Multifunctional mechanical arm and control device thereof

Abstract

The invention provides a multifunctional mechanical arm and a control device thereof. The control device comprises a projection module, a man-machine interaction display module, a networking module and a processing module. The projection module is used for projecting cooperative operation information; the man-machine interaction display module is used for acquiring a near-end control instruction and sending the near-end control instruction to the processing module; the processing module is used for acquiring a far-end control instruction from a control network and a near-end control instruction sent by the man-machine interaction display module through the networking module; and responding to the far-end control instruction and the near-end control instruction, and controlling the mechanical arm to work. A user can input a control instruction at the near end of the mechanical arm through the man-machine interaction display module, the processing module can obtain a control instruction from a server or a far end through the networking module, the control mode of the mechanical arm is more flexible, in addition, the projection module can be used for projecting cooperative operation information to an operation site, and the operation efficiency is improved. The operation and control efficiency of the mechanical arm is effectively improved, and the operation precision is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial control, in particular to a multifunctional mechanical arm and a control device thereof. BACKGROUND

[0002] The mechanical arm can simulate the complex movement of human arms and realize high flexibility and accurate operation in three-dimensional space due to its high degree of freedom design, and is widely used in various industrial and non-industrial fields. Whether it is welding and spraying in automobile manufacturing, precise assembly in the electronic industry, or stacking and sorting in logistics and warehousing, the mechanical arm can greatly shorten the production cycle and reduce manual intervention through automatic continuous operation to achieve high efficiency.

[0003] The current mechanical arm control has the problem of single control mode, which can only rely on the control input end on the mechanical arm to input control instructions, the control mode is single, lacks guidance, and cannot operate cooperatively, resulting in low operation and control efficiency of the mechanical arm. SUMMARY

[0004] Therefore, it is necessary to provide a multifunctional mechanical arm and a control device thereof aiming at the above technical problems.

[0005] A multifunctional mechanical arm control device, comprising: a projection module, a human-computer interaction display module, a networking module and a processing module, the projection module, the human-computer interaction display module and the networking module are connected with the processing module, and the projection module, the human-computer interaction display module, the networking module and the processing module are all arranged on a mechanical arm; The projection module is used for obtaining cooperative operation information and projecting the cooperative operation information; The human-computer interaction display module is used for obtaining a near-end control instruction, sending the near-end control instruction to the processing module, receiving feedback information from the processing module, and displaying the feedback information; The networking module is used for accessing a control network; The processing module is used for obtaining a remote control instruction from the control network through the networking module and / or obtaining the near-end control instruction sent by the human-computer interaction display module; and controlling the mechanical arm to work in response to the remote control instruction and / or the near-end control instruction; The processing module is also used for detecting the working state of the mechanical arm, generating feedback information according to the working state of the mechanical arm, and sending the feedback information to the human-computer interaction display module.

[0006] In one of the embodiments, the networking module is also used for connecting a server through the control network, obtaining first communication information of another mechanical arm, sending the first communication information to the processing module, and / or Under the control of the processing module, a second communication message is sent to another robotic arm through the control network.

[0007] In one embodiment, the processing module is used to download collaborative operation information from the server via the networking module and send the collaborative operation information to the projection module; The projection module is used to acquire the collaborative operation information sent by the projection module and project the collaborative operation information.

[0008] In one embodiment, a storage module is also included, the storage module storing the cooperative operation information; The processing module is used to read the collaborative operation information from the storage module, send the collaborative operation information to the projection module, and control the projection module to project the collaborative operation information.

[0009] In one embodiment, the networking module is also used to connect to a freight system; The processing module is also used to acquire transport order information, parse the transport order information, obtain the transport destination, detect whether the transport is cross-regional, and when cross-regional transport is detected, send first transport information to the freight system through the network module; when cross-regional transport is detected, send second transport information to the freight system through the network module. The destination of the first transport information is the destination workstation in the same area, and the destination of the second transport information is the receiving area of ​​the origin.

[0010] In one embodiment, the processing module is further configured to detect whether the robotic arm is in an operational state; When the robotic arm is in operation, the projection module is controlled to acquire collaborative operation information and project the collaborative operation information. When the robotic arm is not in operation, the projection module is controlled to acquire preset playback information and project the preset playback information.

[0011] A multi-functional robotic arm includes a robotic arm and a multi-functional robotic arm control device as described in any of the above embodiments.

[0012] In one embodiment, the robotic arm includes a master robotic arm and a plurality of slave robotic arms; The processing module is used to obtain remote control commands from the control network through the networking module, and / or obtain the near-end control commands sent by the human-machine interaction display module; and respond to the remote control commands and / or the near-end control commands to control the main robotic arm to work; The processing module is further configured to respond to the remote control command and / or the proximal control command and control the corresponding slave robotic arm to work when the object controlled by the remote control command and / or the proximal control command includes a slave robotic arm.

[0013] In one embodiment, the processing module includes a main control unit and a plurality of slave control units. The main control unit and the networking module are disposed on the main robotic arm, and each of the slave control units is disposed on each of the slave robotic arms. The main control unit is used to obtain remote control commands from the control network through the networking module, and / or obtain the near-end control commands sent by the human-machine interaction display module; and to control the main robotic arm to work in response to the remote control commands and / or the near-end control commands. The main control unit is also configured to send the remote control command and / or the proximal control command to the slave control unit when the object controlled by the remote control command and / or the proximal control command includes a slave robotic arm; Each of the slave control units is used to receive the remote control command and / or the proximal control command, and in response to the remote control command and / or the proximal control command, control the corresponding slave robotic arm to work.

[0014] In one embodiment, the sub-arm includes a task sub-arm, a maintenance sub-arm, and an emergency sub-arm; The task sub-robotic arm is used to execute the main task under the control of the corresponding slave control unit; The maintenance sub-robotic arm is used to perform maintenance tasks under the control of the corresponding slave control unit; The emergency sub-robotic arm is used to perform emergency response tasks under the control of the corresponding slave control unit.

[0015] The aforementioned multifunctional robotic arm and its control device, through a human-machine interface display module, allow users to input control commands at the near end of the robotic arm. The processing module on the robotic arm can also obtain control commands from a server or remote location via a network module, making the control method of the robotic arm more flexible. In addition, the projection module can project collaborative operation information onto the operation site, enabling on-site personnel to perform collaborative operations based on the collaborative operation information, providing good guidance for on-site personnel, thereby effectively improving the operation and control efficiency of the robotic arm and achieving higher operational accuracy. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of a multi-functional robotic arm and the installation positions of the various modules of the control device in one embodiment; Figure 2 This is a schematic diagram of the module logic of the control device for a multi-functional robotic arm in one embodiment. Figure 3 This is a schematic diagram of the interaction logic of the various modules of the control device of a multi-functional robotic arm in one embodiment; Figure 4 This is a projection diagram of the projection module of the control device for a multi-functional robotic arm in one embodiment; Figure 5 This is a schematic diagram of a network structure for networking multiple robotic arms in one embodiment. Figure 6 This is a schematic diagram of the network structure of the master robotic arm and slave robotic arms in one embodiment. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0018] Example 1 In this embodiment, please refer to Figure 1 , Figure 2 and Figure 3 As shown, a control device for a multifunctional robotic arm is provided, which includes: a projection module 400, a human-machine interaction display module 200, a network module 300, and a processing module 500. The projection module 400, the human-machine interaction display module 200, and the network module 300 are all connected to the processing module 500. The projection module 400, the human-machine interaction display module 200, the network module 300, and the processing module 500 are all disposed on the robotic arm 100. The projection module 400 is used to acquire collaborative operation information and project the collaborative operation information. The human-computer interaction display module 200 is used to acquire near-end control commands, send the near-end control commands to the processing module 500, and also to receive feedback information from the processing module 500 and display the feedback information. The networking module 300 is used to access the control network; The processing module 500 is used to obtain remote control commands from the control network through the networking module 300, and / or obtain the near-end control commands sent by the human-machine interaction display module 200; and to control the robotic arm 100 to work in response to the remote control commands and / or the near-end control commands. The processing module 500 is also used to detect the working status of the robotic arm 100, generate feedback information based on the working status of the robotic arm 100, and send the feedback information to the human-computer interaction display module 200.

[0019] In this embodiment, the processing module 500 includes a processor, which is used to control the operation of the projection module 400, the human-computer interaction display module 200, and the networking module 300.

[0020] Specifically, the human-machine interface display module 200 includes a touch screen. This module receives proximal control commands via the touch screen, which are input by the user at the operating station of the robotic arm 100 and are touch commands to the touch screen. The processing module 500 receives the proximal control commands through the human-machine interface display module 200 and controls the robotic arm 100 to operate. Furthermore, the control device includes several sensors mounted on the robotic arm 100 to detect its operating status. The processing module 500 detects the operating status of the control device through the sensors and generates feedback information based on this status, which is displayed on the touch screen. This operating status and feedback information includes the voltage, temperature, angle, target coordinates, and coordinates of the robotic arm 100.

[0021] In addition to responding to near-end control commands, the processing module 500 can also respond to remote control commands, which are input from a server or remote computer. The processing module 500 receives remote control commands through the network module 300. It is worth noting that whether responding to near-end or remote control commands, the processing module 500 operates by controlling the robotic arm 100. However, for some tasks, the robotic arm 100 alone cannot complete the task, requiring manual assistance from on-site operators. When there is a lack of guidance, on-site operators may not be able to effectively cooperate with the robotic arm 100. To provide guidance to on-site operators and achieve better collaboration, in this embodiment, the projection module 400 projects collaborative operation information onto the work area. Specifically, the projection module 400 projects the collaborative operation information into a preset projection area within the work area. It is worth mentioning that the position and size of this preset projection area can be set and selected by on-site personnel on the human-machine interface display module 200. In this way, on-site operators can accurately and efficiently cooperate with the robotic arm 100 based on the projected collaborative operation information, resulting in higher work efficiency and higher operational accuracy for the robotic arm 100.

[0022] In the above embodiments, the human-machine interaction display module 200 allows users to input control commands at the near end of the robotic arm 100. The processing module 500 on the robotic arm 100 can also obtain control commands from a server or remote location through the network module 300, making the control method of the robotic arm 100 more flexible. In addition, the projection module 400 can project collaborative operation information onto the operation site, enabling on-site personnel to perform collaborative operations based on the collaborative operation information, providing good guidance for on-site personnel, thereby effectively improving the operation and control efficiency of the robotic arm 100 and increasing the operational accuracy.

[0023] In one embodiment, the networking module is further configured to connect to a server via the control network, obtain first communication information of another robotic arm, send the first communication information to the processing module, and / or Under the control of the processing module, a second communication message is sent to another robotic arm through the control network.

[0024] In this embodiment, the networking module and the server communicate using the Modbus communication protocol, enabling communication between different robotic arms. The server connects to the networking modules of each robotic arm through a control network to forward information between the different robotic arms. In this embodiment, the networking modules of different robotic arms communicate with each other through a control network. This control network can be a local area network, an industrial control network, the Internet, or a private network built on the Internet. In one embodiment, such as... Figure 5 As shown, the control network is a public network. Servers in the local area networks of different companies are connected through the public network server. Each local area network server is connected to multiple robotic arms, thus realizing the networking between robotic arms.

[0025] In one embodiment, the processing module is used to download collaborative operation information from the server through the networking module and send the collaborative operation information to the projection module; the projection module is used to obtain the collaborative operation information sent by the projection module and project the collaborative operation information.

[0026] In this embodiment, a source for collaborative operation information is provided. The server sends collaborative operation information to the robotic arm according to different job types. Specifically, the processing module sends a download request to the server based on the job type and robotic arm type. The server responds to the download request and sends collaborative operation information corresponding to the job type and robotic arm type to the robotic arm's network module. After obtaining the collaborative operation information, the processing module sends it to the projection module, which then projects the collaborative operation information onto a preset projection area in the job area.

[0027] In one embodiment, the control device further includes a storage module that stores the cooperative operation information; The processing module is used to read the collaborative operation information from the storage module, send the collaborative operation information to the projection module, and control the projection module to project the collaborative operation information.

[0028] In this embodiment, another source of collaborative operation information is provided. The robotic arm is equipped with a storage module, such as a memory. The processor is connected to the memory. The memory stores various types of collaborative operation information. The processing module searches for the corresponding collaborative operation information in the memory according to the job type and the robotic arm type, reads the collaborative operation information, sends it to the projection module, and controls the projection module to project the collaborative operation information in a preset projection area of ​​the job area.

[0029] In one embodiment, the networking module is further configured to connect to the freight system; the processing module is further configured to acquire transport order information, parse the transport order information to obtain the transport destination, detect whether cross-regional transport is detected based on the transport destination, and when cross-regional transport is detected, send first transport information to the freight system through the networking module; when cross-regional transport is detected, send second transport information to the freight system through the networking module, wherein the destination of the first transport information is the destination workstation in the same region, and the destination of the second transport information is the receiving area of ​​the origin.

[0030] In this embodiment, the freight system includes AGVs (Automated Guided Vehicles). The term "cross-regional" in this embodiment can refer to crossing administrative regions or crossing factory areas. When the destination and the current location of the robotic arm are in the same region, the transportation of the robotic arm is not considered cross-regional transportation. When the destination and the current location of the robotic arm are in different regions, the transportation of the robotic arm is considered cross-regional transportation. During cross-regional transportation, the processing module sends first transportation information to the freight system via the network module, causing the AGV to transport the robotic arm to the receiving area at the origin, i.e., the receiving area of ​​the current factory area. Other cross-regional transport vehicles in the receiving area then transport the robotic arm to other factory areas. When it is not cross-regional transportation, the processing module sends second transportation information to the freight system via the network module, causing the AGV to transport the robotic arm to the destination workstation within the same region, i.e., the target workstation of the current factory area. In this embodiment, the operator can input the destination in the logistics module of the operating system through the human-machine interface display module. For transportation within the same factory area, the AGV transports the robotic arm to the destination. For cross-plant transportation, the logistics module connects to a third-party handling platform. The robotic arm is transported to the receiving area of ​​the departure plant by AGV, then transported to the receiving area of ​​the target plant by the third-party handling platform, and finally transported to the target workstation by AGV.

[0031] In one embodiment, the processing module is further configured to detect whether the robotic arm is in an operational state; When the robotic arm is in operation, the projection module is controlled to acquire collaborative operation information and project the collaborative operation information. When the robotic arm is not in operation, the projection module is controlled to acquire preset playback information and project the preset playback information.

[0032] In this embodiment, the processing module can determine whether the robotic arm is in an operational state by detecting its working status using sensors, and / or by detecting whether it has received near-end control commands or remote control commands within the most recent preset time period. Specifically, when the robotic arm is in an operational state, its voltage, temperature, angle, or coordinates are inconsistent with those when it is not in an operational state. Therefore, detecting the robotic arm's working status can determine whether it is in an operational state. Furthermore, if the robotic arm has not received control commands for a relatively long period, it indicates that it is in an idle or non-operational state. Therefore, detecting whether the robotic arm is in an operational state can also be done by checking if the time since the last near-end control command or remote control command was received is greater than a preset time. When the robotic arm is in an operational state, the processing module acquires collaborative operation information and projects this information through the projection module. When the robotic arm is not in an operational state, the processing module projects preset playback information through the projection module. This preset playback information can be advertisements, safety operation videos, or promotional videos. In this embodiment, on the one hand, the projection module can project information prompting the operator onto the object being operated on during operation, reducing the probability of operator error, such as... Figure 4 As shown, the projection function instructs operators to move the cube to the correct position. On the other hand, the projection function can also play safety operation videos, company promotional videos, etc., during non-operational periods.

[0033] To achieve accurate projection, in one embodiment, the processing module is further configured to detect whether the robotic arm is in a working state; if the robotic arm is not in a working state, the projection module is controlled to acquire preset playback information and project the preset playback information according to a preset angle and preset projection parameters; when the robotic arm is in a working state, work information is acquired, the working parameters of the robotic arm on the time axis are acquired based on the work information, the current angle and posture information of the robotic arm are determined based on the working parameters of the robotic arm on the time axis, the projection angle and projection parameters are determined based on the current angle and posture information of the robotic arm, the projection module is controlled to acquire collaborative operation information, and the projection module is controlled to project the collaborative operation information according to the projection angle and projection parameters.

[0034] In this embodiment, when the robotic arm is not in operation, preset playback information is directly projected. Specifically, when the robotic arm is not in operation, it resets to its initial position and angle, and then projects the preset playback information at a preset angle. For example, the preset angle is the angle towards the ground. The preset projection parameters include the projection area and the projection focal length. In addition, the processing module can obtain the distance to the ground through the infrared focusing unit set on the projection module, thereby achieving focusing and projecting according to the preset projection area. When the robotic arm is in operation, its angle, height, and posture vary depending on the stage and process of the operation. Therefore, in this embodiment, the processing module acquires operation information, which records the robotic arm's actions and postures at different time periods during operation, such as rotation angle, tilt angle, extension length, and posture. This information, distributed over time, constitutes the working parameters distributed on the time axis. By parsing the operation information, the working parameters of the robotic arm at different time periods can be obtained. These working parameters can be used to determine the projection angle and projection parameters. Thus, the processing module can control the projection module to project the collaborative operation information based on the projection angle and projection parameters. This allows the collaborative operation information to be projected adaptively in accordance with the working state of the robotic arm, avoiding obstruction of the projected image by the robotic arm or the object it is carrying, resulting in better and more accurate projection.

[0035] In one embodiment, the processing module is further configured to, when the robotic arm is in operation, acquire proximal control commands and / or remote control commands, acquire the current working parameters of the robotic arm based on the proximal control commands and / or remote control commands, determine the current angle and posture information of the robotic arm, determine the projection angle and projection parameters based on the current angle and posture information of the robotic arm, control the projection module to acquire collaborative operation information, and control the projection module to project the collaborative operation information based on the projection angle and projection parameters.

[0036] In this embodiment, the working parameters are determined according to control commands. Both remote and near-end control commands will affect the working parameters of the robotic arm. Therefore, the current working parameters can be accurately determined based on the remote or near-end control commands. For example, the current working parameters can be accurately calculated based on the remote or near-end control commands, the time point of response to the remote or near-end control commands, and the current time point, thereby determining the current angle and posture information of the robotic arm. If the current angle and posture information of the robotic arm is not suitable for projection, the next projection node is calculated based on the near-end control commands and / or remote control commands, the time point of response to the remote or near-end control commands, and the execution duration. This next projection node is either the node where the robotic arm returns to its original position or a node with a suitable projection angle. The angle and posture information of the robotic arm at the next projection node are determined based on the next projection node. The projection angle and projection parameters are determined based on the angle and posture information of the robotic arm at the next projection node. The projection module is controlled to acquire collaborative operation information, and the projection module projects the collaborative operation information based on the projection angle and projection parameters. In this embodiment, the robot can perform operations in response to remote or near-end control commands, taking into account the robot arm's posture and motion state during actual operation while responding to control commands, thereby making the projection more accurate.

[0037] In this embodiment, the calculation of the next projection node can be performed using the infrared focusing unit set on the projection module. Specifically, the infrared focusing unit is used to detect the focal length in front of the infrared emission direction during operation to obtain focal length information. For example, the processing module is used to determine a suitable projection surface in the environment where the robotic arm is located based on the focal length information detected by the infrared focusing unit. For example, the processing module determines the projection surface based on the focal length information of a preset number of consecutive focal length deviations within a preset range within a preset time by the infrared focusing unit. It is worth mentioning that when multiple consecutive focal length deviations occur within the preset range, it indicates that there is a plane, such as the ground or a wall, in front of the infrared emission direction of the infrared focusing unit. In this case, the processing module can record the angle and posture information (including coordinate information) of the robotic arm at this time. During the movement of the robotic arm, the processing module uses the infrared focusing unit to detect the focal length at multiple angles, records the focal length at each angle, and records the angle and posture information of the projection surface from the focal lengths at each angle. When the current angle and posture information of the robotic arm is not suitable for projection, the next projection node is calculated based on the near-end control command and / or the far-end control command, as well as the time point and execution duration of the response to the far-end control command or the near-end control command, and combined with the recorded angle and posture information of the projection surface. The next projection node is either the node where the robotic arm returns to its original position or the node with a suitable projection angle. The angle and posture information of the robotic arm at the next projection node are determined based on the angle and posture information of the robotic arm at the next projection node. The projection angle and projection parameters are determined based on the angle and posture information of the robotic arm at the next projection node. The projection module is controlled to acquire the collaborative operation information, and the projection module is controlled to project the collaborative operation information based on the projection angle and projection parameters. In this way, the next projection node that fits the projection surface can be found, so that the projection module can accurately project onto the projection surface, resulting in better projection effect and more accurate projection.

[0038] Example 2 In this embodiment, a multifunctional robotic arm is provided, including the robotic arm itself and the multifunctional robotic arm control device described in any of the above embodiments.

[0039] In this embodiment, the robotic arm control device is mounted on the robotic arm, and the processing module is connected to the robotic arm's drive assembly.

[0040] In one embodiment, the robotic arm includes a main robotic arm and multiple slave robotic arms; the processing module is configured to acquire remote control commands from the control network via the networking module, and / or acquire the proximal control commands sent by the human-machine interaction display module; and control the main robotic arm to operate in response to the remote control commands and / or the proximal control commands. The processing module is further configured to respond to the remote control command and / or the proximal control command and control the corresponding slave robotic arm to work when the object controlled by the remote control command and / or the proximal control command includes a slave robotic arm.

[0041] In this embodiment, the robotic arm includes a master robotic arm and multiple slave robotic arms. Correspondingly, when the remote control command and / or the proximal control command only involves the master robotic arm, the processing module responds to the remote control command and / or the proximal control command to control the master robotic arm to work. When the remote control command and / or the proximal control command also involves the slave robotic arms, the processing module responds to the remote control command and / or the proximal control command to control the corresponding slave robotic arms to work.

[0042] In one embodiment, such as Figure 6 As shown, the robotic arm includes a master robotic arm and multiple slave robotic arms; The processing module includes a main control unit and multiple slave control units. The main control unit and the networking module are mounted on the main robotic arm, and each slave control unit is mounted on each slave robotic arm. The main control unit is used to obtain remote control commands from the control network through the networking module, and / or obtain the near-end control commands sent by the human-machine interaction display module; and to control the main robotic arm to work in response to the remote control commands and / or the near-end control commands. The main control unit is also configured to send the remote control command and / or the proximal control command to the slave control unit when the object controlled by the remote control command and / or the proximal control command includes a slave robotic arm; Each of the slave control units is used to receive the remote control command and / or the proximal control command, and in response to the remote control command and / or the proximal control command, control the corresponding slave robotic arm to work.

[0043] In this embodiment, the processing module includes a main control unit and multiple slave control units. The main control unit controls the operation of the main robotic arm according to remote control commands and / or proximal control commands. When the remote control commands and / or proximal control commands involve the control of slave robotic arms, the remote control commands and / or proximal control commands are sent to the slave control units, which then control the corresponding slave robotic arms according to the remote control commands and / or proximal control commands. This enables multi-level collaborative operation of the robotic arms. Compared to a single processing module uniformly controlling the main robotic arm and multiple slave robotic arms, hierarchical control allows for more precise control.

[0044] In one embodiment, please see again Figure 6The robotic arm includes a task robotic arm, a maintenance robotic arm, and an emergency robotic arm; The task sub-robotic arm is used to execute the main task under the control of the corresponding slave control unit; The maintenance sub-robotic arm is used to perform maintenance tasks under the control of the corresponding slave control unit; The emergency sub-robotic arm is used to perform emergency response tasks under the control of the corresponding slave control unit.

[0045] In this embodiment, the slave robotic arms are divided into task slave robotic arms, maintenance slave robotic arms, and emergency slave robotic arms according to their different functions. In this way, the corresponding slave control unit can accurately control the operation of the corresponding slave robotic arms to perform different functional tasks according to remote control commands and / or near-end control commands.

[0046] Example 3 This embodiment provides a robotic arm that integrates projection, interconnection, automated transportation, and multi-machine collaboration functions.

[0047] Projection function: When humans and robotic arms work together, the projection function can indicate the operation steps and objects to the operator, reducing human error. Meanwhile, when the robotic arm is not in operation, the projection function can play safety operation videos, company promotional videos, etc.

[0048] Interconnectivity: The robotic arm's interconnectivity function connects robotic arms in different areas via the Internet. It also has a built-in operating system where each manufacturer can publish their own product information, functions, prices, etc., and can also query information published by other manufacturers, such as material prices and delivery times. The system can also process orders.

[0049] Automated transport function: The robotic arm is interconnected with AGV (Automated Guided Vehicle), and the operating system on the robotic arm is connected to a third-party freight platform to realize automated transport within and across the factory area.

[0050] Multi-machine collaboration function: The robotic arms are managed and controlled in groups. Each group has a main robotic arm and several sub-robotic arms. The sub-robotic arms are further divided into task sub-robotic arms, maintenance sub-robotic arms, and emergency sub-robotic arms, thereby realizing multi-task allocation and multi-machine collaboration of the robotic arms.

[0051] Core solution: A multifunctional robotic arm includes a robotic arm, a projection module, a human-computer interaction display module, a networking module, and a processor.

[0052] The robotic arm serves as the main body, and the projection module, human-computer interaction display module, networking module, and processor are all installed on the robotic arm.

[0053] The projection module is used to project content.

[0054] The human-computer interaction display module has the functions of human-computer interaction and displaying data content.

[0055] The networking module is used for communication between different robotic arms.

[0056] The processor is used to control the projection module, the human-computer interaction display module, and the networking module. In addition, the processor is equipped with an operating system.

[0057] The operating system has a business module and a logistics module.

[0058] The business module has purchasing and sales functions.

[0059] The logistics module is used to query the location of each robotic arm and realize the automatic transportation function of the robotic arms.

[0060] A projection function of a multifunctional robotic arm allows the input of data that needs to be projected during robotic arm operation via a human-machine interface display module. The data is then projected onto the corresponding position via the projection module during robotic arm operation to instruct personnel on how to operate.

[0061] A multi-functional robotic arm features a projection function that enables interconnectivity via a networking module. All robotic arms within the same company can form a local area network (LAN), while robotic arms from different companies can form a public network. Each company can publish its product information or needs through the operating system embedded in the robotic arm, while different companies can use the operating system to query other companies' product information or needs, thereby facilitating procurement and sales.

[0062] The automated transportation function of a multi-functional robotic arm is implemented as follows: The operator inputs the destination in the logistics module of the operating system. For transportation within the same factory area, the robotic arm is transported to the destination via an AGV. For transportation across factory areas, the logistics module connects to a third-party material handling platform. The robotic arm is then transported to the receiving area of ​​the originating factory area via an AGV, from where the third-party platform transports it to the receiving area of ​​the target factory area, and finally, via another AGV, to the target workstation within the factory area.

[0063] A method for implementing multi-machine collaboration in a multi-functional robotic arm is as follows: The robotic arms are managed and controlled in groups. Each group contains one main robotic arm and several sub-robotic arms. The sub-robotic arms include task sub-robotic arms, maintenance sub-robotic arms, and emergency sub-robotic arms. Robotic arms in the same group are connected to the same subnet, while robotic arms in different groups are connected to the company's local area network (LAN).

[0064] The main robotic arm is responsible for receiving commands from the superior and distributing the commands to the sub-robotic arms.

[0065] The task sub-robotic arm is used to perform the main task.

[0066] The maintenance sub-arm is equipped with maintenance instruments, sensors, and tools for maintenance work on other robotic arms.

[0067] The emergency sub-robotic arm is equipped with emergency instruments, sensors, and tools for handling sudden accidents.

[0068] refer to Figure 1 , Figure 2 and Figure 3 A multi-functional robotic arm, comprising: The robotic arm 100, used to perform actions, is the main body of this invention.

[0069] The human-computer interaction display module 200 is used to display the interactive interface and receive input commands. In this example, the human-computer interaction module adopts a touch screen.

[0070] The networking module 300 is used to connect the robotic arm to the server, enabling communication between different robotic arms. In this example, the Modbus communication protocol is used to achieve communication between the robotic arm and the server.

[0071] The projection module 400 is used to project content. On one hand, the projection function can project information prompting the operator onto the object being operated on during work, reducing the probability of operator error, such as... Figure 4 As shown, the projection function instructs operators to move the cube to the correct position. On the other hand, the projection function can also play safety operation videos, company promotional videos, etc., during non-operational periods.

[0072] The processor 500 controls the human-computer interaction display module 200, the networking module 300, and the projection module 400, and also carries an operating system.

[0073] A network structure for a multifunctional robotic arm, such as Figure 5 and Figure 6 As shown, companies A, B, C, and D each deploy several robotic arm subnets. Each subnet contains a main robotic arm, and task robotic arms, maintenance robotic arms, and emergency robotic arms are connected to the main robotic arm to form the subnet. The main robotic arm is connected to the local area network (LAN) server of each company. Simultaneously, each company connects its LAN server to a public network server, enabling communication between the robotic arms of different companies.

[0074] The main robotic arm is primarily responsible for receiving commands from its superiors and distributing them to the sub-robotic arms, thus enabling multi-level collaborative work.

[0075] The task sub-arm is used to perform the main task.

[0076] The maintenance sub-robotic arm is equipped with maintenance instruments, sensors, and tools for the maintenance of other robotic arms.

[0077] The emergency sub-robotic arm is equipped with emergency instruments, sensors, and tools for handling emergencies. In the event of a fire, the smoke detector on the emergency sub-robotic arm will activate, automatically sounding the alarm and initiating rescue operations.

[0078] On the other hand, a multi-functional robotic arm is equipped with an operating system. Based on this operating system, different companies can conduct business transactions, and the robotic arm can also automatically transport goods. This operating system is operated through a human-machine interface display module. In this example, the operating system is divided into two main modules: a business module and a logistics module. The operating system operation steps are as follows: Step 1: Enter your password to authenticate and unlock the system; Step 2: Select to enter the business module or the logistics module.

[0079] The steps for running the business module are as follows: Step 1: In the buyer's system, search for information published by other companies, such as material prices and delivery times; in the seller's system, you can publish your own product information, including features and prices. Step 2: Purchase operations can be performed in the buyer's system; sales operations can be performed in the seller's system.

[0080] The operation steps of the logistics module are as follows: Step 1: Check the current status of the robotic arm, or enter the corresponding transportation destination for the robotic arm; Step 2: The system determines whether the transport is within the same factory area. When transporting within the same factory area, an AGV is used to transport the robotic arm to the destination workstation. When transporting across factory areas, an AGV is used to transport the robotic arm to the receiving area of ​​the originating factory area. Step 3: The operating system connects with a third-party transportation platform to transport the robotic arm to the receiving area of ​​the destination factory; Step 4: The AGV in the destination factory area transports the robotic arm to the destination workstation.

[0081] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0082] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A multifunctional robot arm control device characterized by comprising: The multifunctional robot arm control device comprises a projection module, a human-computer interaction display module, a networking module and a processing module, wherein the projection module, the human-computer interaction display module and the networking module are connected with the processing module, and the projection module, the human-computer interaction display module, the networking module and the processing module are arranged on a robot arm. The projection module is used for acquiring collaborative operation information and projecting the collaborative operation information. The human-computer interaction display module is used for acquiring a near-end control instruction, sending the near-end control instruction to the processing module, receiving feedback information from the processing module, and displaying the feedback information. The networking module is used for accessing a control network. The processing module is used for acquiring a remote control instruction from the control network through the networking module and / or acquiring the near-end control instruction sent by the human-computer interaction display module, and controlling the robot arm to work in response to the remote control instruction and / or the near-end control instruction. The processing module is further used for detecting a working state of the robot arm, generating feedback information according to the working state of the robot arm, and sending the feedback information to the human-computer interaction display module. The networking module is further used for connecting a server through the control network, acquiring first communication information of another robot arm, sending the first communication information to the processing module, and / or 2. The apparatus of claim 1, wherein, Under the control of the processing module, sending second communication information to another robot arm through the control network. The processing module is used for downloading collaborative operation information from a server through the networking module, and sending the collaborative operation information to the projection module.

3. The apparatus of claim 1, wherein, The projection module is used for acquiring the collaborative operation information sent by the projection module and projecting the collaborative operation information. The multifunctional robot arm control device further comprises a storage module, wherein the storage module stores the collaborative operation information.

4. The apparatus of claim 1, wherein, The processing module is used for reading the collaborative operation information from the storage module, sending the collaborative operation information to the projection module, and controlling the projection module to project the collaborative operation information. The networking module is further used for connecting with a freight system.

5. The apparatus of claim 1, wherein, The processing module is further used for acquiring transport order information, analyzing the transport order information, obtaining a transport destination, detecting whether the transport is cross-region transport according to the transport destination, sending first transport information to the freight system through the networking module when detecting that the transport is cross-region transport, and sending second transport information to the freight system through the networking module when detecting that the transport is not cross-region transport, wherein the destination of the first transport information is a destination station in the same region, and the destination of the second transport information is a receiving area of a departure place. The processing module is further used for detecting whether the robot arm is in a working state.

6. The apparatus of claim 1, wherein, When the robot arm is in the working state, the projection module is controlled to acquire collaborative operation information and project the collaborative operation information. When the robot arm is not in the working state, the projection module is controlled to acquire preset playing information and project the preset playing information. The multifunctional robot arm control device comprises a projection module, a human-computer interaction display module, a networking module and a processing module, wherein the projection module, the human-computer interaction display module and the networking module are connected with the processing module, and the projection module, the human-computer interaction display module, the networking module and the processing module are arranged on a robot arm.

7. A multifunctional robotic arm, comprising a robotic arm, characterized in that, The robot arm comprises a main robot arm and a plurality of slave robot sub-arms.

8. The multi-functional robotic arm of claim 7, wherein, ​ The processing module is configured to acquire remote control instructions from the control network via the networking module and / or acquire the proximal control instructions sent by the human-computer interaction display module; and control the master mechanical arm to work in response to the remote control instructions and / or the proximal control instructions. The processing module is further configured to control corresponding slave mechanical sub-arms to work in response to the remote control instructions and / or the proximal control instructions when the objects controlled by the remote control instructions and / or the proximal control instructions include the slave mechanical sub-arms.

9. The multi-functional robotic arm of claim 8, wherein, The processing module includes a master control unit and a plurality of slave control units, the master control unit and the networking module are arranged on the master mechanical arm, and each slave control unit is arranged on each slave mechanical sub-arm one by one. The master control unit is configured to acquire remote control instructions from the control network via the networking module and / or acquire the proximal control instructions sent by the human-computer interaction display module; and control the master mechanical arm to work in response to the remote control instructions and / or the proximal control instructions. The master control unit is further configured to send the remote control instructions and / or the proximal control instructions to the slave control units when the objects controlled by the remote control instructions and / or the proximal control instructions include the slave mechanical sub-arms. Each slave control unit is configured to receive the remote control instructions and / or the proximal control instructions, and control corresponding slave mechanical sub-arms to work in response to the remote control instructions and / or the proximal control instructions.

10. The multi-functional robotic arm of claim 9, wherein, The slave mechanical sub-arms include task sub-mechanical arms, maintenance sub-mechanical arms and emergency sub-mechanical arms. The task sub-mechanical arms are configured to execute main tasks under the control of corresponding slave control units. The maintenance sub-mechanical arms are configured to execute maintenance tasks under the control of corresponding slave control units. The emergency sub-mechanical arms are configured to execute emergency handling tasks under the control of corresponding slave control units.

Images