode.

　　Three.Softwarefunction

　　Theseventhaxisoftherobotcancompletethepouringworkinsequenceaccordingtotheorderofexcitation，andafterthesignalresetcanremovealltheunfinishedsignals.Theseventhaxisoftherobotactivatesanyemergencystopbuttonatwill，andthesevenaxescanimmediatelystoptheactionbeingcompleted；onlyaftertheemergencystopisresetcanthedeviceresumenormaloperation.Giventwoconsecutivesignalsinashorterperiodoftime，sevenaxesonlyexecuteonesignalAGVconveyingsystemcomposition

　　TheAGVdeliverysystemconsistsofAGVbicycle，AGVcontrolsystem，AGVchargingsystemandotherauxiliaryequipment.

　　AGVcontrolsystemismainlycomposedofAGVmanagementandmonitoringcomputer，NT8000，CWay8，AGVautomaticschedulingsoftware，wirelessAP，positioningreflector，integratedwiringandothercomponents.

　　AGVmanagementmonitoringcomputercommunicateswiththelibrarylogisticsmanagementsystemcomputerthroughindustrialEthernetnetwork.AGVmanagementmonitoringcomputercommunicateswithAGVtrolleythroughWLANWLAN.

　　AGVsystemdeliveryplan

　　1.deliveryofgoodsoutofstock

　　Operatorscalltherequiredpalletsatthecallterminal，andthelogisticsmanagementsystemautomaticallydispatchesthecorrespondingpalletsfromthestereoscopicwarehouse，anddeliversthemtotherequiredAGVpick-upplatformbytheoutbounddeliverysystem.ThelibrarylogisticsmanagementsystemsendsdeliveryrequeststotheAGVmonitoringandmanagementcomputer.TheAGVmonitoringandmanagementcomputerdispatchesthenearestandidleAGVcartothecorrespondingpick-upplatformaccordingtotherequest，takesthegoodstrayandsendsittothedesignatedplatform.Completethedeliveryofgoods.

　　Morethan2.returnedfortransportation.

　　Theoperatorcallstheremainingpalletbacktothelibraryatthecallterminal.ThelogisticsmanagementsystemsendstherequesttotheAGVmonitoringandmanagementcomputer.TheAGVmonitoringandmanagementcomputerdispatchestheclosestAGVcartwhichhasjustbeenunloadedtothecorrespondingpick-upplatformaccordingtotherequest，takesawaythesurplustrayandsendsittothewastetrayrecoveryplatform.Completetherecycletray.Thistaskiscompoundedintheoutgoingtaskbyschedulingoptimization.

　　3.emptypalletrecycling

　　Theoperatorwillemptypalletstackingonemptytrayplatform，calltheterminaltoemptythetraybacktothelibrary.ThelogisticsmanagementsystemsendstheemptypalletrequeststotheAGVmonitoringandmanagementcomputer.TheAGVmonitoringandmanagementcomputerdispatchestheclosestAGVcarttothecorrespondingpick-upplatform，takesawaytheemptypalletandsendsittotheemptypalletrecoveryplatform.Completeemptytrayrecoveryandtransportation.Thistaskiscompoundedintheoutgoingtaskbyschedulingoptimization.anddonotpourtwiceconsecutively；aftertheprogramupgrade，thereisacompletesystembackup.

　　Thisisthethreemajorfunctionofthemoderatelypricedrobotseventhaxis.Inanyway，theemergenceoftheseventhaxisoftherobotgreatlyalleviatesthedemandformanuallaborandstrength.Fromtheperspectiveofthedevelopmenttrendofrobottechnology，theseventhaxisofrobotwillcontinuetodeveloptothedirectionofintellectualization，fullyrealizingthegroupcoordinationandintegratedcontrolofrobotinproductionsystem，thusachievinghigherreliabilityandsecurity.