Four-arm mobile robot for multiple scenes, robot system and control method

Abstract

The invention provides a four-arm mobile robot for multiple scenes, a robot system and a control method. The robot comprises a working chassis, a moving mechanism is arranged at the bottom of the working chassis, a machine body is arranged at the top of the working chassis, and a visual module is arranged on the machine body to collect visual information of a workbench; the machine body comprises a bearing shaft longitudinally installed on the working chassis, an upper mechanical arm set and a lower mechanical arm set are installed on the bearing shaft, and at least one of the upper mechanical arm set and the lower mechanical arm set can rotate around the bearing shaft; the upper mechanical arm set comprises an upper arm support, the lower mechanical arm set comprises a lower arm support, and mechanical arms are installed at the two ends of the upper arm support and the two ends of the lower arm support respectively. And the control device is used for identifying an operation scene according to the visual information of the workbench and controlling each mechanical arm to be switched to a corresponding working mode according to the operation scene, and the working modes comprise an independent working mode, a pairwise collaborative working mode or a four-arm collaborative working mode. The four-arm mobile robot disclosed by the invention can adapt to different scene operations.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a four-arm mobile robot, a robot system and a control method for multiple scenarios. Background Art

[0002] With the rapid development of robotics technology in the field of industrial manufacturing, the market has higher requirements for the processing accuracy and efficiency of industrial robots. Traditional single-arm robots currently have the following problems: 1. When a single-arm robot is working, when it involves the collaboration of multiple robotic arms, it takes up a lot of space, and the safety distance between multiple robotic arms must also be considered, which limits the use scenarios of industrial robots; 2. During the collaboration process, multiple single-arm robots have low flexibility and inconsistent working accuracy, making it difficult to achieve efficient coordination.

[0003] With the continuous development of industrial robot technology, multi-arm robots have become an important means to improve production efficiency and processing accuracy. The application scenarios of multi-arm robots are becoming more and more extensive. At present, they are mainly used in the fields of industry, medicine, agriculture, and aviation. However, there is still a lot of room for improvement to adapt to the complex and changing industrial production environment. However, the existing multi-arm robots cannot adjust the layout of the mechanical arms according to different task requirements, which limits their application in multiple scenarios. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a four-arm mobile robot, a robot system and a control method for multi-scenario operations to adaptively perform multi-scenario operations.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a four-arm mobile robot for multiple scenarios, comprising a working chassis, a moving mechanism is provided at the bottom of the working chassis, a fuselage is provided at the top of the working chassis, and a visual module is provided on the fuselage to collect visual information of the workbench and upload it to a control device; The fuselage includes a load-bearing shaft longitudinally mounted on the working chassis, an upper mechanical arm group and a lower mechanical arm group are mounted on the load-bearing shaft, and at least one of the upper mechanical arm group and the lower mechanical arm group can rotate around the load-bearing shaft; Wherein, the upper mechanical arm group includes an upper arm bracket sleeved on the load-bearing shaft, and the lower mechanical arm group includes a lower arm bracket sleeved on the load-bearing shaft, and mechanical arms are respectively installed at both ends of the upper arm bracket and the lower arm bracket; The control device is used to identify the working scene according to the visual information of the workbench, and control each of the robotic arms to switch to a corresponding working mode according to the working scene. The working mode includes a single working mode, a two-to-two collaborative working mode, or a four-arm collaborative working mode.

[0006] Furthermore, the ends of the mechanical arms are respectively provided with depth cameras to collect depth image data corresponding to the target object on the workbench and upload it to the control device; The control device is also used to identify the type of the target object based on the depth image data of the target object, and to obtain the distance between the end of the corresponding robotic arm and the target object, and to control each robotic arm to perform corresponding operations based on the identified type and distance.

[0007] Furthermore, a laser radar is provided on the working chassis to detect the surrounding environment information during the movement of the working chassis; The control device is also used to plan a path according to the environmental information, and control the moving mechanism to move to a predetermined working position of the workbench according to the planned path.

[0008] Furthermore, the moving mechanism is a running wheel, and the running wheel includes an omnidirectional wheel or a differential wheel; and / or The end effector installed on the mechanical arm includes an electric gripper.

[0009] Further, the lower robot arm assembly includes a first rotating mechanism, and the first rotating mechanism includes: A first upper bearing is arranged on the top of the lower arm bracket, wherein the inner ring of the first upper bearing is fixedly sleeved on the load-bearing shaft, and the outer ring is fixedly connected to the lower arm bracket; A first lower bearing is arranged at the bottom of the lower arm bracket, the inner ring of the first lower bearing is fixedly sleeved on the load-bearing shaft, and the outer ring is fixedly connected to the lower arm bracket; and A first motor fixedly mounted in the lower arm bracket to drive the lower arm bracket to rotate around the load-bearing shaft; Wherein, the lower arm bracket includes a lower arm mounting frame and a first swivel base fixed to the bottom of the lower arm mounting frame.

[0010] Further, the upper robot arm assembly includes a second rotating mechanism, and the second rotating mechanism includes: A second upper bearing is arranged on the top of the upper arm bracket, the inner ring of the second upper bearing is fixedly sleeved on the load-bearing shaft, and the outer ring is fixedly connected to the upper arm bracket; A second lower bearing is arranged at the bottom of the upper arm bracket, the inner ring of the second lower bearing is fixedly sleeved on the load-bearing shaft, and the outer ring is fixedly connected to the upper arm bracket; and A second motor fixedly mounted in the upper arm bracket to drive the upper arm bracket to rotate around the load-bearing shaft; Wherein, the upper arm bracket includes an upper arm mounting frame and a second swivel base fixed to the bottom of the upper arm mounting frame.

[0011] In a second aspect, the present invention provides a control method for the four-arm mobile robot as described above, comprising: Identifying a work scene according to the visual information of the workbench collected by the visual module; According to the operation scenario, each of the robotic arms is controlled to switch to a corresponding operation mode, and the operation mode includes a single operation mode, a two-two collaborative operation mode, or a four-arm collaborative operation mode.

[0012] Furthermore, the method further comprises: Acquire depth image data corresponding to the target object on the workbench; The type of the target object is identified according to the depth image data of the target object, and the distance between the end of the corresponding robotic arm and the target object is obtained, and each robotic arm is controlled to perform corresponding operations according to the identified type and distance.

[0013] In a third aspect, the present invention provides a robot system, which includes a workbench and the four-arm mobile robot as described above.

[0014] Furthermore, the workbench has a work surface located around the mobile robot, and part of the work surface is a movable plate, and when the movable plate is moved away, the mobile robot can pass through; The workbench is also provided with a proximity sensing module and an in-place detection module. When the proximity sensing module senses that the mobile robot is approaching, it triggers the movable plate to move away; when the in-place detection module detects that the mobile robot moves to a predetermined working position of the workbench, it triggers the movable plate to reset.

[0015] By adopting the above technical solution, the present invention has the following beneficial effects: The present invention can adjust the body layout by rotating the upper robotic arm group and / or the lower robotic arm group, so that the structure of the mobile robot has higher flexibility; at the same time, the present invention can also combine visual recognition to perform scene judgment, and control each robotic arm group to rotate to a corresponding angle according to the judged operation scene, so that each robotic arm can switch to a corresponding individual operation mode, a two-two collaborative operation mode or a four-arm collaborative operation mode, that is, the mobile robot can adapt to multi-scene operations by changing the body layout and complete different operation tasks, so that it can be widely used in more complex industrial production scenarios, especially some scenarios that require precise sorting, assembly and operation, which can greatly reduce labor costs and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1A Schematic diagram of the whole machine of the four-arm mobile robot used in multiple scenarios in the present invention; Figure 1B Schematic diagram of the positional relationship between the four-arm mobile robot and the workbench in the present invention; Figure 2A It is an initial state diagram of the fuselage in which the upper mechanical arm group cannot rotate and the lower mechanical arm group can rotate; Figure 2B The figure is a rotation state diagram of the fuselage in which the upper mechanical arm group cannot rotate and the lower mechanical arm group can rotate; Figure 2C A rotation state diagram of the fuselage in which the upper mechanical arm group can rotate but the lower mechanical arm group cannot rotate; Figure 2D A rotation state diagram of the fuselage in which the upper mechanical arm group can rotate and the lower mechanical arm group can rotate; Figure 3A A schematic diagram of a four-arm mobile robot in the present invention performing four-arm collaborative operation; Figure 3B It is a schematic diagram of the four-arm mobile robot of the present invention performing independent operation of each arm; Figure 3C It is a schematic diagram of the four-arm mobile robot of the present invention performing collaborative operation of two arms on the same side; Figure 3D It is a schematic diagram of the four-arm mobile robot of the present invention performing collaborative operation of two arms in the same group; Figure 4 A partial cross-sectional view of the four-arm mobile robot of the present invention; Figure 5 is a schematic diagram of a first rotating mechanism for driving the lower mechanical arm assembly to rotate in the present invention; Figure 6 Schematic diagram of the docking process between the four-arm mobile robot and the workbench in the present invention; Figure 7 It is the working flow chart of the robot system in the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "the" and "the" used in the present disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0019] As mentioned above, existing multi-arm robots cannot adjust the layout of their mechanical arms according to different task requirements, which limits their application in multiple scenarios. Therefore, the present invention urgently needs to provide a four-arm mobile robot, a robot system, and a control method for multiple scenarios, which mainly adapt to the operation requirements of multiple scenarios through visual recognition and flexible adjustment of the mechanical arms.

[0020] Example 1 The present invention provides a four-arm mobile robot for multiple scenarios. Figure 1A-Figure 5 As shown, the robot includes a working chassis 101, and a moving mechanism 102 is provided at the bottom of the working chassis 101 to drive the movement of the entire robot; a fuselage is provided on the top of the working chassis 101, and a visual module 103 (preferably a binocular vision depth camera) is provided on the fuselage to collect visual information of the workbench and upload it to a control device (not shown); the hardware circuit of the robot is integrated inside the working chassis 101.

[0021] In this embodiment, the body of the mobile robot includes a load-bearing shaft 104 longitudinally mounted on the working chassis 101. The load-bearing shaft 104 is a fixed part, which serves as the main force-bearing structure of the body. The upper mechanical arm group and the lower mechanical arm group are mounted on the shaft, and at least one of the upper mechanical arm group and the lower mechanical arm group can rotate around the load-bearing shaft 104 (see Figure 2A-2D As shown in the figure, the body layout can be adjusted, making the structure of the mobile robot more flexible.

[0022] Specifically, the upper robot arm group in this embodiment includes an upper arm bracket 105 sleeved on the load-bearing shaft 104, and the lower robot arm group includes a lower arm bracket 106 sleeved on the load-bearing shaft 104, and robot arms 107 are respectively installed at both ends of the upper arm bracket 105 and the lower arm bracket 106. Preferably, each robot arm 107 is a multi-axis robot arm, including but not limited to 3-axis, 6-axis and other robot arms. According to the type of application operation, various types of corresponding end effectors 108 can be installed at the end of each robot arm 107.

[0023] When the robot of the present embodiment is working, the above-mentioned control device is used to perform AI recognition based on the visual information of the workbench to identify the current working scene of the robot (such as industrial sorting, medical drug collection, experimental teaching, etc.), and control each robotic arm 107 to switch to the corresponding working mode according to the identified working scene (the working mode corresponding to each working scene will be pre-set), thereby improving the collaboration efficiency.

[0024] Among them, each robot arm 107 can work in a separate operation mode, a two-to-two collaborative operation mode (any two robot arms 107 can work together) or a four-arm collaborative operation mode.

[0025] For example, Figure 3A As shown, each robot arm 107 can work in a four-arm collaborative operation mode. In this mode, the upper robot arm group and the lower robot arm group rotate to be parallel to each other and in the same direction (i.e., facing the table surface on one side of the workbench, and the other side table surface is a spare table surface), and the four robot arms 107 enter a four-arm collaborative state with higher precision, and can complete a single complex task with higher precision requirements through four-arm collaboration.

[0026] For example, Figure 3B As shown, each robot arm 107 can work in a separate operation mode. In this mode, the upper robot arm group and the lower robot arm group rotate to be perpendicular to each other, and the four robot arms 107 enter a separate operation mode, which can perform four different tasks at the same time, with higher efficiency and space utilization, and also allow some robot arms 107 to be idle.

[0027] For example, Figure 3C and 3D As shown, each robot arm 107 can work in a two-to-two collaborative operation mode. In this mode, the upper robot arm group and the lower robot arm group are parallel to each other, and can work in a collaborative manner with two arms on the same side or with two arms in the same group. Figure 3C In order to coordinate the two arms on the same side, the four-arm mobile robot works in the middle of the two production lines, and the left and right arms perform the dual-arm collaborative tasks. Both sides can perform the same task or different tasks, which has higher operational flexibility. Figure 3D In order to enable two arms in the same group to work together, the four-arm mobile robot operates in the middle of the two assembly lines. The arms of the upper robotic arm group and the lower robotic arm group perform two-arm collaborative tasks. Both sides can perform the same task or different tasks, and have higher operational flexibility.

[0028] According to the production line process or the flow of workpieces in the production line, the mobile robot can move with the production line transmission; if it is a single production line, the robot can realize simultaneous operation based on 4 arms, and can adjust its mobility according to the flow of the production line to adapt to the production line. The robot can exchange data with the production line management platform or receive instructions from the production line management platform in real time.

[0029] It can be seen that this embodiment can adjust the body layout by rotating the upper robotic arm group and / or the lower robotic arm group, so that the structure of the mobile robot has higher flexibility; at the same time, the present invention can also combine visual recognition to perform scene judgment, and control each robotic arm group to rotate to a corresponding angle according to the judged operation scene, so that each robotic arm 107 can switch to a corresponding individual operation mode, a two-two collaborative operation mode or a four-arm collaborative operation mode, that is, the mobile robot can adapt to multi-scene operations by changing the body layout and complete different operation tasks, so that it can be widely used in more complex industrial production scenarios, especially some scenarios that require precise sorting, assembly and operation, which can greatly reduce labor costs and improve production efficiency.

[0030] See again Figure 1A As shown, each end of each mechanical arm 107 is provided with a depth camera 109 (preferably a binocular vision depth camera) to collect the depth image data of the corresponding target object on the workbench and upload it to the control device. On this basis, the control device is also used to identify the type of the target object according to the depth image data of the target object, and obtain the distance between the end of the corresponding mechanical arm 107 and the target object, and control each mechanical arm 107 to perform corresponding specific operations according to the identified type and distance, such as clamping, moving, assembling the target object, etc., so as to ensure the operation accuracy.

[0031] In this embodiment, a laser radar 110 is also provided on the working chassis 101 to detect the surrounding environmental information during the movement of the working chassis 101. The control device is also used to plan a path according to the environmental information, and control the mobile mechanism 102 to move to a predetermined working position of the workbench according to the planned path, thereby providing autonomous path finding and navigation, and realizing autonomous obstacle avoidance.

[0032] In this embodiment, the moving mechanism 102 is a walking wheel, which is preferably a Mecanum wheel, which can move or rotate forward and backward, left and right, and in situ, so as to facilitate the robot arm 107 to adjust the angle position. According to the scene requirements, the walking wheel can also be of other types, not limited to Mecanum wheels, such as differential wheels.

[0033] In this embodiment, the end effector 108 installed on the robot arm 107 includes but is not limited to an electric gripper, and electric grippers of different specifications can meet the requirements of different tasks. The end effector 108 can be replaced modularly through the robot quick-change platform 301, and the electric gripper can be directly adjusted by rotating the robot arm 107, or by rotating the robot arm group, or directly adjusting the position of the whole machine in situ, so that the end effector 108 reaches the specified position for replacement.

[0034] In such Figure 4 and Figure 5In the example shown, the upper mechanical arm group cannot rotate, but the lower mechanical arm group can rotate. Specifically, the lower mechanical arm group (lower arm bracket 106) is driven to rotate by a first rotating mechanism, which includes: a first upper bearing 111 arranged at the top of the lower arm bracket 106, the inner ring of the first upper bearing 111 is fixedly sleeved on the load-bearing shaft 104, and the outer ring is fixedly connected to the lower arm bracket 106; a first lower bearing 112 arranged at the bottom of the lower arm bracket 106, the inner ring of the first lower bearing 112 is fixedly sleeved on the load-bearing shaft 104, and the outer ring is fixedly connected to the lower arm bracket 106; and a first motor 113 (preferably a hollow shaft motor, installed through the first motor 113 bracket) fixedly installed in the lower arm bracket 106, which is used to provide power to drive the lower arm bracket 106 to rotate around the load-bearing shaft 104. In this example, the upper arm bracket 105 only includes an upper arm mounting frame; and the lower arm bracket 106 needs to rotate, so the lower arm bracket 106 includes a lower arm mounting frame 1061 and a first swivel base 1062 fixed to the bottom of the lower arm mounting frame, and the first lower bearing 112 is arranged at the bottom of the first swivel base 1062. When the first motor 113 rotates, the outer rings of the first upper bearing 111 and the first lower bearing 112, the first motor 113, the first motor bracket 1131, and the lower arm bracket 106 rotate together.

[0035] Correspondingly, when the upper mechanical arm group can rotate, the upper mechanical arm group includes a second rotating mechanism (not shown), which includes: a second upper bearing arranged at the top of the upper arm bracket 105, the inner ring of the second upper bearing is fixedly sleeved on the load-bearing shaft 104, and the outer ring is fixedly connected to the upper arm bracket 105; a second lower bearing arranged at the bottom of the upper arm bracket 105, the inner ring of the second lower bearing is fixedly sleeved on the load-bearing shaft 104, and the outer ring is fixedly connected to the upper arm bracket 105; and a second motor (preferably a hollow shaft motor, installed through a second motor bracket) fixedly installed in the upper arm bracket 105, so as to drive the upper arm bracket 105 to rotate around the load-bearing shaft 104; wherein the upper arm bracket 105 includes an upper arm mounting frame and a second swivel base fixed to the bottom of the upper arm mounting frame, and the first upper bearing 111 is arranged at the bottom of the second swivel base. When the second motor rotates, the outer rings of the second upper bearing and the second lower bearing, the second motor, the second motor bracket, and the upper mechanical arm bracket will rotate together.

[0036] In one practicable manner, both ends of the upper arm mounting frame and the lower arm mounting frame are respectively provided with a robot arm mounting seat 114 for pivotally mounting the corresponding robot arm 107 .

[0037] In one practicable manner, support columns 115 are fixedly sleeved on the load-bearing shafts 104 between the upper robot arm bracket and the lower robot arm bracket and between the lower robot arm bracket and the working chassis 101, respectively, to serve as load-bearing brackets of the robot.

[0038] In one practicable manner, the maximum rotation angle of the upper arm support and the lower arm support is 180 degrees, and when resetting is required, it is reset to the original angle.

[0039] The four-arm mobile robot of this embodiment has higher precision and efficiency, and can make the operation between each mechanical arm 107 more stable and flexible, and can achieve more complex tasks or achieve four different tasks at the same time. In addition, the rotatable body structure allows the four-arm mobile robot to have a wider range of application scenarios, such as industrial sorting, school teaching, hospital medicine collection, agricultural picking, textile industry, etc.

[0040] Example 2 This embodiment provides a control method for the four-arm mobile robot of embodiment 1, which specifically includes the following steps: identifying the operation scene according to the visual information of the workbench collected by the visual module 103; controlling each mechanical arm 107 to switch to a corresponding operation mode according to the identified operation scene, wherein the operation mode includes a single operation mode, a two-two collaborative operation mode or a four-arm collaborative operation mode. Thus, the robot can flexibly adapt to the operation requirements of multiple scenarios, significantly improve industrial production efficiency, and reduce labor costs.

[0041] In addition, the method of this embodiment also includes: obtaining depth image data corresponding to the target object on the workbench; identifying the type of the target object based on the depth image data of the target object, and obtaining the distance between the end of the corresponding robotic arm 107 and the target object, and controlling each robotic arm 107 to perform corresponding operations based on the identified type and distance, thereby ensuring the operation accuracy.

[0042] Example 3 This embodiment provides a robot system, which includes a workbench and a four-arm mobile robot as provided in Example 1.

[0043] exist Figure 1B In the example shown, the workbench has a work surface 201 located around the mobile robot, and part of the work surface 201 is a movable plate 202. When the movable plate 202 is moved away, the mobile robot can pass through (the movable door is equivalent to the function of the door). In addition, the workbench is also provided with a proximity sensing module and an in-place detection module. When the proximity sensing module senses that the mobile robot is approaching, the movable plate 202 is triggered to move away (equivalent to opening the door); when the in-place detection module detects that the mobile robot moves to the predetermined working position of the workbench, the movable plate 202 is triggered to reset (equivalent to closing the door). Preferably, the movable plate 202 is moved by an electrically controlled slide rail structure 203.

[0044] like Figure 6 As shown, the mobile robot docks with the workbench through the following steps: Autonomous navigation: Find the work surface 201, determine the positional relationship between the four-arm mobile robot and the work surface, and autonomously navigate to the work surface through the laser radar 110 sensor.

[0045] Determine the position: The positional relationship between the four-arm mobile robot and the workbench can be determined by the binocular vision depth camera 109 on the body.

[0046] Entering the workbench: When it is confirmed that the movable plate 202 is moved away, the four-arm mobile robot begins to enter the workbench to the predetermined working position.

[0047] Docking is completed: After the four-arm mobile robot is determined to enter the predetermined working position, the movable plate 202 is reset to return to the table surface. When the four-arm mobile robot needs to leave after completing the task, the movable plate 202 is removed.

[0048] It should be understood that the workbench of this example is not limited to Figure 1B The workbench shown can be designed into any other suitable form according to actual needs, such as Figure 3C and 3D The assembly line workstations are shown on both sides of the robot.

[0049] Figure 7 The working process of the robot system of this embodiment is shown, and the specific process is as follows: Material transportation: transporting the corresponding materials to the work surface 201 in an automated manner.

[0050] AI judges the scene: The four-arm mobile robot uses the visual module 103 to visually identify the materials on the table, and then the control device completes simple scene recognition. According to different scenes (such as industrial sorting, medical drug collection, experimental teaching), the corresponding robot arm working mode can be given, thereby improving the collaboration efficiency.

[0051] Change of the fuselage: According to the working mode, the four mechanical arms 107 are controlled to rotate to complete the change of the four-arm structure.

[0052] Robotic arm operation: Control the robotic arm to move according to the working mode, providing four-arm collaborative operation mode, two-two collaborative operation mode and four-arm individual operation mode. Among them: Four-arm collaborative operation mode: With higher precision, the four robotic arms 107 can collaborate to complete the task, the operation is smoother, and complex operation tasks can be achieved.

[0053] Two-to-two collaborative operation mode: The upper and lower arms or the left and right arms of the fuselage can perform dual-arm collaborative tasks. Two groups can perform the same task or different tasks, with higher operational flexibility. In this mode, the mobile robot can move according to the production line process and follow the production line transmission.

[0054] Four-arm independent operation mode: With higher efficiency and rotatable structure, it can realize the execution of four identical or different tasks at the same time.

[0055] Completion of the task: When the four-arm mobile robot completes the task, the visual module 103 determines that it is completed and moves to the next task location.

[0056] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A four-arm mobile robot for multiple scenarios, characterized in that: It comprises a working chassis, a moving mechanism is provided at the bottom of the working chassis, a fuselage is provided at the top of the working chassis, and a visual module is provided on the fuselage to collect visual information of the workbench and upload it to the control device; The fuselage comprises a load-bearing shaft longitudinally mounted on the working chassis, an upper mechanical arm group and a lower mechanical arm group are mounted on the load-bearing shaft, and at least one of the upper mechanical arm group and the lower mechanical arm group can rotate around the load-bearing shaft; Wherein, the upper mechanical arm group includes an upper arm bracket sleeved on the load-bearing shaft, and the lower mechanical arm group includes a lower arm bracket sleeved on the load-bearing shaft, and mechanical arms are respectively installed at both ends of the upper arm bracket and the lower arm bracket; The control device is used to identify the working scene according to the visual information of the workbench, and control each of the robotic arms to switch to a corresponding working mode according to the working scene. The working mode includes a single working mode, a two-to-two collaborative working mode, or a four-arm collaborative working mode.

2. The four-arm mobile robot according to claim 1, characterized in that: A depth camera is provided at the end of each of the mechanical arms to collect depth image data of the corresponding target object on the workbench and upload it to the control device; The control device is also used to identify the type of the target object based on the depth image data of the target object, and to obtain the distance between the end of the corresponding robotic arm and the target object, and to control each robotic arm to perform corresponding operations based on the identified type and distance.

3. The four-arm mobile robot according to claim 1, characterized in that: The working chassis is provided with a laser radar to detect the surrounding environment information during the movement of the working chassis; The control device is also used to plan a path according to the environmental information, and control the moving mechanism to move to a predetermined working position of the workbench according to the planned path.

4. The four-arm mobile robot according to claim 1, characterized in that: The moving mechanism is a running wheel, and the running wheel includes an omnidirectional wheel or a differential wheel; and / or The end effector installed on the mechanical arm includes an electric gripper.

5. The four-arm mobile robot according to claim 1, characterized in that: The lower robot arm assembly includes a first rotating mechanism, and the first rotating mechanism includes: A first upper bearing is arranged on the top of the lower arm bracket, wherein the inner ring of the first upper bearing is fixedly sleeved on the load-bearing shaft, and the outer ring is fixedly connected to the lower arm bracket; A first lower bearing is arranged at the bottom of the lower arm bracket, the inner ring of the first lower bearing is fixedly sleeved on the load-bearing shaft, and the outer ring is fixedly connected to the lower arm bracket; and A first motor fixedly mounted in the lower arm bracket to drive the lower arm bracket to rotate around the load-bearing shaft; Wherein, the lower arm bracket includes a lower arm mounting frame and a first swivel base fixed to the bottom of the lower arm mounting frame.

6. The four-arm mobile robot according to claim 1, characterized in that: The upper robot arm assembly includes a second rotating mechanism, and the second rotating mechanism includes: A second upper bearing is arranged on the top of the upper arm bracket, the inner ring of the second upper bearing is fixedly sleeved on the load-bearing shaft, and the outer ring is fixedly connected to the upper arm bracket; A second lower bearing is arranged at the bottom of the upper arm bracket, the inner ring of the second lower bearing is fixedly sleeved on the load-bearing shaft, and the outer ring is fixedly connected to the upper arm bracket; and A second motor fixedly mounted in the upper arm bracket to drive the upper arm bracket to rotate around the load-bearing shaft; Wherein, the upper arm bracket includes an upper arm mounting frame and a second swivel base fixed to the bottom of the upper arm mounting frame.

7. A control method for a four-arm mobile robot as claimed in any one of claims 1 to 6, characterized in that: include: Identifying a work scene according to the visual information of the workbench collected by the visual module; According to the operation scenario, each of the robotic arms is controlled to switch to a corresponding operation mode, and the operation mode includes a single operation mode, a two-two collaborative operation mode, or a four-arm collaborative operation mode.

8. The control method according to claim 7, characterized in that: The method further comprises: Acquire depth image data corresponding to the target object on the workbench; The type of the target object is identified according to the depth image data of the target object, and the distance between the end of the corresponding robotic arm and the target object is obtained, and each robotic arm is controlled to perform corresponding operations according to the identified type and distance.

9. A robot system, characterized in that: The system comprises a workbench and a four-arm mobile robot as claimed in any one of claims 1 to 6.

10. The robot system according to claim 9, characterized in that: The workbench has a work surface located around the mobile robot, and part of the work surface is a movable plate, and when the movable plate is moved away, the mobile robot can pass through; The workbench is also provided with a proximity sensing module and an in-place detection module. When the proximity sensing module senses that the mobile robot is approaching, it triggers the movable plate to move away; when the in-place detection module detects that the mobile robot moves to a predetermined working position of the workbench, it triggers the movable plate to reset.

Images