A multi-process collaborative six-arm robot and a task scheduling method

Abstract

This invention discloses a six-arm robot for multi-process collaborative operation and a task scheduling method. The robot includes a first visual depth camera, an upper robotic arm group, a lower robotic arm group, a second binocular vision depth camera, a flexible joint structure, a mobile chassis, a lidar, and a central control module. The upper robotic arm group includes a first robotic arm and a second robotic arm; the lower robotic arm group includes a third robotic arm, a fourth robotic arm, a fifth robotic arm, and a sixth robotic arm. The end effectors of the first, second, third, fourth, fifth, and sixth robotic arms are all equipped with second binocular vision depth cameras. This invention, by constructing a six-arm collaborative operation structure, enables multiple processes to be completed in parallel on the same working platform, thereby significantly improving production efficiency. It can be widely applied in fields such as electronics manufacturing, automobile assembly, precision machining, logistics sorting, and automated inspection.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, and in particular to a six-armed robot capable of multi-process collaborative operation and a task scheduling method. Background Technology

[0002] In multi-process integrated manufacturing scenarios, existing technologies typically require multiple devices to collaborate on different processes. Traditional single-arm or dual-arm robots still suffer from the following problems in complex manufacturing environments: 1. Process switching relies on the cooperation of multiple devices, resulting in low system integration; 2. The number and spatial configuration of robotic arms are limited, making it difficult to achieve multi-point synchronous force application and complex collaborative operations; 3. The equipment is dispersed, resulting in a large footprint and low production line flexibility and space utilization. Therefore, it is necessary to provide a multi-arm robot system that can achieve multi-process collaborative operations within a single system. Summary of the Invention

[0003] In view of this, the present invention proposes a technical solution that, by constructing a six-robotic-arm collaborative operation structure, enables multiple processes to be completed in parallel on the same working platform, thereby significantly improving production efficiency. This solution can be widely applied in fields such as electronics manufacturing, automobile assembly, precision machining, logistics sorting, and automated inspection. The technical solution of the present invention is as follows: The first aspect of this invention discloses a six-armed robot for multi-process collaborative operation. The six-armed robot includes a binocular vision detection module, an upper robotic arm group, a lower robotic arm group, a robotic arm vision detection module, a flexible joint structure, a mobile chassis, an autonomous navigation detection module, and a central control module. The upper-level visual inspection module is installed on the upper end of the upper-level robotic arm assembly, the upper-level robotic arm assembly is installed on the upper end of the lower-level robotic arm assembly, the lower-level robotic arm assembly is installed on the flexible joint structure, the flexible joint structure is installed on the flexible joint structure, the autonomous navigation inspection module is installed on the side of the mobile chassis, and the central control module is located inside the mobile chassis. The binocular vision detection module includes a first binocular vision depth camera; The robotic arm vision inspection module includes a second binocular vision depth camera; The upper robotic arm assembly includes a first robotic arm and a second robotic arm; The lower-level robotic arm group includes a third robotic arm, a fourth robotic arm, a fifth robotic arm, and a sixth robotic arm; The first, second, third, fourth, fifth, and sixth robotic arms are each equipped with at least one second binocular vision depth camera at their ends; The automatic navigation detection module includes a lidar; The central control module is used to uniformly control and schedule the binocular vision detection module, the upper robotic arm group, the lower robotic arm group, the robotic arm vision detection module, the flexible joint structure, the mobile chassis, and the autonomous navigation detection module; and to perform task allocation, data processing, and collaborative control between robotic arms.

[0004] Furthermore, the ends of the first, second, third, fourth, fifth, and sixth robotic arms are all equipped with end effectors; The end effector is selected from one of the following: mechanical gripper, suction cup, welding head, and detection probe.

[0005] Furthermore, the six-armed robot also includes a head base, an upper robotic arm base, a fixing frame, a lower robotic arm base, a main profile, and a body base; The head base is mounted on the upper end face of the upper robotic arm base. The upper robotic arm base and the lower robotic arm base are respectively mounted on the upper end face and the lower end face of the fixed frame. The main profile is fixedly connected to the lower robotic arm base. The upper end face of the body base is connected to the lower end face of the main profile. The lower end face of the body base is connected to the flexible joint structure. Furthermore, the upper robotic arm assembly is used to perform environmental perception, operation status detection, accuracy calibration, and scheduling assistance; The lower-level robotic arm assembly is used to perform handling, processing, and assembly tasks.

[0006] Furthermore, the angle between the first robotic arm and the second robotic arm is 90° to 270°.

[0007] Furthermore, the installation heights of the third, fourth, fifth, and sixth robotic arms may be the same or different.

[0008] Furthermore, the mobile chassis is also equipped with an industrial control host, an upper component fixing plate, a robotic arm controller, and a cooling fan. The industrial control host is used to run control programs and job scheduling programs, and communicates with the central control module to realize system data processing and control command issuance; The upper component mounting plate is used to install and fix the central control module and the industrial control host; The robotic arm controller is used to control the movement of each robotic arm and drive each robotic arm to complete the corresponding operation according to the control instructions issued by the central control module or the industrial control host. The cooling fan is used to cool the central control module, the industrial control host, and the robotic arm controller.

[0009] Furthermore, it also includes a charging port; The charging port is located on the side wall of the mobile chassis.

[0010] Furthermore, the first robotic arm is used to perform precision detection or status identification on the workpieces entering the core work area to determine whether they meet the requirements for subsequent assembly or processing. The second robotic arm is used to calibrate and adjust the positional deviation, posture deviation, or assembly fit of the workpiece to make it meet the preset process reference. The fourth robotic arm is used to perform the first preset processing or assembly process; The fifth robotic arm is used to perform a second preset processing or assembly process; The third robotic arm is used to perform a third preset processing or assembly process; The sixth robotic arm is used to perform the fourth preset processing or assembly process.

[0011] The second aspect of this invention discloses a task control method for a six-armed robot. The method employs a six-armed robot capable of multi-process collaborative operation as disclosed in the first aspect of this invention. The method includes the following steps: The central control module issues multi-process collaborative operation control instructions, and completes the analysis of operation requirements, matching of robotic arm accessibility, and configuration of collaborative operation units. The upper robotic arm group acquires the workpiece pose, system status and collaborative contact information of the core work area, and the central control module constructs the current work space state model based on the information of the upper robotic arm group. The central control module generates multi-robotic arm task allocation, operation path planning, and parallel collaborative operation timing based on the spatial state model; The upper robotic arm group performs online monitoring and dynamic adjustment to achieve layered collaborative operation, while the lower robotic arm group executes multi-process operations according to the plan. The upper robotic arm group monitors the work results in real time and generates status feedback, while the central control module performs closed-loop correction of the robotic arm's motion path and work parameters. Once the lower-level robotic arm group reaches the preset completion conditions, it outputs a task completion signal, and each robotic arm exits the collaborative work area and enters the preparation state for the next task.

[0012] Furthermore, when the upper-level robotic arm group detects an abnormal load or path conflict in a certain robotic arm, the central control module adjusts the actions of the remaining robotic arms in real time to maintain overall operational stability.

[0013] The advantages of this invention are as follows: The six robotic arms of this invention are arranged in a layered spatial configuration. The six robotic arms are arranged in a vertical layer to form different working levels, so that different types of operations can be carried out in different spatial layers. This structurally reduces the probability of motion trajectory conflicts between multiple robotic arms and improves the system's operational stability and space utilization.

[0014] The robotic arms in this invention are configured in a reconfigurable manner. For example, the two upper robotic arms are used for environmental perception, status detection, and process calibration, while the four lower robotic arms are used to perform multi-process operations. However, under different task requirements, all six robotic arms can work collaboratively as execution units.

[0015] This invention forms a closed loop of perception-decision-execution-feedback through hierarchical collaboration, enabling online adjustment of the work process and improving assembly accuracy, consistency, and overall production cycle time. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the front structure of a six-armed robot in one embodiment of the present invention; Figure 2 for Figure 1 The diagram shown is a side view of the six-armed robot in the embodiment shown. Figure 3 for Figure 1 The diagram shown is a schematic representation of the torso structure of the six-armed robot in the embodiment shown. Figure 4 for Figure 1 The illustrated embodiment shows the layered spatial configuration of the six-armed robot's robotic arms; wherein, Figure 4 In this context, A represents the upper robotic arm assembly. Figure 4 In this context, B represents the lower-level robotic arm assembly. Figure 5 for Figure 4 A schematic diagram showing the angle formed by the first robotic arm and the second robotic arm in the layered spatial configuration of the robotic arm shown. Figure 6 for Figure 4 The diagram shows the structure of each arm in the lower layer of the robotic arm assembly within the layered spatial configuration of the robotic arm shown; among them... Figure 6 The left image in the image is the front view; Figure 6 The right image in the image is a side view; Figure 7 for Figure 1 The diagram shown is a schematic representation of the working area of ​​the upper robotic arm assembly of the six-armed robot in the embodiment shown. Figure 8 for Figure 1 The diagram shown is a schematic representation of the working area of ​​the lower robotic arm assembly of the six-armed robot in the embodiment shown. Figure 9 for Figure 7 The schematic diagram of the working area shown is a schematic diagram of the core working area of ​​the first and second robotic arms. Figure 10 for Figure 8 The diagram shows the core working areas of the third, fourth, fifth, and sixth robotic arms. Figure 11 for Figure 1 The illustrated embodiment shows the task scheduling flowchart for the six-armed robot. Figure 12 for Figure 1 The diagram shown in the embodiment illustrates the state of a six-armed robot performing multi-process collaborative work. Figure 13 This is a structural diagram of each arm in the lower layer of the robotic arm group in a layered spatial configuration of the six-armed robot according to another embodiment of the present invention; wherein, Figure 13 The left image in the image is the front view; Figure 13 The right image in the image is a side view; Figure 14 for Figure 13 The diagram shown illustrates the state of the six-armed robot performing a collaborative assembly task in the embodiment. Figure 15 for Figure 1 The diagram shows the internal structure of the mobile chassis in the illustrated embodiment.

[0018] In the above figures, the symbols have the following meanings: 1, head-mounted binocular vision depth camera; 2, first robotic arm; 3, second robotic arm; 4, third robotic arm; 5, fourth robotic arm; 6, fifth robotic arm; 7, sixth robotic arm; 8, arm-mounted binocular vision depth camera; 9, end effector; 10, flexible joint structure; 11, mobile chassis; 11-1, central control module; 11-2, industrial control host; 11-3, upper component mounting plate; 11-4, robotic arm controller; 11-5, cooling fan; 12, lidar; 13, automatic charging port; 14, head base; 15, upper robotic arm base; 16. 17. Fixed frame; 18. Lower robotic arm base; 19. Main profile; 20. Body base; 21. First part; one of the main components in the first assembly, used for assembly with the second part; 22. Second part; another main component in the first assembly; 23. First assembly: a combined structure formed by assembling the first part and the second part; 24. Packaging box: used to store the assembled first assembly; 25. Workbench: used to carry parts and perform assembly operations, serving as a working platform for the collaborative operation of six robotic arms; 26. Core part: as the main structural component of the second assembly, used for assembly with the third part to form the second assembly; 27. Third part: the part to be assembled, used to install on the core part to form the second assembly. S1, Upper working area; S2, Lower execution area; S3, Collaborative overlap area; S4, Upper core working area; S4-1, Inspection process working area; S4-2, Calibration process working area; S5, Lower core working area; S5-1, First process working area; S5-2, Second process working area; S5-3, Third process working area; S5-4, Fourth process working area. Detailed Implementation

[0019] The technical solutions of the present invention will now be clearly and completely described with reference to the embodiments and accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used in the detailed description is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0021] In the description of specific embodiments of the present invention, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present invention, "multiple" means two or more, unless otherwise explicitly defined.

[0022] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this invention can be combined with other embodiments.

[0023] In the description of the embodiments of this invention, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0024] It should be noted that, for ease of description, all identical technical features are labeled with the same symbols in the following embodiments.

[0025] The technical solution of the present invention will be further illustrated by the following examples.

[0026] Example 1: As Figures 1-3 As shown, a six-armed robot capable of multi-process collaborative operation includes a binocular vision inspection module, an upper robotic arm assembly, a lower robotic arm assembly, a robotic arm vision inspection module, a flexible joint structure 10, a mobile chassis 11, an autonomous navigation and inspection module, an automatic charging port 13, and a central control module 11-1.

[0027] The upper-level visual inspection module is installed on the upper end of the upper-level robotic arm assembly, the upper-level robotic arm assembly is installed on the upper end of the lower-level robotic arm assembly, the lower-level robotic arm assembly is installed on the flexible joint structure 10, the flexible joint structure 10 is installed on the flexible joint structure 10, the autonomous navigation inspection module is installed on the side of the mobile chassis, and the central control module 11-1 is located inside the mobile chassis 11.

[0028] The binocular vision inspection module includes a head-mounted binocular vision depth camera 1, and the robotic arm vision inspection module includes an arm-mounted binocular vision depth camera 8.

[0029] The upper robotic arm group includes the first robotic arm 2 and the second robotic arm 3, and the lower robotic arm group includes the third robotic arm 4, the fourth robotic arm 5, the fifth robotic arm 6 and the sixth robotic arm 7.

[0030] The ends of the first robotic arm 2, the second robotic arm 3, the third robotic arm 4, the fourth robotic arm 5, the fifth robotic arm 6, and the sixth robotic arm 7 are each equipped with at least one arm-mounted binocular vision depth camera 8.

[0031] The automatic navigation detection module includes a lidar 12, and the charging port is located on the side wall of the mobile chassis.

[0032] The central control module 11-1 is used to uniformly control and schedule the binocular vision inspection module, the upper robotic arm group, the lower robotic arm group, the robotic arm vision inspection module, the flexible joint structure 10, the mobile chassis 11, and the autonomous navigation inspection module; and to perform task allocation, data processing, and collaborative control between robotic arms.

[0033] In this embodiment, the head-mounted binocular vision depth camera 1 is used to collect the features of the object being grasped, determine the relationship between the gripper and the object, and collect the feature information of the entire environment.

[0034] The binocular vision depth camera 8 on the arm is used to collect the positional relationship between the object being grasped and the end effector 9 (e.g., a mechanical gripper), so that the end effector 9 can perform actions (e.g., grasping the target object).

[0035] The end effector 9 is used to perform actions, such as mechanical grippers that can complete complex tasks for a two-armed human, and can simulate actions such as grasping, twisting, and plugging.

[0036] The flexible joint structure 10 is used to perform forward flexion and extension movements, thereby enabling the robot to perform flexion and extension movements.

[0037] The mobile chassis 11 adopts differential wheel drive, which has high mobility and supports movement in various indoor and outdoor terrains.

[0038] The lidar 12 is used in conjunction with navigation software to enable autonomous navigation of the six-armed robot. Since automatic navigation systems are common technology in the field and not an innovation of this application, they will not be described in detail in the specific embodiments. Those skilled in the art can purchase the necessary navigation software and a matching mobile chassis to achieve automatic navigation functionality based on actual needs.

[0039] The automatic charging port 13, together with the lidar 12 and navigation software, enables the six-armed robot to charge automatically.

[0040] In this embodiment, the ends of the first robotic arm 2, the second robotic arm 3, the third robotic arm 4, the fourth robotic arm 5, the fifth robotic arm 6 and the sixth robotic arm 7 are all provided with end effectors 9; In this embodiment, each robotic arm has six to seven degrees of freedom and can be configured with different types of end effectors 9 according to the operation requirements, such as mechanical grippers, suction cups, welding heads or detection probes.

[0041] In this embodiment, the six-armed robot also includes a head base 14, an upper robotic arm base 15, a fixing frame 16, a lower robotic arm base 17, a main profile 18, and a body base 19. The head base 14 is installed on the upper end face of the upper robotic arm base 15. The upper robotic arm base 15 and the lower robotic arm base 17 are respectively installed on the upper end face and the lower end face of the fixed frame 16. The main profile 18 is fixedly connected to the lower robotic arm base 17. The upper end face of the body base 19 is connected to the lower end face of the main profile 18. The lower end face of the body base 19 is connected to the flexible joint structure 10.

[0042] In this embodiment, the head base 14 is a base that supports the robot's head.

[0043] The upper robotic arm base 15 is used to mount the first robotic arm 2 and the second robotic arm 3.

[0044] The mounting bracket 16 is used to fix the upper robotic arm base 15 and the lower robotic arm base 17, ensuring the installation position accuracy between the upper and lower robotic arms.

[0045] The lower robotic arm base 17 is used to mount the four lower robotic arms.

[0046] The main profile 18 serves as the fixing frame 16 for the entire robotic arm assembly, supporting the upper body and six-arm structure of the robot.

[0047] The base 19 is the base for all the mechanical arm structures of the six-arm robot.

[0048] like Figure 4 As shown, in this embodiment, the upper robotic arm group and the lower robotic arm group are layered structures, with the six robotic arms forming at least two mounting planes in the vertical direction, rather than being set in the same horizontal plane.

[0049] The upper robotic arm group consists of two robotic arms for sensing and scheduling, while the lower robotic arm group consists of four robotic arms for performing tasks. This arrangement allows the six robotic arms to form a three-dimensional arrangement with functional layers in space.

[0050] In this embodiment, through the above-described layered configuration, each robotic arm can either work together to complete the same process task within the same system, or perform different process tasks separately.

[0051] The upper-level robotic arm assembly is used for environmental perception, work status detection, accuracy calibration, and scheduling assistance. Its motion characteristics are short stroke, high frequency, and high precision adjustment. It is used to provide work environment information to the control system and participate in the dynamic adjustment of the work process. Its control priority is higher than that of the execution-type robotic arm.

[0052] The first robotic arm 2 is used to perform precision detection or status identification on the workpieces entering the core work area to determine whether they meet the requirements for subsequent assembly or processing; the second robotic arm 3 is used to calibrate and adjust the position deviation, posture deviation or assembly fit status of the workpieces to make them meet the preset process benchmarks.

[0053] In this embodiment, the mobile chassis 11 is also equipped with an industrial control host 11-2, an upper component fixing plate 11-3, a robotic arm controller 11-4, and a cooling fan 11-5. The industrial control host 11-2 is used to run the control program and job scheduling program of the six-arm robot, and communicates with the central control module 11-1 to realize system data processing and control command issuance.

[0054] The upper component mounting plate 11-3 is used to install and fix the central control module 11-1, the industrial control host 11-2 and other electronic components, providing a stable installation platform for the system.

[0055] The robotic arm controller 11-4 is used to control the movement of each robotic arm and drive each robotic arm to complete the corresponding operation according to the control instructions issued by the central control module 11-1 or the industrial control host 11-2.

[0056] The cooling fan 11-5 is used to cool electronic components such as the central control module 11-1, the industrial control host 11-2, and the robotic arm controller 11-4 with air, so as to reduce the temperature during equipment operation and improve the stability of system operation.

[0057] In this embodiment, the first robotic arm 2 and the second robotic arm 3 are mounted on the upper robotic arm base 15, and their rotation centers form a preset angle in the horizontal plane. This angle can be set to any angle within the range of 90° to 270°, for example... Figure 5 135° in the middle.

[0058] The lower-level robotic arm assembly is used to perform tasks such as handling, processing, and assembly. Its motion characteristics are large stroke, continuous and power-driven motion, and it completes corresponding process operations according to scheduling instructions.

[0059] The fourth robotic arm 5 is used to perform the first preset processing or assembly process; the fifth robotic arm 6 is used to perform the second preset processing or assembly process; the third robotic arm 4 is used to perform the third preset processing or assembly process; and the sixth robotic arm 7 is used to perform the fourth preset processing or assembly process.

[0060] Compared with existing technologies, the layered design of the six-arm collaborative structure has at least the following advantages: 1. Sensing and execution tasks are carried out at different spatial levels, decoupling information processing from physical tasks and improving system stability; 2. Different types of motion are carried out in different spatial layers, reducing the probability of motion trajectory conflicts between multiple robotic arms and improving the efficiency of parallel operation of multiple processes.

[0061] like Figure 6 As shown, in this embodiment, the third robotic arm 4, the fourth robotic arm 5, the fifth robotic arm 6, and the sixth robotic arm 7 are mounted on the first horizontal plane. It should be noted that in this embodiment, the relative organization, hierarchical structure, and collaborative logic of the six robotic arms in three-dimensional space emphasize the spatial relationship and cooperation mechanism between structural units, rather than using specific installation dimensions, geometric proportions, absolute coordinate positions, or specific angle parameters as limiting conditions.

[0062] In the specific implementation process, even if the number of robotic arms changes, the ratio of the number of robotic arms in each layer is adjusted, the installation height difference changes, the installation angle changes, the form of the support structure changes, or the local geometric shape is adjusted, as long as the overall functional layering or spatial partitioning collaborative structural logic is maintained, it should fall within the protection scope of the layered structural design of this invention.

[0063] like Figures 7-10 As shown, in this embodiment, the working area of ​​the six-arm robot is divided into an upper working area S1, a lower working area S2, and a partially overlapping area S3 between the working spaces of the upper and lower robotic arms.

[0064] The upper working area S1, comprised of the space covered by the upper robotic arm assembly, is primarily used for environmental sensing, status detection, process parameter adjustment, and auxiliary intervention. The upper working area S1 is located high above the overall working space. The lower execution area S2 comprises the space covered by the lower robotic arm assembly and is primarily used for multi-process operations, including assembly, handling, processing, or force manipulation. The lower execution area S2 is located at the main execution level of the overall workspace. Collaborative Overlap Area S3: The upper-level operation area S1 and the lower-level execution area S2 form a hierarchical relationship in the vertical direction. During operation, there is partial spatial overlap between these areas, forming the collaborative overlap area S3. This area is used for the convergence of sensing information and execution actions, enabling real-time detection, online adjustment, and dynamic compensation control. The collaborative overlap area S3 constitutes a key spatial node for the closed-loop collaboration of the system. The upper core operation area S4 is located in the operation area of ​​the first and second robotic arms. It mainly senses, detects, calibrates, and schedules auxiliary objects, and collects environmental information within the entire system. The upper core operation area S4 includes the detection process operation area S4-1 and the calibration process operation area S4-2.

[0065] The inspection process work area S4-1 uses the first robotic arm 2 as the main work unit to perform precision inspection or status identification on the workpieces entering the core work area in order to determine whether they meet the requirements for subsequent assembly or processing. The calibration process work area S4-2 uses the second robotic arm 3 as the main work unit to calibrate and adjust the positional deviation, posture deviation or assembly fit of the workpiece so that it meets the preset process benchmark. The lower core work area S5 is located within the core work area of ​​the third robotic arm 4, the fourth robotic arm 5, the fifth robotic arm 6, and the sixth robotic arm 7, and is the area where the main processing and assembly objects are located. Each robotic arm forms a multi-process collaborative operation relationship around the lower core work area S5. The lower core work area S5 can simultaneously perform the same work process, or perform processes with a sequential order.

[0066] The lower core work area S5 includes the first process work area S5-1, the second process work area S5-2, the third process work area S5-3, and the fourth process work area S5-4; The first process work area S5-1 uses the fourth robotic arm 5 as the main work unit to perform the first preset processing or assembly process; The second process work area S5-2 uses the fifth robotic arm 6 as the main work unit to perform the second preset processing or assembly process; The third process work area S5-3 uses the third robotic arm 4 as the main work unit to perform the third preset processing or assembly process; The fourth process work area S5-4 uses the sixth robotic arm 7 as the main work unit to perform the fourth preset processing or assembly process.

[0067] The above partitioning is mainly based on the robotic arm's conventional motion trajectory, which is also related to the robotic arm's working efficiency, prioritizing system efficiency. The correspondence between each work area and the main robotic arm can be adjusted according to process requirements, while maintaining the topology of multiple work areas spatially distributed and multiple robotic arms working in parallel.

[0068] like Figure 11 As shown, the specific task scheduling process in this embodiment is as follows: The central control module 11-1 sends multi-process collaborative operation task instructions to the robotic arm controller 11-4 to complete the analysis of operation requirements, matching of robotic arm accessibility and configuration of collaborative operation units. The upper robotic arm group acquires the workpiece pose, system status and collaborative contact information of the core work area, and the central control module 11-1 constructs the current work space state model based on the information of the upper robotic arm group. The central control module 11-1 generates multi-robotic arm task allocation, operation path planning, and parallel collaborative operation timing based on the spatial state model; The upper robotic arm group performs online monitoring and dynamic adjustment to achieve layered collaborative operation, while the lower robotic arm group executes multi-process operations according to the plan. The upper robotic arm group monitors the work results in real time and generates status feedback. The central control module 11-1 performs closed-loop correction of the robotic arm's motion path and work parameters. Once the lower-level robotic arm group reaches the preset completion conditions, it outputs a task completion signal, and each robotic arm exits the collaborative work area and enters the preparation state for the next task.

[0069] When the upper robotic arm group detects an abnormal load or path conflict in a certain robotic arm, the central control module 11-1 adjusts the actions of the remaining robotic arms in real time to maintain the overall operation stability.

[0070] In this embodiment, after the task is initiated, the central control module 11-1 generates a parallel scheduling strategy for the six-armed robot through real-time state modeling and conflict prediction. During execution, it continuously monitors for anomalies and dynamically reconstructs the system, achieving high-density parallel collaborative control of the six-armed robot system. Based on a task decomposition strategy, the central control module 11-1 systematically breaks down complex tasks into multiple sub-tasks and assigns them to different robotic arms for collaborative completion. When an abnormal load or path conflict is detected in a robotic arm, the system can adjust the actions of the remaining robotic arms in real time to maintain overall operational stability.

[0071] like Figure 12 As shown, when performing multi-process collaborative tasks, the central control module 11-1 divides the overall task into multiple sub-tasks. The upper-level robotic arm acquires sensing information, coordinates the timing of the lower-level robotic arm's movements, and assigns them to different robotic arms for collaborative completion, thus avoiding motion interference between robotic arms. The lower-level robotic arm is responsible for execution, handling, processing, and assembly.

[0072] Among them, the first robotic arm 2 performs detection and statistics tasks, and counts the number of workpieces that have been assembled through visual detection.

[0073] The second robotic arm 3 performs a vision accuracy calibration task, calibrating the accuracy of the work area to improve the assembly accuracy of other robotic arms.

[0074] The third robotic arm 4 performs the third process operation, placing the assembled workpiece (first assembly 22) into the packaging box 23 according to the packaging instructions.

[0075] The fourth robotic arm 5 performs the first process operation, completing the assembly task of the first part 20 and the second part 21.

[0076] The fifth robotic arm 6 performs the second process operation, which checks the installation accuracy of the assembled parts (first assembly 22). When the test results meet the standards, the first assembly 22 is moved from the first process area to the second process area, and after completing the corresponding operation, it is moved to the third process area.

[0077] The sixth robotic arm 7 is used to perform parts handling tasks, moving parts to designated work areas according to production needs.

[0078] Workbench 24 is used to carry parts and perform assembly operations, and serves as a work platform for the collaborative operation of six robotic arms.

[0079] In other embodiments, such as Figure 13 As shown, a six-armed robot capable of multi-process collaborative operation includes a first robotic arm 2, a second robotic arm 3, a third robotic arm 4, a fourth robotic arm 5, a fifth robotic arm 6, a sixth robotic arm 7, and a worktable 24.

[0080] The structure of the six-arm robotic arm in this embodiment is basically the same as that in Embodiment 1. The only difference is that in this embodiment, the third robotic arm 4 and the fourth robotic arm 5 are located on the same horizontal plane, and the fifth robotic arm 6 and the sixth robotic arm 7 are located on the same horizontal plane and below the third robotic arm 4 and the fourth robotic arm 5.

[0081] like Figure 14 As shown, when performing collaborative assembly tasks, the central control module 11-1 divides the overall task into multiple sub-tasks. The upper-level robotic arm acquires sensing information, coordinates the actions of the lower-level robotic arm in timing, and assigns them to different robotic arms for collaborative completion to avoid motion interference between robotic arms. The lower-level robotic arm is responsible for execution, handling, processing, and assembly.

[0082] The first robotic arm 2 performs real-time monitoring of the assembly process to obtain assembly accuracy and assembly status information.

[0083] The second robotic arm 3 performs the assembly operation, picking up the third part 26 and installing it onto the core part 25, thus completing the main assembly operation.

[0084] The third robotic arm 4 fixes or supports the core component 25 and assists in adjusting its position according to the assembly status.

[0085] The fourth robotic arm 5 fixes or supports the core component 25, and works in conjunction with the third robotic arm 4 to maintain stability during the assembly process.

[0086] The fifth robotic arm 6 fixes or supports the core component 25 and adjusts the posture of the assembly according to assembly requirements.

[0087] The sixth robotic arm 7 is used for material handling operations, moving parts or second assemblies to designated locations according to task requirements.

[0088] Workbench 24 is used to carry assembly tasks and various parts, providing a working platform for the collaborative operation of six robotic arms.

[0089] It should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-process collaborative six-arm robot, characterized by, It includes a binocular vision inspection module, an upper robotic arm assembly, a lower robotic arm assembly, a robotic arm vision inspection module, a flexible joint structure, a mobile chassis, an autonomous navigation inspection module, and a central control module; The upper-level visual inspection module is installed on the upper end of the upper-level robotic arm assembly, the upper-level robotic arm assembly is installed on the upper end of the lower-level robotic arm assembly, the lower-level robotic arm assembly is installed on the flexible joint structure, the flexible joint structure is installed on the mobile chassis, the autonomous navigation inspection module is installed on the side of the mobile chassis, and the central control module is located inside the mobile chassis. The binocular vision detection module includes a first binocular vision depth camera; The robotic arm vision inspection module includes a second binocular vision depth camera; The upper robotic arm assembly includes a first robotic arm and a second robotic arm; The lower-level robotic arm group includes a third robotic arm, a fourth robotic arm, a fifth robotic arm, and a sixth robotic arm; The first, second, third, fourth, fifth, and sixth robotic arms are each equipped with at least one second binocular vision depth camera at their ends; The autonomous navigation detection module includes a lidar; The central control module is used to uniformly control and schedule the binocular vision detection module, the upper robotic arm group, the lower robotic arm group, the robotic arm vision detection module, the flexible joint structure, the mobile chassis, and the autonomous navigation detection module; and to perform task allocation, data processing, and collaborative control between robotic arms.

2. The multi-process synergic six-arm robot of claim 1, wherein, The first, second, third, fourth, fifth, and sixth robotic arms are all equipped with end effectors at their ends; The end effector is selected from one of the following: mechanical gripper, suction cup, welding head, and detection probe.

3. The six-armed robot for multi-process collaborative operation according to claim 1, characterized in that, It also includes the head base, upper robotic arm base, fixing frame, lower robotic arm base, main profile, and body base; The head base is mounted on the upper end face of the upper robotic arm base. The upper robotic arm base and the lower robotic arm base are respectively mounted on the upper end face and the lower end face of the fixed frame. The main profile is fixedly connected to the lower robotic arm base. The upper end face of the body base is connected to the lower end face of the main profile. The lower end face of the body base is connected to the flexible joint structure.

4. The six-armed robot for multi-process collaborative operation according to claim 1, characterized in that, The upper robotic arm assembly is used to perform environmental perception, operation status detection, accuracy calibration, and scheduling assistance. The lower-level robotic arm assembly is used to perform handling, processing, and assembly tasks.

5. The six-armed robot for multi-process collaborative operation according to claim 1, characterized in that, The angle between the first robotic arm and the second robotic arm is 90° to 270°; the six-armed robot for multi-process collaborative operation according to claim 1 is characterized in that the installation heights of the third robotic arm, the fourth robotic arm, the fifth robotic arm, and the sixth robotic arm are the same or different.

6. The multi-process synergistic six-armed robot of claim 1, wherein, The mobile chassis is also equipped with an industrial control host, an upper component fixing plate, a robotic arm controller, and a cooling fan. The industrial control host is used to run control programs and job scheduling programs, and communicates with the central control module to realize system data processing and control command issuance; The upper component mounting plate is used to install and fix the central control module and the industrial control host; The robotic arm controller is used to control the movement of each robotic arm and drive each robotic arm to complete the corresponding operation according to the control instructions issued by the central control module or the industrial control host. The cooling fan is used to cool the central control module, the industrial control host, and the robotic arm controller.

7. The multi-process synergistic six-armed robot of claim 1, wherein, It also includes a charging port; The charging port is located on the side wall of the mobile chassis.

8. The multi-process synergistic six-armed robot of claim 4, wherein, The first robotic arm is used to perform precision detection or status identification on the workpieces entering the core work area to determine whether they meet the requirements for subsequent assembly or processing. The second robotic arm is used to calibrate and adjust the positional deviation, posture deviation, or assembly fit of the workpiece to make it meet the preset process reference. The fourth robotic arm is used to perform the first preset processing or assembly process; The fifth robotic arm is used to perform a second preset processing or assembly process; The third robotic arm is used to perform a third preset processing or assembly process; The sixth robotic arm is used to perform the fourth preset processing or assembly process.

9. A task control method of a multi-process cooperative six-arm robot as claimed in any one of claims 1 to 8, characterized by, The steps include the following: The central control module issues multi-process collaborative operation control commands to complete the analysis of operation requirements, matching of robotic arm accessibility, and configuration of collaborative operation units. The upper robotic arm group acquires the workpiece pose, system status and collaborative contact information of the core work area, and the central control module constructs the current work space state model based on the information of the upper robotic arm group. The central control module generates multi-robotic arm task allocation, operation path planning, and parallel collaborative operation timing based on the spatial state model; The upper robotic arm group performs online monitoring and dynamic adjustment to achieve layered collaborative operation, while the lower robotic arm group executes multi-process operations according to the plan. The upper robotic arm group monitors the work results in real time and generates status feedback, while the central control module performs closed-loop correction of the robotic arm's motion path and work parameters. Once the lower-level robotic arm group reaches the preset completion conditions, it outputs a task completion signal, and each robotic arm exits the collaborative work area and enters the preparation state for the next task.

10. The method of claim 9, wherein, When the upper-level robotic arm group detects an abnormal load or path conflict in one of the robotic arms, the central control module adjusts the actions of the remaining robotic arms in real time to maintain overall operational stability.

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