Self-adaptive flexible tightening intelligent robot with body and tightening process method

Abstract

The invention relates to the technical field of body-equipped intelligent robots and intelligent equipment, in particular to a self-adaptive flexible tightening body-equipped intelligent robot which comprises a body-equipped moving platform, the top of the body-equipped moving platform is provided with a body-equipped lifting mechanism, and the top of the body-equipped moving platform is provided with a body-equipped articulated arm module. And a tightening actuator and a clamping jaw actuator are arranged at the tail end of the outer part of the body articulated arm module. According to the self-adaptive flexible tightening intelligent robot and the tightening process method, sensing and self-adaptive adjustment of external environment changes are achieved through multi-module integration, and the tightening process method based on a multi-mode sensing system and an intelligent control system is constructed; vision, force sense and touch sense data are fused, real-time monitoring and dynamic adjustment of the tightening process are achieved through a machine learning algorithm, and the intelligent level and quality stability of tightening operation are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of embodied intelligent robots and intelligent equipment, and specifically to an embodied intelligent robot with adaptive flexible tightening and a tightening process method. Background Art

[0002] In modern industrial production, tightening operations are a critical step in product assembly, and their quality directly impacts product performance and reliability. With the advancement of Industry 4.0 and intelligent manufacturing, the manufacturing industry is increasingly demanding automated, intelligent, and flexible tightening operations. As manufacturing evolves towards intelligence and flexibility, traditional tightening robots are increasingly unable to meet the complex and ever-changing production demands. Consequently, the adaptive, flexible, embodied intelligent tightening robot structure has emerged, primarily for applications in industrial scenarios requiring high-precision tightening, such as semiconductors, 3C product assembly, and mechanical equipment production.

[0003] Currently, the most common tightening robots use a fixed rigid joint serial structure, coupled with a fixed servo motor drive system and a preset program control system. However, this rigid structure lacks adaptability to changes in the working environment. When the workpiece has dimensional deviations, inaccurate assembly positions, or uneven surfaces, the end tightening actuator has difficulty accurately aligning with the target position, which can easily lead to problems such as bolt slippage and nut tilting, resulting in substandard tightening quality. In addition, when switching between products with different specifications and tightening requirements, the robot's installation position and calibration parameters need to be readjusted, resulting in long equipment commissioning times, low production efficiency, and an inability to meet flexible production needs.

[0004] Some improved tightening robots have introduced force sensors, which are installed at the end effector to monitor the torque and axial force during the tightening process. However, while the introduction of force sensors can monitor the tightening force to a certain extent, it cannot fundamentally solve the problem of the rigid joint's adaptability to workpiece position deviations and posture changes. The robot still needs to be accurately positioned and parameterized before operation. If the initial position of the workpiece is inaccurate, the force sensor can only serve as a post-event alarm and cannot actively adjust the robot's posture to adapt to changes. Furthermore, without improving the joint structure, problems such as complex equipment debugging and low production efficiency still exist.

[0005] Based on the above-mentioned technical problems, an adaptive flexible tightening embodied intelligent robot and a tightening process method are proposed. Summary of the Invention

[0006] (1) Technical problems solved

[0007] In response to the shortcomings of the existing technology, the present invention provides an embodied intelligent robot and a tightening process method for adaptive flexible tightening, which have the advantages of adaptive flexible joints working together and multi-modal perception-based control to achieve dynamic path planning and parameter tuning, solving the problem in the above-mentioned background technology that the existing tightening robots cannot adapt to the workpiece assembly position deviation, posture changes, and the cumbersome parameter adjustment, resulting in low equipment production efficiency.

[0008] (2) Technical solution

[0009] In order to achieve the above-mentioned purpose of coordinated work of adaptive flexible joints and multimodal perception-based control to realize dynamic path planning and parameter tuning, the present invention provides the following technical solution: an embodied intelligent robot for adaptive flexible tightening, comprising an embodied mobile platform placed on the ground, an embodied lifting mechanism is provided on the top of the embodied mobile platform, an embodied joint arm module is provided on the top of the embodied mobile platform, and a tightening actuator and a gripper actuator are provided at the external end of the embodied joint arm module.

[0010] Preferably, the embodied mobile platform includes a frame placed on the ground, a driving wheel and a steering wheel are movably mounted on the bottom of the frame, a driving motor and a reducer are arranged inside the frame, a Mecanum wheel and a suspension system are movably mounted on the bottom of the frame, and a charging unit is arranged inside the frame.

[0011] Preferably, the body lifting mechanism includes a high-rigidity guide rail fixedly mounted on the top of the frame, a multi-stage telescopic mechanism is provided on the inner side of the high-rigidity guide rail, the multi-stage telescopic mechanism is a plurality of nested carbon fiber sleeve structures, an electric push rod is fixedly mounted on the inner side of the high-rigidity guide rail, the top end of the electric push rod is connected to the carbon fiber sleeve, a force-position dual-control sensor and a dynamic balance controller are fixedly mounted on the inner side of the high-rigidity guide rail, the force-position dual-control sensor is integrated with a pressure sensor and an encoder, and the dynamic balance controller is electrically connected to the drive motor through the IMU attitude data.

[0012] Preferably, the embodied articulated arm module is movably mounted on the left and right sides of the high-rigidity guide rail, and the embodied articulated arm module includes an articulated arm composed of several flexible joint modules, the flexible joint module is integrated with a high-torque density servo motor, a harmonic reducer and a dual encoder, and an active floating mechanism and a six-dimensional force control unit are arranged on the articulated arm, the active floating mechanism is an electromagnetic active damper, and the six-dimensional force control unit is embedded with a high-precision torque sensor, and the active floating mechanism and the six-dimensional force control unit are electrically connected to an AI edge controller.

[0013] Preferably, each of the flexible joint modules is connected through a mechanical shaft and an elastic element, the tightening actuator is installed at the end of the joint arm of the embodied joint arm module, and is integrated with an electric screwdriver, a torque control device and a first quick-change interface, and the gripper actuator is installed at the end of the joint arm of the embodied joint arm module, and is integrated with a picking fixture and a second quick-change interface.

[0014] Preferably, a multimodal perception module is provided at the front end of the embodied joint arm module, and the multimodal perception module includes a visual sensor installed at the front end of the joint arm, and force sensors are fixedly installed at the flexible joint connection of the flexible joint module and inside the tightening actuator and the clamping actuator, and tactile sensors are installed on the side of the tightening actuator and the clamping actuator that contacts the workpiece.

[0015] Preferably, the multimodal perception module is electrically connected to an intelligent control system through electrical lines. The intelligent control system includes an AI decision engine, an adaptive controller, an edge computing unit and a cross-domain collaborative protocol module. The AI ​​decision engine is equipped with a reinforcement learning and knowledge graph module for dynamic task planning and abnormal autonomous decision-making. The adaptive controller is configured with an impedance control and digital twin technology module, the edge computing unit is embedded with an AI algorithm chip, and the cross-domain collaborative protocol module realizes collaborative control through ROS2+OPC UA.

[0016] Preferably, a power supply unit is provided inside the embodied mobile platform, and the power supply unit includes a magnetic resonance transmitter, a receiving module, a high-efficiency rectifier module, an intelligent energy management module and a battery assembly. The magnetic resonance transmitter is a ground-embedded coil array, the receiving module is integrated with a resonant coil, the high-efficiency rectifier module is configured with a GaN device for AC / DC conversion, and the intelligent energy management module is used to monitor the received power and temperature.

[0017] An adaptive flexible tightening embodied intelligent robot tightening process method includes the following specific steps:

[0018] S1. Task Initialization: Tightening task information, including workpiece type, bolt specifications, tightening sequence, target torque, and other parameters, is input through the human-computer interface. The intelligent control system constructs a 3D model of the workpiece and plans the initial tightening path and joint motion trajectory based on this task information and environmental data collected by the multimodal perception module.

[0019] S2. Environmental Perception and Positioning: The multimodal perception module is activated, using visual sensors to scan the work area and identify the workpiece's position, shape, and bolt hole distribution. Force sensors and tactile sensors then detect obstacles and contact status in the surrounding environment. An intelligent control system integrates multi-sensor data to accurately calculate the relative position deviation and posture difference between the end tightening actuator and the target bolt hole.

[0020] S3. Adaptive Path Planning: The intelligent control system uses a path optimization algorithm to adjust the initial tightening path and joint motion trajectory based on position deviation and posture differences, generating adaptive motion control instructions to drive the embodied articulated arm module to align the tightening actuator with the target position.

[0021] S4. Pre-tightening operation: The tightening actuator pre-tightens the bolt or nut according to the preset pre-tightening parameters. The force sensor monitors the axial force and torque during the tightening process in real time. When the force value reaches the pre-tightening threshold, the pre-tightening operation is suspended.

[0022] S5. Force-position coordinated tightening: The intelligent control system analyzes the tightening status of the bolt and the stress on the workpiece based on the data collected by the force sensor during the pre-tightening process. It then applies a force-position coordinated control algorithm to dynamically adjust the tightening torque, rotation angle, and movement speed of the tightening actuator until the target torque is reached.

[0023] S6. Quality Inspection and Feedback: After tightening is complete, the multimodal sensing module collects data again to inspect the tightening quality, determining whether the bolts are properly tightened and whether there are any issues such as thread stripping or loosening. The intelligent control system provides feedback to the operator and records the results in the production database, providing data support for subsequent production optimization.

[0024] (3) Beneficial effects

[0025] Compared with the prior art, the present invention provides an adaptive flexible tightening embodied intelligent robot and tightening process method, which has the following beneficial effects:

[0026] 1. The adaptive flexible tightening embodied intelligent robot and tightening process method, through the integration of an embodied mobile platform, an embodied lifting system, an adaptive flexible embodied joint arm, a multimodal perception system, an end-tightening actuator, an end-grip actuator, an intelligent control system and a power supply unit, enable the robot to perceive and adaptively adjust to changes in the external environment, which can effectively solve the problem that traditional rigid joints cannot adapt to workpiece assembly deviations.

[0027] 2. This adaptive flexible tightening embodied intelligent robot and tightening process method constructs a tightening process method based on a multimodal perception system and intelligent control system, integrates visual, force and tactile data, and uses machine learning algorithms to achieve real-time monitoring and dynamic adjustment of the tightening process, effectively improving the intelligence level and quality stability of the tightening operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of the embodied intelligent robot of the present invention;

[0029] Figure 2 for Figure 1 Perspective rear view;

[0030] Figure 3 for Figure 1 Perspective top view;

[0031] Figure 4 This is a schematic diagram of the structure of the mobile platform embodied in the present invention;

[0032] Figure 5 for Figure 4 Perspective front view;

[0033] Figure 6 This is a schematic structural diagram of the multi-stage telescopic mechanism of the present invention;

[0034] Figure 7 This is a structural diagram of the tightening actuator of the present invention;

[0035] Figure 8 This is a schematic structural diagram of the gripper actuator of the present invention;

[0036] Figure 9 This is a schematic diagram of a mobile platform module embodied in the present invention;

[0037] Figure 10 This is a schematic diagram of the lifting mechanism module of the present invention;

[0038] Figure 11 This is a schematic diagram of the embodied articulated arm module of the present invention;

[0039] Figure 12 Schematic diagram of the multimodal perception module of the present invention;

[0040] Figure 13 This is a schematic diagram of the intelligent control system module of the present invention;

[0041] Figure 14 Schematic diagram of the power supply unit module of the present invention.

[0042] Figure: 1. Embodied mobile platform; 101. Frame; 102. Drive wheel; 103. Steering wheel; 104. Drive motor; 105. Reducer; 106. Mecanum wheel; 107. Suspension system; 108. Charging unit; 2. Embodied lifting mechanism; 201. High-rigidity guide rail; 202. Multi-stage telescopic mechanism; 203. Electric push rod; 204. Force-position dual-control sensor; 205. Dynamic balance controller; 3. Embodied articulated arm module; 301. Flexible joint module; 302. Active floating mechanism; 303. Six-dimensional force control unit ; 304, AI edge controller; 4, tightening actuator; 5, gripper actuator; 6, multimodal perception module; 601, flexible joint module; 602, force sensor; 603, tactile sensor; 7, intelligent control system; 701, AI decision engine; 702, adaptive controller; 703, edge computing unit; 704, cross-domain collaborative protocol module; 8, power supply unit; 801, magnetic resonance transmitter; 802, receiving module; 803, high-efficiency rectifier module; 804, intelligent energy management module; 805, battery assembly. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0044] Example 1

[0045] In this embodiment, the embodied intelligent tightening robot mainly consists of an embodied mobile platform 1, an embodied lifting mechanism 2, an embodied articulated arm module 3, a multimodal sensing system, a tightening actuator 4, a gripper actuator 5, a multimodal sensing module 6, an intelligent control system 7, and a power supply unit 8. The specific main functions or effects include:

[0046] 1) The embodied mobile platform 1 is located at the bottom of the robot, carrying the lifting system, articulated arm, tightening shaft, control system, sensors, etc., driving the robot's flexible and autonomous movement. It has high rigidity and low center of gravity performance to ensure movement and operation stability;

[0047] 2) The embodied lifting system 2 is installed on the embodied mobile platform 1 to enable flexible lifting operations of the embodied intelligent robot. The electric push rod 203 provides the core drive, and the multi-stage telescopic mechanism 202 uses a nested carbon fiber sleeve to achieve large-scale height adjustment in a limited space. The high-rigidity guide rail 201 ensures that there is no shaking during the lifting process and maintains the stability of the torso. The force-position dual-control sensor 204 integrates a pressure sensor (to prevent overload / collision) and an encoder (real-time position feedback) to achieve smooth lifting. The dynamic balance controller 204 adjusts the motor torque in real time based on the IMU posture data to offset the center of gravity changes and adapt to operations on complex terrain.

[0048] 3) Adaptive flexible embodied articulated arms are installed on both sides of the embodied lifting system, driving the end-tightening actuator and the end-gripper actuator respectively. They sense the position and angle changes of the joints in real time, enabling flexible movement and posture adjustment. They can autonomously adjust the posture and force under complex curved surfaces, assembly errors, or vibration environments, completing a closed loop of "perception-decision-execution" to ensure high-precision screw picking and flexible tightening.

[0049] The modular joint integrates a high-torque density servo motor, a harmonic reducer, and dual encoders to achieve ±0.05° repeatability. The wrist of the six-dimensional force control unit is embedded with a high-precision torque sensor, which senses contact force in real time and supports compliant control. The active floating mechanism has an electromagnetic active damper that dynamically compensates for ±15mm position deviation and suppresses overload shock. The AI ​​edge controller runs an adaptive impedance algorithm to optimize tightening parameters through working condition learning.

[0050] 3) The visual sensor 601 is installed at the front end of the articulated arm to identify the shape, position and bolt hole distribution of the workpiece. The force sensor 602 is distributed at the flexible joint connection and inside the end effector to monitor the axial force, torque and force conditions of each joint during the tightening process in real time. The tactile sensor 603 covers the contact part of the end effector to sense the contact status and pressure distribution with the workpiece surface.

[0051] 4) The end-tightening actuator is installed at the end of the articulated arm, which can quickly replace the appropriate tightening tool according to different tightening tasks and accurately control the tightening torque and rotation angle. The end-clamp actuator is installed at the end of the articulated arm, which can quickly pick up different bolts according to different tightening tasks and accurately place them in the tightening position;

[0052] 5) The intelligent control system 7 is installed within the robot and connected to all components via a data bus. It is responsible for receiving data collected by the multimodal perception system, analyzing and processing it using artificial intelligence algorithms and control models, generating control instructions to drive the adaptive flexible articulated arm, the end-actuator tightening actuator, and the end-gripper actuator. This enables the robot to complete a fully closed loop of "perception-cognition-decision-execution" in unstructured scenarios, and possesses anti-interference, self-learning, and highly flexible operational capabilities.

[0053] The AI ​​decision engine 701 is equipped with reinforcement learning and knowledge graphs to support dynamic task planning and autonomous decision-making in the event of an emergency. The adaptive controller 702 uses impedance control and digital twin technology to achieve a millisecond-level force-position hybrid closed loop. The edge computing unit 703 is embedded with an AI chip, and the cross-domain collaborative protocol uses ROS2 and OPC UA to achieve collaborative control of the robot arm, mobile platform, and tool end.

[0054] 6) The power supply unit 8 is installed on the robot's mobile platform to provide continuous power during movement, addressing the wear limitations of traditional slip rings or drag chains and supporting uninterrupted operation. The magnetic resonance transmitter 801 is a ground-embedded coil array that generates a high-frequency alternating magnetic field. The receiving module 802 is a resonant coil integrated into the robot chassis, supporting ±15cm dynamic offset compensation.

[0055] The GaN device of the high-efficiency rectifier module 803 realizes AC / DC conversion and outputs 48V DC. The intelligent energy management monitors the received power and temperature in real time and adjusts the transmission intensity through ZigBee feedback. The battery component 805 uses a lithium metal negative electrode + sulfide electrolyte, supports 10C discharge rate, and is equipped with a wireless fast charging interface and is compatible with Qi2.0 magnetic resonance.

[0056] Example 2

[0057] In this embodiment, the subject, object, triggering condition, execution action, operating environment parameters, and operating principle of each step in the tightening process method include:

[0058] 1) The execution subjects are the operator and the intelligent control system, and the object is the tightening task information. The trigger condition is that the operator starts the task initialization program. The execution action includes the operator inputting parameters, the intelligent control system receiving the parameters and building a workpiece model, and planning the initial path;

[0059] The operating environment parameters include task type, workpiece size, bolt specifications, etc. The operating principle is that the intelligent control system uses three-dimensional modeling algorithm and path planning algorithm to generate an initial operation plan based on the input parameters.

[0060] 2) The execution subjects are the multimodal perception system and intelligent control system, and the objects are the working environment and workpiece. The trigger condition is to start the environmental perception program. The execution actions include visual sensor scanning, force sensor and tactile sensor detection, and the intelligent control system integrates and processes sensor data. The operating environment parameters include lighting conditions, ambient temperature, workpiece material, etc. The operating principle is to identify workpiece features through computer vision algorithms and use sensor fusion technology to accurately calculate position deviation and posture differences.

[0061] 3) The execution subjects are the intelligent control system and the adaptive flexible articulated arm, and the objects are the tightening path and joint motion trajectory. The trigger condition is to obtain position deviation and posture difference data. The execution action is that the intelligent control system generates motion control instructions, and the adaptive flexible articulated arm adjusts its posture according to the instructions. The operating environment parameters include the current position and angle of the joint. The operating principle is based on the path optimization algorithm and kinematic model to generate joint motion control instructions to achieve accurate positioning of the end effector.

[0062] 4) The execution subject is the end tightening actuator and force sensor, the object is the bolt or nut, the trigger condition is that the end effector reaches the target position, the execution action is that the end tightening actuator operates with the pre-tightening parameters, and the force sensor monitors the force value in real time;

[0063] The operating environment parameters include pre-tightening torque threshold, rotation speed, etc. The operating principle is that the electric screwdriver rotates according to the set parameters, and the force sensor converts the force signal into an electrical signal and transmits it to the intelligent control system;

[0064] 5) The execution subjects are the intelligent control system, the end tightening actuator and the force sensor. The object is the force and position state during the tightening process. The trigger condition is the completion of pre-tightening. The execution action is that the intelligent control system adjusts the tightening parameters according to the force sensor data using the force-position coordinated control algorithm, and the end tightening actuator performs the final tightening operation.

[0065] The operating environment parameters include real-time force value, torque, rotation angle, etc. The operating principle is to achieve precise control of the tightening process through the force-position coordinated control algorithm to ensure that the target torque is achieved.

[0066] 6) The execution subjects are the multimodal perception system and intelligent control system, and the object is tightening quality. The trigger condition is the completion of the final tightening. The execution action is that the multimodal perception system collects data, and the intelligent control system analyzes the data and provides feedback. The operating environment parameters include quality inspection standards. The operating principle is to compare the data collected by the sensors with the quality standards to determine whether the tightening quality is qualified.

[0067] In summary, the working principle of the adaptive flexible tightening embodied intelligent robot is as follows:

[0068] 1) Adaptive Flexible Joint Arm Operation: When the flexible joint is subjected to external forces, the elastic element deforms, changing the angle and posture of the joint. The drive motor 104, based on the instructions of the intelligent control system 7, fine-tunes the joint to compensate for the position deviation caused by the elastic deformation. The position and angle information of the joint are collected in real time using position sensors and angle sensors, and fed back to the intelligent control system 7, forming a closed-loop control to ensure the accuracy of the joint movement.

[0069] 2) Data processing: The visual, force, and tactile data collected by the multimodal perception module 6 are transmitted to the intelligent control system 7. The intelligent control system 7 uses a deep learning algorithm to fuse the data, identify the characteristics of the workpiece and the current tightening status, and generate joint motion control instructions and tightening parameter adjustment plans through an optimization algorithm;

[0070] 3) Technical Effect: The adaptive flexible joint arm enables the robot to adapt to the position deviation and posture changes of the workpiece, automatically adjust the position and angle of the tightening actuator 4 and the gripper actuator 5, and improve the accuracy of the tightening operation. The multimodal perception system and the intelligent control system work together to achieve real-time monitoring and intelligent control of the tightening process, ensuring the stability of the tightening quality and improving the robot's adaptability to complex working conditions.

[0071] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0072] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An adaptive flexible tightening embodied intelligent robot, characterized by: The invention comprises an embodied mobile platform (1) placed on the ground, wherein the top of the embodied mobile platform (1) is provided with an embodied lifting mechanism (2), the top of the embodied mobile platform (1) is provided with an embodied joint arm module (3), and the external end of the embodied joint arm module (3) is provided with a tightening actuator (4) and a clamping actuator (5).

2. The adaptive flexible tightening embodied intelligent robot according to claim 1, characterized in that: The embodied mobile platform (1) includes a frame (101) placed on the ground, a driving wheel (102) and a steering wheel (103) are movably mounted on the bottom of the frame (101), a driving motor (104) and a reducer (105) are arranged inside the frame (101), a Mecanum wheel (106) and a suspension system (107) are movably mounted on the bottom of the frame (101), and a charging unit (108) is arranged inside the frame (101).

3. The adaptive flexible tightening embodied intelligent robot according to claim 2, characterized in that: The embodiment lifting mechanism (2) comprises a high-rigidity guide rail (201) fixedly mounted on the top of the vehicle frame (101); a multi-stage telescopic mechanism (202) is provided on the inner side of the high-rigidity guide rail (201); the multi-stage telescopic mechanism (202) is a plurality of nested carbon fiber sleeve structures; an electric push rod (203) is fixedly mounted on the inner side of the high-rigidity guide rail (201); the top end of the electric push rod (203) is connected to the carbon fiber sleeve; a force-position dual-control sensor (204) and a dynamic balance controller (205) are fixedly mounted on the inner side of the high-rigidity guide rail (201); the force-position dual-control sensor (204) is integrated with a pressure sensor and an encoder; the dynamic balance controller (205) is electrically connected to the drive motor (104) through IMU attitude data.

4. The adaptive flexible tightening embodied intelligent robot according to claim 1, characterized in that: The embodied joint arm module (3) is movably mounted on the left and right sides of a high-rigidity guide rail (201), and the embodied joint arm module (3) includes a joint arm composed of a plurality of flexible joint modules (301), wherein the flexible joint module (301) is integrated with a high-torque density servo motor, a harmonic reducer and a dual encoder, and an active floating mechanism (302) and a six-dimensional force control unit (303) are arranged on the joint arm, wherein the active floating mechanism (302) is an electromagnetic active damper, and the six-dimensional force control unit (303) is embedded with a high-precision torque sensor, and the active floating mechanism (302) and the six-dimensional force control unit (303) are both electrically connected to an AI edge controller (304).

5. The adaptive flexible tightening embodied intelligent robot according to claim 4, characterized in that: Each of the flexible joint modules (301) is connected via a mechanical rotating shaft and an elastic element; the tightening actuator (4) is mounted on the end of the joint arm of the embodied joint arm module (3) and is integrated with an electric screwdriver, a torque control device and a first quick-change interface; the gripper actuator (5) is mounted on the end of the joint arm of the embodied joint arm module (3) and is integrated with a picking fixture and a second quick-change interface.

6. The adaptive flexible tightening embodied intelligent robot according to claim 4, characterized in that: The front end of the embodied joint arm module (3) is provided with a multimodal perception module (6), and the multimodal perception module (6) includes a visual sensor (601) installed at the front end of the joint arm, and force sensors (602) are fixedly installed at the flexible joint connection of the flexible joint module (601) and inside the tightening actuator (4) and the clamping actuator (5), and a tactile sensor (603) is installed on the side of the tightening actuator (4) and the clamping actuator (5) that contacts the workpiece.

7. The adaptive flexible tightening embodied intelligent robot according to claim 6, characterized in that: The multimodal perception module (6) is electrically connected to an intelligent control system (7) through an electrical circuit. The intelligent control system (7) includes an AI decision engine (701), an adaptive controller (702), an edge computing unit (703) and a cross-domain collaborative protocol module (704). The AI ​​decision engine (701) is equipped with a reinforcement learning and knowledge graph module for dynamic task planning and abnormal autonomous decision-making. The adaptive controller (702) is configured with an impedance control and digital twin technology module. The edge computing unit (703) is embedded with an AI algorithm chip. The cross-domain collaborative protocol module (704) realizes collaborative control through ROS2+OPC UA.

8. The adaptive flexible tightening embodied intelligent robot according to claim 1, characterized in that: The embodied mobile platform (1) is internally provided with a power supply unit (8), the power supply unit (8) comprising a magnetic resonance transmitting end (801), a receiving end module (802), a high-efficiency rectifier module (803), an intelligent energy management module (804) and a battery assembly (805), the magnetic resonance transmitting end (801) being a ground-embedded coil array, the receiving end module (802) being integrated with a resonant coil, the high-efficiency rectifier module (803) being configured with a GaN device for AC / DC conversion, and the intelligent energy management module (804) being used to monitor received power and temperature.

9. An adaptive flexible tightening method using an embodied intelligent robot, characterized by: The specific steps include: S1. Task initialization: Tightening task information, including workpiece type, bolt specifications, tightening sequence, target torque and other parameters, is input through the human-computer interaction interface. The intelligent control system (7) constructs a three-dimensional model of the workpiece and plans the initial tightening path and joint motion trajectory based on the task information and the environmental data collected by the multimodal perception module (6); S2. Environmental perception and positioning: The multimodal perception module (6) is activated, and the visual sensor (601) is used to scan the working area to identify the position, shape, and bolt hole distribution of the workpiece. The force sensor (302) and the tactile sensor (303) then detect obstacles and contact status in the surrounding environment. The intelligent control system (7) fuses the multi-sensor data to accurately calculate the relative position deviation and posture difference between the end tightening actuator and the target bolt hole. S3. Adaptive path planning: The intelligent control system (7) uses a path optimization algorithm to adjust the initial tightening path and joint motion trajectory based on position deviation and posture difference, generates adaptive motion control instructions, drives the embodied joint arm module (3) to move, and aligns the tightening actuator (4) with the target position; S4. Pre-tightening operation: The tightening actuator (4) performs pre-tightening operation on the bolt or nut according to the preset pre-tightening parameters, and the force sensor (302) monitors the axial force and torque during the tightening process in real time. When the force value reaches the pre-tightening threshold, the pre-tightening operation is suspended; S5. Force-position coordinated tightening control: The intelligent control system (7) analyzes the tightening state of the bolt and the stress on the workpiece based on the data collected by the force sensor (302) during the pre-tightening process, and uses the force-position coordinated control algorithm to dynamically adjust the tightening torque, rotation angle and movement speed of the tightening actuator (4) to perform the final tightening operation until the target torque is reached; S6. Quality Inspection and Feedback: After tightening is completed, the multimodal sensing module (6) collects data again to inspect the tightening quality and determine whether the bolts are tightened properly, whether there are any stripping or loosening problems. The intelligent control system (7) feeds back the inspection results to the operator and records them in the production database to provide data support for subsequent production optimization.

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