Multi-station robot linkage control system

Abstract

The present invention provides a multi-station robot linkage control system, which relates to the field of robot technology and comprises a linkage platform and a robot system group. The robot system group comprises a multi-station robot, a communication module and a drive modification module. The linkage platform comprises a host calibration module, a scheduling system and a planning warehouse. The multi-station robots are all built-in with a communication module and a drive modification module, and the communication module is used for the robot to communicate with the linkage platform. The present invention transmits an initial instruction chain to the robot at the first station under the current production plan for execution. After execution, the drive modification module adds a timestamp and an identity of the executed robot to the initial instruction chain and encrypts it to update the initial instruction chain, and feeds back to the scheduling system. After verification, the updated instruction chain is sent to the robot at the next station for execution, so as to perform multi-station operation linkage, and achieve smooth linkage of multi-station robots and reduce errors by updating the instructions.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a multi-station robot linkage control system. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] Industrial robots are composed of three major parts, including mechanical structure system, drive system, and perception system. From the perspective of mechanical structure, industrial robots are generally divided into serial robots and parallel robots. The characteristic of serial robots is that the movement of one axis will change the coordinate origin of the other axis, while the movement of one axis of parallel robots will not change the coordinate origin of the other axis. Early industrial robots all adopted serial mechanisms. Parallel mechanisms are defined as a closed-loop mechanism in which a moving platform and a fixed platform are connected by at least two independent motion chains. The mechanism has two or more degrees of freedom and is driven in parallel. The parallel mechanism has two components, namely the wrist and the arm. The arm's activity area has a great influence on the activity space, and the wrist is the connecting part between the tool and the main body. Compared with serial robots, parallel robots have the advantages of high rigidity, stable structure, large load-bearing capacity, high micro-motion accuracy, and small motion load. In terms of position solution, the forward solution of serial robots is easy, but the reverse solution is very difficult; while the parallel robot is the opposite, its forward solution is difficult, but the reverse solution is very easy;

[0004] The drive system is a device that provides power to the mechanical structure system. According to the different power sources, the transmission methods of the drive system are divided into four types: hydraulic, pneumatic, electrical and mechanical. Early industrial robots used hydraulic drive. Due to the leakage, noise and low-speed instability of the hydraulic system, and the heavy and expensive power unit, only large heavy-duty robots, parallel processing robots and some special application occasions use hydraulically driven industrial robots. Pneumatic drive has the advantages of fast speed, simple system structure, easy maintenance and low price. However, the working pressure of the pneumatic device is low and it is not easy to accurately position. It is generally only used to drive the end effector of the industrial robot, pneumatic gripping and rotating. The rotary cylinder and pneumatic suction cup can be used as the end effector for grasping and assembling medium and small load workpieces. Electric drive is the most commonly used drive mode at present. Its characteristics are easy access to power, fast response, large driving force, convenient signal detection, transmission and processing, and a variety of flexible control methods. The drive motor generally adopts a stepper motor or a servo motor. At present, direct drive motors are also used, but the cost is high and the control is more complicated. The reducer matched with the motor generally adopts a harmonic reducer, a cycloid pinwheel reducer or a planetary gear reducer. Since there are a large number of linear drive requirements in parallel robots, linear motors have been widely used in the field of parallel robots;

[0005] The robot perception system converts various internal state information and environmental information of the robot from signals into data and information that can be understood and applied by the robot itself or between robots. In addition to the need to perceive mechanical quantities related to its own working state, such as displacement, speed and force, visual perception technology is an important aspect of industrial robot perception. The visual servo system uses visual information as feedback signals to control and adjust the position and posture of the robot. The machine vision system has also been widely used in various aspects of quality inspection, workpiece identification, food sorting and packaging. The perception system consists of internal sensor modules and external sensor modules. The use of intelligent sensors improves the mobility, adaptability and intelligence of the robot.

[0006] From the above, it can be seen that in the operation process of industrial robots, from instruction generation and issuance to robot execution, multiple systems and multiple steps are involved. In a production planning process, robots with different functions in multiple workstations are required to perform operations. In the prior art, multiple control systems are generally used to operate multiple robots separately. The linkage between them is poor, errors are prone to occur, and it is also impossible to dynamically adjust the robot as the main workstation according to different production plans. Therefore, the present invention proposes a multi-station robot linkage control system to solve the problems existing in the prior art. Summary of the invention

[0007] In view of the above problems, the present invention proposes a multi-station robot linkage control system, which achieves smooth linkage of multi-station robots and reduces errors by updating instructions.

[0008] To achieve the purpose of the present invention, the present invention is implemented through the following technical solutions: a multi-station robot linkage control system, including a linkage platform and a robot system group, the robot system group includes a multi-station robot, a communication module and a drive modification module, the linkage platform includes a host calibration module, a scheduling system and a planning warehouse, the multi-station robots are all built-in communication modules and drive modification modules, the communication module is used for the robot to communicate with the linkage platform, and the communication modules of the multi-stations are combined into a local area network for collaborative operation;

[0009] The scheduling system is used to transmit the initial instruction chain to the drive modification module of the first workstation under the current production plan, and the drive modification module drives the robot of the first workstation to execute. After execution, the drive modification module of the first workstation adds a timestamp and the identity of the executed robot to the initial instruction chain and encrypts it to update the initial instruction chain, and then feeds the updated instruction chain back to the scheduling system. After verification, the scheduling system sends the updated instruction chain to the drive modification module of the next workstation to perform multi-workstation operation linkage. The planning warehouse is used to store the motion function data of robots at different workstations under different production plans. The host calibration module is used to dynamically select the robot that executes the initial motion function as the host among the robots at multiple workstations according to different production plans, receive the initial instruction chain, and execute the first workstation operation.

[0010] A further improvement is that the multi-station robot is an industrial robot located at multiple functional area stations, robots at different stations are used to perform different motion functions, and the multi-station robot combination completes the specified production plan.

[0011] Further improvement is that: the communication module includes a gateway module and a local area network system, the gateway module includes a HINET data gateway and a HINET intelligent gateway, the HINET data gateway and the HINET intelligent gateway are used to communicate with the linkage platform according to the robot communication analysis protocol of different workstations, receive the instruction chain and feedback the updated instruction chain.

[0012] Further improvements are: the local area network system includes a network card, a hub, and a router. The network card is the basic chip for wireless communication in the local area network, and the network card is connected to a network connection cable and inserted into a hub or router; the hub is the central device in the local area network, which connects robots in multiple stations to communicate with each other and concentrates the network interfaces of robots in multiple stations to transmit data. The router is used to connect the local area network to the Internet for communication with the linkage platform.

[0013] A further improvement is that the drive modification module includes a servo execution module and a modification marking module. The servo execution module is used to receive the instruction chain issued by the scheduling system, and drive the robot at this workstation to perform corresponding operations according to the operation motion plan for the robot at this workstation in the instruction chain. The modification marking module modifies the instruction chain, first invalidates the instructions that have been executed in the instruction chain, and then adds a timestamp to the invalidated instructions, the identity of the robot that has been executed, and encrypts them.

[0014] A further improvement is that the planning warehouse includes a storage device and a human-computer interaction system. The human-computer interaction system is used to manually input different production planning processes and convert them into corresponding instruction chains. The human-computer interaction system is based on a computer and is used to display on a computer monitor and to manually execute subsequent production plans. The storage device is used to store different production planning processes and their instruction chains under manual input, and the identity of the input person is verified during storage.

[0015] A further improvement is that the host calibration module includes a parameter analysis system and a decision management system. The parameter analysis system is used to connect to the planning warehouse and collect different motion function parameters of robots in multiple workstations. When executing the production plan, according to the production plan executed by manual operation, the parameter analysis system extracts the corresponding instruction chain from the planning warehouse, splits and analyzes the instruction chain, and specifically splits it into the motion plan to be taken by each workstation robot, thereby outputting the operation sequence indicators for robots in different workstations.

[0016] A further improvement is that the decision management system determines the robot that performs the initial motion function as the host according to the operation sequence index to perform the first workstation operation, thereby sending the initial instruction chain to the robot determined at the first workstation for sequential execution through the scheduling system.

[0017] Further improvements are: the scheduling system includes an instruction packaging output unit, a verification unit and a recording unit, the instruction single package output unit is used to package the initial instruction chain and transmit it to the drive modification module of the robot at the first workstation under the current production plan, the verification unit is used to receive the updated instruction chain, check the timestamp and the identity of the robot that has been executed, and determine the production plan that has been executed by invalidating the instructions, and compare it with the original data in the planning warehouse to determine whether the execution is normal.

[0018] A further improvement is that the recording unit is used to record the output and receiving records of the instruction packaging output unit and the verification unit, add a time stamp, merge them into a log file, and display them on the computer display through the human-computer interaction system.

[0019] The beneficial effects of the present invention are:

[0020] 1. The present invention transmits the initial instruction chain to the robot at the first workstation under the current production plan for execution. After execution, the driver modification module adds a timestamp and the identity of the executed robot to the initial instruction chain and encrypts it to update the initial instruction chain and feed it back to the scheduling system. After verification, the updated instruction chain is sent to the robot at the next workstation for execution to perform multi-workstation operation linkage. By updating the instructions, smooth linkage of multi-workstation robots is achieved to reduce errors.

[0021] 2. The identifier added to the instruction chain of the present invention can also be traced back to the operation process of each workstation robot, ensuring the stability of the system and facilitating subsequent maintenance.

[0022] 3. The present invention stores different production planning processes and their instruction chains in a planning warehouse, and uses a parameter analysis system to take different motion function parameters of robots in multiple workstations as a benchmark. When executing production planning, the corresponding instruction chains are extracted from the planning warehouse for split analysis, and specifically split into the pending motion plans of the robots in each workstation, thereby facilitating the decision management system to determine the robot that executes the initial motion function as the host. Therefore, it is suitable for robot operation arrangements and transmission of initial instruction chains under different production plans, and has diversified functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a composition diagram of the present invention. DETAILED DESCRIPTION

[0024] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0025] Embodiment 1

[0026] according to Figure 1 As shown, this embodiment proposes a multi-station robot linkage control system, including a linkage platform and a robot system group, the robot system group includes a multi-station robot, a communication module and a drive modification module, the linkage platform includes a host calibration module, a scheduling system and a planning warehouse, the multi-station robots are all built-in communication modules and drive modification modules, the communication module is used for the robot to communicate with the linkage platform, and the communication modules of the multi-stations are combined into a local area network for collaborative operation;

[0027] The scheduling system is used to transmit the initial instruction chain to the drive modification module of the first workstation under the current production plan, and the drive modification module drives the robot of the first workstation to execute. After execution, the drive modification module of the first workstation adds a timestamp and the identity of the executed robot to the initial instruction chain and encrypts it to update the initial instruction chain, and then feeds the updated instruction chain back to the scheduling system. After verification, the scheduling system sends the updated instruction chain to the drive modification module of the next workstation to perform multi-workstation operation linkage. The planning warehouse is used to store the motion function data of robots at different workstations under different production plans. The host calibration module is used to dynamically select the robot that executes the initial motion function as the host among the robots at multiple workstations according to different production plans, receive the initial instruction chain, and execute the first workstation operation. When in use, the initial instruction chain is transmitted to the robot at the first workstation under the current production plan for execution. After execution, the driver modification module adds a timestamp and the identity of the executed robot to the initial instruction chain and encrypts it to update the initial instruction chain and feed it back to the scheduling system. After verification, the updated instruction chain is sent to the robot at the next workstation for execution to perform multi-workstation operation linkage. When executing the production plan, the corresponding instruction chain is extracted from the planning warehouse for split analysis, and specifically split into the motion plan to be performed by the robot at each workstation, so as to facilitate the decision management system to determine the robot that executes the initial motion function as the host. Therefore, it is suitable for robot operation arrangements and transmission of the initial instruction chain under different production plans.

[0028] The multi-station robot is an industrial robot located at multiple functional area stations. Robots at different stations are used to perform different motion functions. The multi-station robot combination completes the specified production plan.

[0029] The communication module includes a gateway module and a local area network system, the gateway module includes a HINET data gateway and a HINET smart gateway, the HINET data gateway and the HINET smart gateway are used to communicate with the linkage platform for robot communication parsing protocols at different workstations, receive instruction chains, and feedback updated instruction chains. The communication gateway protocols include MQTT, TCP, HTTP, UDP, and WEBSERVICES, and the networking interfaces include Ethernet, 2 / 3 / 4G networks, and WIFI networks.

[0030] The LAN system includes a network card, a hub, and a router. The network card is a basic chip for wireless communication in the LAN, and the network card is connected to a network connection cable and inserted into a hub or router; the hub is a central device in the LAN, which connects robots in multiple stations to communicate with each other and concentrates the network interfaces of robots in multiple stations to transmit data. The router is used to connect the LAN to the Internet for communication with the linkage platform. The devices in the LAN communicate through specific physical and data connections. When a robot sends data, these data packets are first sent to other robots in the LAN through a hub or router. Then, other robots will receive these data packets and process them, and if necessary, they can also forward these data packets to other devices. In this process, each data packet has a unique identifier to ensure that they can be correctly identified and transmitted. Devices in the LAN can also use network protocols to ensure the correct transmission of data and the reliability of communication. Common network protocols include TCP / IP protocol, IPX / SPX protocol, etc. These protocols define standards such as the format, transmission mode, and error detection of data packets to ensure that devices in the LAN can exchange data correctly. The composition principle of a local area network involves the connection of multiple devices and the transmission of data packets, ensuring the correct transmission of data and the reliability of communication through specific physical and data connection methods and network protocols.

[0031] The drive modification module includes a servo execution module and a modification marking module. The servo execution module is used to receive the instruction chain issued by the scheduling system, and according to the operation motion plan of the robot in the instruction chain, drive the robot in the station to perform the corresponding operation. The modification marking module modifies the instruction chain, first invalidates the instructions that have been executed in the instruction chain, and then adds a timestamp to the invalidated instructions, the identity of the robot that has been executed, and encrypts them. The addition of the identifier of the instruction chain can also be traced back to the operation process of each station robot to ensure the stability of the system. The specific encryption process is: collect the FPGA-based 3DES algorithm as an encryption scheme, select the encryption scheme according to the analysis results to encrypt the data, first virtually reconstruct the FPGA, design the key generator, based on the DES round function operation, use a 3-level pipeline to balance with the pipeline in the round function, and provide three 56-bit keys and encryption and decryption control signals for 3DES through a key control module.

[0032] The planning warehouse includes a storage device and a human-computer interaction system. The human-computer interaction system is used to manually input different production planning processes and convert them into corresponding instruction chains. The human-computer interaction system is based on a computer and is used to display on the computer monitor. It is also used for manual operation to execute subsequent production plans. The storage device is used to store different production planning processes and instruction chains under manual input. When storing, the identity of the input personnel is verified. User role customization, user access authorization, user access detection, user control authorization, data export authorization, reverse control authorization and reverse control encryption are adopted. Access authorization, Alibaba Cloud security policy, Huawei Cloud security policy and cloud firewall are adopted to prevent data leakage.

[0033] The host calibration module includes a parameter analysis system and a decision management system. The parameter analysis system is used to connect to the planning warehouse and collect different motion function parameters of the multi-station robot. When executing the production plan, according to the production plan executed by manual operation, the parameter analysis system extracts the corresponding instruction chain from the planning warehouse, splits and analyzes the instruction chain, and specifically splits it into the motion plan to be moved for each station robot, thereby outputting the operation sequence index for different station robots. The decision management system determines the robot that performs the initial motion function as the host according to the operation sequence index, and performs the first station operation. Thus, the initial instruction chain is sent to the determined first station robot for sequential execution through the scheduling system. When in use, different production planning processes and instruction chains are stored through the planning warehouse, and the different motion function parameters of the multi-station robot are used as the benchmark through the parameter analysis system. When executing the production plan, the corresponding instruction chain is extracted from the planning warehouse for split analysis, and specifically split into the motion plan to be moved for each station robot, so as to facilitate the decision management system to determine the robot that performs the initial motion function as the host. Thus, it is suitable for robot operation arrangement and transmission of the initial instruction chain under different production plans, and has diversified functions. When the host fails, other workstation robots with the same function can be quickly switched to serve as the host to ensure the normal and continuous operation of the entire system.

[0034] The scheduling system includes an instruction packaging output unit, a verification unit and a recording unit. The instruction single package output unit is used to package the initial instruction chain and deliver it to the drive modification module of the robot at the first station under the current production plan. The verification unit is used to receive the updated instruction chain, check the timestamp and the identity of the robot that has been executed, and determine the production plan that has been executed by invalidating the instruction, and compare it with the original data in the planning warehouse to determine whether the execution is normal. The initial instruction chain is delivered to the robot at the first station under the current production plan for execution. After execution, the drive modification module adds the timestamp and the identity of the robot that has been executed to the initial instruction chain and encrypts it, invalidates the production planning instructions that have been executed, so as to update the initial instruction chain, and feeds it back to the scheduling system, and compares and verifies it with the original data in the planning warehouse. After verification, the updated instruction chain is sent to the robot at the next station for execution, so as to perform multi-station operation linkage, and ensure that the entire system operates normally, continuously and stably, and the linkage is smooth.

[0035] Embodiment 2

[0036] according to Figure 1 As shown, this embodiment proposes a multi-station robot linkage control system, including a linkage platform and a robot system group, the robot system group includes a multi-station robot, a communication module and a drive modification module, the linkage platform includes a host calibration module, a scheduling system and a planning warehouse, the multi-station robots are all built-in communication modules and drive modification modules, the communication module is used for the robot to communicate with the linkage platform, and the communication modules of the multi-stations are combined into a local area network for collaborative operation;

[0037] The scheduling system is used to transmit the initial instruction chain to the drive modification module of the first workstation under the current production plan, and the drive modification module drives the robot of the first workstation to execute. After execution, the drive modification module of the first workstation adds a timestamp and the identity of the executed robot to the initial instruction chain and encrypts it to update the initial instruction chain, and then feeds the updated instruction chain back to the scheduling system. After verification, the scheduling system sends the updated instruction chain to the drive modification module of the next workstation to perform multi-workstation operation linkage. The planning warehouse is used to store the motion function data of robots at different workstations under different production plans. The host calibration module is used to dynamically select the robot that executes the initial motion function as the host among the robots at multiple workstations according to different production plans, receive the initial instruction chain, and execute the first workstation operation. When in use, the initial instruction chain is transmitted to the robot at the first workstation under the current production plan for execution. After execution, the driver modification module adds a timestamp and the identity of the executed robot to the initial instruction chain and encrypts it to update the initial instruction chain and feed it back to the scheduling system. After verification, the updated instruction chain is sent to the robot at the next workstation for execution to perform multi-workstation operation linkage. When executing the production plan, the corresponding instruction chain is extracted from the planning warehouse for split analysis, and specifically split into the motion plan to be performed by the robot at each workstation, so as to facilitate the decision management system to determine the robot that executes the initial motion function as the host. Therefore, it is suitable for robot operation arrangements and transmission of the initial instruction chain under different production plans.

[0038] The multi-station robot is an industrial robot located at multiple functional area stations. Robots at different stations are used to perform different motion functions. The multi-station robot combination completes the specified production plan.

[0039] The scheduling system includes an instruction packaging output unit, a verification unit and a recording unit. The instruction single package output unit is used to package the initial instruction chain and deliver it to the drive modification module of the robot at the first station under the current production plan. The verification unit is used to receive the updated instruction chain, check the timestamp and the identity of the robot that has been executed, and determine the production plan that has been executed by invalidating the instruction, and compare it with the original data in the planning warehouse to determine whether the execution is normal. The initial instruction chain is delivered to the robot at the first station under the current production plan for execution. After execution, the drive modification module adds the timestamp and the identity of the robot that has been executed to the initial instruction chain and encrypts it, invalidates the production planning instructions that have been executed, so as to update the initial instruction chain, and feeds it back to the scheduling system, and compares and verifies it with the original data in the planning warehouse. After verification, the updated instruction chain is sent to the robot at the next station for execution, so as to perform multi-station operation linkage, and ensure that the entire system operates normally, continuously and stably, and the linkage is smooth.

[0040] The recording unit is used to record the output and receiving records of the instruction packaging output unit and the verification unit, add a time stamp, merge them into a log file, and display them on the computer monitor through the human-computer interaction system. When in use, the output and receiving records of the instruction packaging output unit and the verification unit are timestamped, merged into a log file, and output and displayed, which is convenient for operation and maintenance personnel to understand the operating status of the entire system in real time and provide convenience for maintenance and repair.

[0041] The multi-station robot linkage control system transmits the initial instruction chain to the robot at the first station under the current production plan for execution. After execution, the driving modification module adds a timestamp and the identity of the executed robot to the initial instruction chain and encrypts it to update the initial instruction chain and feed it back to the scheduling system. After verification, the updated instruction chain is sent to the robot at the next station for execution to perform multi-station operation linkage. By updating the instructions, the multi-station robots can be smoothly linked to reduce errors, and the addition of the identification of the instruction chain can also be traced back to the operation process of each station robot to ensure the stability of the system. At the same time, the present invention stores different production planning processes and instruction chains through the planning warehouse, and uses the different motion function parameters of the multi-station robot as a benchmark through the parameter analysis system. When executing the production plan, the corresponding instruction chain is extracted from the planning warehouse for split analysis, and is specifically split into the to-be-moved plan of each station robot, so as to facilitate the decision management system to determine the robot that executes the initial motion function as the host. Therefore, it is suitable for robot operation arrangement and transmission of the initial instruction chain under different production plans, and has diversified functions.

[0042] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A multi-station robot linkage control system, including a linkage platform and a robot system group, characterized in that: The robot system group includes a multi-station robot, a communication module and a drive modification module. The linkage platform includes a host calibration module, a scheduling system and a planning warehouse. The multi-station robots are all built-in with a communication module and a drive modification module. The communication module is used for the robot to communicate with the linkage platform, and the communication modules of the multi-stations are combined into a local area network for collaborative operation. The scheduling system is used to transmit the initial instruction chain to the drive modification module of the first station under the current production plan, and the drive modification module drives the robot of the first station to execute. After execution, the drive modification module of the first station adds a timestamp and the identity of the executed robot to the initial instruction chain and encrypts it to update the initial instruction chain, and then feeds back the updated instruction chain to the scheduling system. After verification, the scheduling system sends the updated instruction chain to the drive modification module of the next station to perform multi-station operation linkage. The planning warehouse is used to store the motion function data of robots at different stations under different production plans. The host calibration module is used to dynamically select the robot that performs the initial motion function as the host among the robots at multiple stations according to different production plans, receive the initial instruction chain, and execute the first station operation; The local area network system includes a network card, a hub, and a router. The network card is a basic chip for wireless communication in the local area network, and the network card is connected to a network connection cable and inserted into a hub or a router; The hub is a central device in the local area network, connecting robots at multiple stations to communicate with each other, centralizing the network interfaces of robots at multiple stations to transmit data, and the router is used to connect the local area network to the Internet for communication with the linkage platform; The drive modification module includes a servo execution module and a modification marking module. The servo execution module is used to receive the instruction chain issued by the scheduling system, and drive the robot at the station to perform the corresponding operation according to the operation motion plan of the robot at the station in the instruction chain. The modification marking module modifies the instruction chain, first invalidates the executed instructions in the instruction chain, and then adds a timestamp and the identity of the executed robot to the invalidated instructions and encrypts them. The planning warehouse includes a storage device and a human-computer interaction system. The human-computer interaction system is used to manually input different production planning processes and convert them into corresponding instruction chains. The human-computer interaction system is based on a computer and is used to display on a computer display and to manually operate subsequent production planning. The storage device is used to store different production planning processes and their instruction chains under manual input. When storing, the identity of the input personnel is verified; The host calibration module includes a parameter analysis system and a decision management system. The parameter analysis system is used to connect to the planning warehouse and collect different motion function parameters of robots at multiple stations. When executing the production plan, according to the production plan executed by manual operation, the parameter analysis system extracts the corresponding instruction chain from the planning warehouse, splits and analyzes the instruction chain, and specifically splits it into the to-be-moved plan of each station robot, thereby outputting the operation sequence indicators of robots at different stations; The decision management system determines the robot that performs the initial motion function as the host according to the operation sequence index to perform the first workstation operation, thereby sending the initial instruction chain to the robot at the determined first workstation through the scheduling system for sequential execution; The scheduling system includes an instruction packaging and output unit, a verification unit and a recording unit. The instruction packaging and output unit is used to package the initial instruction chain and transmit it to the drive modification module of the robot at the first workstation under the current production plan. The verification unit is used to receive the updated instruction chain, check the timestamp and the identity of the robot that has completed the execution, and determine the production plan that has been executed by invalidating the instructions, and compare it with the original data in the planning warehouse to determine whether the execution is normal.

2. The multi-station robot linkage control system according to claim 1, characterized in that: The multi-station robot refers to an industrial robot located at multiple functional area stations. Robots at different stations are used to perform different motion functions. The multi-station robots are combined to complete the specified production plan.

3. The multi-station robot linkage control system according to claim 2, characterized in that: The communication module includes a gateway module and a local area network system. The gateway module includes a HINET data gateway and a HINET intelligent gateway. The HINET data gateway and the HINET intelligent gateway are used to communicate with the linkage platform according to the robot communication analysis protocol of different workstations, receive the instruction chain and feedback the updated instruction chain.

4. The multi-station robot linkage control system according to claim 1, characterized in that: The recording unit is used to record the output and receiving records of the instruction packaging output unit and the verification unit, add a time stamp, merge them into a log file, and display them on the computer display through the human-computer interaction system.

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