Multi-machining robot collaboration method in flexible hardware production workshop

A multi-machining robot collaboration method in a flexible hardware production workshop, wherein a machining robot collaboration system is adopted for achieving collaboration, the multi-machining robot collaboration system gathers status information of each machining robot to a central management node in real time by using a bus;

• each machining robot and AGVs realize event-driven communication and information sharing in a wireless local area network environment so as to complete task allocation, the multi-machining robot collaboration method comprising:
• step 1, generating a workpiece machining task for machining a batch of workpieces, wherein the batch of workpieces comprises multiple different varieties of to-be-machined workpieces;
• step 2, performing machining task allocation by the central management node, which comprises:
• step 2.1, sending a workpiece machining task request to the other machining robots in sequence by a machining task sender according to a task machining priority sequence of the information of a to-be-machined task through a communication network;
• step 2.2, after the workpiece machining task request information is received, predicting a completion time of a corresponding task in the request information in combination with the task sequence in a current own task list and sending the expected completion time of the task to the machining task sender by the machining robots;
• step 2.3, allocating a task package to the machining robot feeding back the shortest expected completion time in priority according to the feedback information of each machining robot and sending corresponding confirmation information to the machining robot by the machining task sender;
• and
• step 2.4, after the confirmation information is received, inserting the task into the task list according to the priority sequence and recalculating the expected completion time of each task by the machining robot, wherein the machining robots which do not receive the confirmation information maintain original statuses;
• step 3, gathering the workpieces to be machined in sequence according to the machining task priority sequence, which comprises:
• step 3.1, reading the machining task in the task list and sending transferring request information of the task to surrounding AGVs through a local communication network by the machining robot;
• step 3.2, after the transferring request information is received, calculating an expected completion time of the transferring task according to own position information, material-taking position information and material-sending position information and sending the expected time as return information to the task sender by the idle AGVs in the local communication network;
• step 3.3, preferentially selecting the AGV feeding back the shortest expected completion time according to the fed-back response information and sending confirmation information to the AGV by the machining robot;
• and
• step 3.4, after the confirmation information is received, transferring the material to be machined from a discharging buffer zone of the machining robot in the previous working process to a feeding buffer zone of the corresponding machining robot in the current working process by the AGV according to the task information, wherein the AGVs which do not receive the confirmation information within a certain period of time continue to wait for receiving other transferring task requests;
• step 4, after the workpiece to be machined is received, starting to machine the workpiece according to the corresponding working process by the machining robot, and after the machining robot completes the machining task in the working process, performing the next machining task allocation operation, which comprises:
• step 4.1, judging whether all the machining working processes of the machined workpiece are completed;
• if so, executing a step 5, namely collecting the AGV to transfer the workpiece to a finished product zone for warehousing and ending the machining task;
• otherwise, sending a workpiece machining task request for the next working process to other surrounding machining robots;
• step 4.2, sending a workpiece machining task request to the other machining robots in the workshop in sequence according to the task machining priority sequence of the information of the to-be-machined task by the machining robot;
• step 4.3, after the workpiece machining task request information is received, predicting the completion time of the corresponding task in the request information in combination with the task sequence in the current own task list and sending the expected completion time of the task to a task request sender by the machining robot capable of completing the machining task in the working process;
• step 4.4, allocating the task package to the machining robot feeding back the shortest completion time in priority according to the feedback information of each machining robot and sending corresponding confirmation information to the machining robot by the sender;
• and
• step 4.5, after the confirmation information is received, inserting the task into the task list according to the priority sequence and recalculating the expected completion time of each task by the machining robot, and going to the step 3;
• step 5, after the last workpiece machining working process is completed, completing workpiece warehousing transferring task allocation by the machining robot, wherein workpiece warehousing transferring task allocation comprises the following substeps:
• step 5.1, sending a workpiece warehousing transferring request to surrounding AGVs through the local communication network by the machining robot;
• step 5.2, after the transferring request information is received, calculating the expected completion time of the transferring task according to own position information, material-taking position information and material-sending position information and sending the expected time as return information to the task sender by the idle AGVs in the local communication network;
• step 5.3, preferentially selecting the AGV feeding back the shortest completion time according to the fed-back response information and sending confirmation information to the AGV by the machining robot;
• and
• step 5.4, after the confirmation information is received, autonomously transferring the finished workpiece to a finished product zone according to the task information by the AGV to complete all the machining tasks of the workpiece.