Multi-zone oriented collaborative working robot system

Abstract

The application discloses a kind of multi-region-oriented collaborative work robot systems, including rack, area mobile platform module, mechanical arm execution module, central control module, communication module, transverse arrangement's negative pressure suction disc assembly, intelligent predictive maintenance module;The rack is divided into independent work area, each work area is correspondingly provided with area mobile platform module, and the mechanical arm execution module is fixedly installed on the corresponding area mobile platform module;The transverse arrangement's negative pressure suction disc assembly is installed at the end of mechanical arm execution module, including suction disc installation crossbeam, multiple negative pressure suction disc units along the horizontal transverse uniform distribution of suction disc installation crossbeam, pitch adjusting assembly and independent negative pressure control unit.The present application is rationally designed, can realize multi-region coverage, multi-task parallel collaboration, diversified workpiece adaptation, and can carry out predictive maintenance, reduce equipment downtime, improve work efficiency and operating stability.

Description

Technical Field

[0001] This invention relates to the field of automated robot technology, and in particular to a collaborative robot system for multi-regional operations. Background Technology

[0002] With the rapid development of the commercial aerospace industry, the R&D cycle for products such as satellites and launch vehicles is continuously shortening, and the demand for mass production and high-precision assembly is becoming increasingly urgent. Commercial aerospace structural and thermal control system products (such as satellite load-bearing frames, solar panel supports, heat pipes, and multi-layer thermal insulation components), as core components, are characterized by diverse materials (aluminum alloys, titanium alloys, carbon fiber composites, etc.), complex structures, and stringent dimensional tolerances, placing extremely high demands on the accuracy, coordination, and safety of the operation process. In the workpiece processing, multi-joint industrial robots, due to their flexible movement and precise positioning, have become the core equipment for single-station operations.

[0003] In existing technologies, such as the multi-joint industrial robot disclosed in CN120095798A, the core focus is on optimizing the joint drive, improving motion accuracy, and adapting load capacity of a single robotic arm. However, as industrial production develops towards large-scale and flexible operations, existing technologies have the following significant drawbacks: traditional robots are mostly designed for single-specification products and lack the ability to adapt to the complex structures and stringent tolerances of aerospace products. Furthermore, products made of different materials (such as carbon fiber composites and titanium alloys) have significantly different requirements for clamping force and negative pressure values, making it difficult for traditional equipment to adaptively adjust, which can easily lead to product deformation or damage. Commercial aerospace production workshops often adopt a multi-area division of labor model (such as gripping areas, cleaning areas, and assembly areas). Existing equipment mostly operates independently and lacks a unified scheduling mechanism, resulting in problems such as overlapping work paths and conflicting action sequences. This leads to low efficiency in parallel operations across multiple areas and cannot meet the cycle time requirements of mass production. To address this, we propose a multi-area collaborative robot system. Summary of the Invention

[0004] The purpose of this invention is to solve the problems existing in the prior art and to propose a multi-area collaborative operation robot system that can achieve multi-area coverage, multi-task parallel collaboration, and adaptation to diverse workpieces. It can also perform predictive maintenance, reduce equipment downtime, and improve operation efficiency and stability.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A collaborative robot system for multiple regions includes a frame, a regional mobile platform module, a robotic arm execution module, a central control module, a communication module, a horizontally arranged negative pressure suction cup assembly, and an intelligent predictive maintenance module. The frame is divided into independent working areas, and each working area is equipped with a corresponding area moving platform module. The robotic arm execution module is fixedly installed on the corresponding area moving platform module. The horizontally arranged negative pressure suction cup assembly is installed at the end of the robotic arm execution module. It includes a suction cup mounting beam, multiple negative pressure suction cup units evenly arranged horizontally along the suction cup mounting beam, a spacing adjustment assembly, and an independent negative pressure control unit. The negative pressure suction cup units are movably connected to the suction cup mounting beam through the spacing adjustment assembly. The spacing adjustment assembly drives the negative pressure suction cup units to achieve adjustable horizontal spacing. The independent negative pressure control unit is connected to each negative pressure suction cup unit through a negative pressure pipeline to individually control the negative pressure suction force of each negative pressure suction cup. The communication module enables real-time data interaction between the central control module, the regional mobile platform module, the robotic arm execution module, and the negative pressure suction cup assembly. The central control module is electrically connected to the regional mobile platform module, the robotic arm execution module, and the negative pressure suction cup assembly. The central control module includes a sensor unit, a data preprocessing unit, an LSTM prediction model, an early warning unit, a cloud management platform, and a field operation terminal. It acquires the location, status, and environmental data of each mobile platform in real time through the communication module and has a built-in control system. Based on the digital twin model and multi-objective optimization algorithm, it realizes the dynamic allocation of multi-region operation tasks, action coordination, and conflict prediction, and achieves unified scheduling and action synchronization of equipment in multiple regions.

[0006] Preferably, the frame is a modular aluminum profile splicing structure, and the frames of each working area are fastened together by bolts to form an overall frame, with a safety interval reserved between each working area.

[0007] Preferably, the area moving platform module includes a first electric slide rail mounted on a frame, a first electric slider adapted to the first electric slide rail is mounted on the first electric slide rail, an installation platform is mounted on the upper end of the first electric slider, and the robotic arm execution module is mounted on the installation platform.

[0008] Preferably, the robotic arm execution module is a multi-degree-of-freedom joint robotic arm, with each adjacent joint connected by joint bearings and servo motor shaft transmission, thereby realizing lifting, rotation, and extension actions in sequence.

[0009] Preferably, the spacing adjustment assembly includes a second electric slide rail installed at the bottom of the suction cup mounting beam, and a plurality of matching second electric sliders are installed in the second electric slide rail, with the plurality of negative pressure suction cup units respectively installed at the bottom of the corresponding second electric sliders; The negative pressure suction cup unit includes a U-shaped mounting bracket installed at the bottom of the second electric slider. A connecting bracket is mounted inside the U-shaped mounting bracket via a micro servo motor. Negative pressure suction cup bodies are mounted at both ends of the connecting bracket via electric telescopic rods.

[0010] Preferably, the independent negative pressure control unit includes a negative pressure sensor, a solenoid valve, and a negative pressure pump. The negative pressure pump is connected to each negative pressure suction cup body through a negative pressure pipeline, and controls the negative pressure suction force of each negative pressure suction cup body individually. The negative pressure sensor is electrically connected to the central control module through a signal line, and monitors and transmits the negative pressure value of each negative pressure suction cup body in real time. The central control module adjusts the negative pressure pump through the solenoid valve according to the workpiece material and weight, and adaptively adjusts the negative pressure suction force.

[0011] Preferably, the sensor unit includes a positioning sensor, a vibration sensor, and a temperature sensor, used to collect position data of the area moving platform module, vibration frequency and temperature data of the robotic arm execution module and the negative pressure suction cup assembly; The data preprocessing unit filters and normalizes the collected raw data and extracts feature vectors. The LSTM prediction model outputs equipment failure risk values ​​and remaining lifetime prediction results. The early warning unit is used to trigger a graded maintenance reminder when the fault risk value exceeds a preset threshold, and synchronize it to the cloud management platform.

[0012] Preferably, the communication module is an industrial Ethernet or wireless communication module, and its communication nodes are connected to each actuator in a one-to-one signal connection.

[0013] Compared with the prior art, the beneficial effects of this invention are as follows: 1. This multi-region collaborative operation robot system, based on a digital twin model and a multi-objective optimization algorithm, can realize the dynamic allocation of multi-region operation tasks, path optimization, and action timing coordination. It solves the path intersection and conflict problems caused by the independent operation of traditional equipment, improves the efficiency of multi-region parallel operation, and meets the batch production cycle requirements.

[0014] 2. This collaborative robot system for multiple regions integrates an optimized LSTM prediction model. By collecting data such as joint vibration of the robotic arm, motor temperature, and suction cup sealing, it accurately predicts equipment failure risks and remaining lifespan, triggers graded maintenance reminders, upgrades post-event maintenance to predictive maintenance, reduces equipment downtime, and the cloud management platform can store operation data, support multi-dimensional rapid traceability, and meet the full life cycle management requirements of aerospace products.

[0015] 3. This collaborative robot system for multi-area operations achieves aerospace-grade precision with a grasping repeatability accuracy of ≤±0.02mm, placement error of ≤±0.05mm, and assembly gap of ≤0.1mm through a dual-redundant design of positioning sensors, precise calibration of robotic arm joint temperature, and an adaptive adjustment mechanism for negative pressure suction cups. This fully meets stringent tolerance requirements. At the same time, the central control module can automatically match the negative pressure value, suction cup spacing, and robotic arm movement speed according to the product material, weight, and structure, adapting to various product types. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a multi-regional collaborative robot system proposed in this invention; Figure 2 This is a schematic diagram showing the connection between the rack, the area mobile platform module, and the robotic arm execution module. Figure 3 This is a schematic diagram of the negative pressure suction cup assembly.

[0017] In the diagram: 1. Frame; 2. Area moving platform module; 21. First electric slide rail; 22. Mounting platform; 3. Robotic arm execution module; 4. Central control module; 41. Sensor unit; 42. Data preprocessing unit; 43. LSTM prediction model; 44. Early warning unit; 45. Cloud management platform; 46. Field operation terminal; 5. Communication module; 6. Negative pressure suction cup assembly; 61. Suction cup mounting beam; 62. Negative pressure suction cup unit; 621. U-shaped mounting bracket; 622. Connecting bracket; 623. Negative pressure suction cup body; 63. Spacing adjustment assembly; 631. Second electric slide rail; 632. Second electric slider; 64. Independent negative pressure control unit; 7. Intelligent predictive maintenance module. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] Reference Figures 1-3 A collaborative robot system for multiple regions includes a frame 1, a regional mobile platform module 2, an independent robotic arm execution module 3, a central control module 4, a communication module 5, a horizontally arranged negative pressure suction cup assembly 6, and an intelligent predictive maintenance module 7. The frame 1 is divided into multiple independent working areas. The frame 1 is a modular aluminum profile splicing structure. The aluminum profile is made of aerospace-grade alloy and is anodized to improve corrosion resistance. The frames 1 of each working area are connected by bolts to form an overall frame. Each working area is reserved with a safety interval. Infrared beam sensors and emergency stop triggering devices are installed in the interval. When personnel or foreign objects intrude, the system can trigger the emergency stop of the corresponding area equipment within 200ms to avoid the risk of collision. Each working area is equipped with a corresponding area mobile platform module 2. The robotic arm execution module 3 is fixedly installed on the corresponding area moving platform module 2. The area moving platform module 2 includes a first electric slide rail 21 mounted on the frame 1. A first electric slider adapted to the first electric slide rail 21 is installed on the first electric slide rail 21. The first electric slide rail 21 adopts a ball screw drive structure with a lead of 10mm, a positioning accuracy of ±0.05mm, and a repeatability of ≤±0.02mm, meeting the position synchronization requirements during multi-area operations. The electric slider has built-in double linear guide rails, increasing the load-bearing capacity by 30% and effectively offsetting the overturning moment generated during robotic arm operation. An installation platform 22 is installed on the upper end of the first electric slider. The robotic arm execution module 3 is installed on the installation platform 22. The installation platform 22 adopts a honeycomb aluminum composite structure, which reduces its weight while ensuring rigidity through bottom reinforcing rib design. A T-slot is reserved on the surface of the installation platform 22 to facilitate the quick installation and fine-tuning of the position of the robotic arm execution module 3.

[0020] The robotic arm execution module 3 is a multi-degree-of-freedom articulated robotic arm. Adjacent joints are hinged via joint bearings and connected by servo motor shaft transmission, sequentially achieving lifting, rotation, and extension movements. Combined with the translational connection structure of the area moving platform module 2, it completes large-scale operations across multiple areas. Specifically, the robotic arm execution module 3 uses a 3-6 degree-of-freedom articulated robotic arm (selectable based on task complexity). Each joint is hinged via crossed roller bearings, and the servo motor uses an absolute encoder type with a resolution of 17 bits, ensuring joint rotation angle accuracy ≤0.1°. The robotic arm's lifting stroke range is 500-1500mm, and its rotation... With an angle coverage of ±180° and a telescopic stroke of 300-800mm, the robotic arm, in conjunction with the translation function of the area moving platform module 2, can achieve multi-area coverage with a maximum working radius of 8m. The robotic arm has built-in torque sensors at its joints to monitor the working load in real time. When the load exceeds 110% of the rated value, it automatically triggers overload protection, stops the movement, and feeds back to the central control module 4. At the same time, the robotic arm adopts a lightweight design, with the forearm and upper arm made of carbon fiber composite materials, reducing the overall weight by 35%, reducing energy consumption while improving the movement response speed. The maximum joint movement speed can reach 120° / s, meeting the needs of high-efficiency operation.

[0021] A horizontally arranged negative pressure suction cup assembly 6 is installed at the end of the robotic arm execution module 3. It includes a suction cup mounting beam 61, multiple negative pressure suction cup units 62 evenly arranged horizontally along the suction cup mounting beam 61, a spacing adjustment assembly 63, and an independent negative pressure control unit 64. The negative pressure suction cup units 62 are movably connected to the suction cup mounting beam 61 via the spacing adjustment assembly 63. The spacing adjustment assembly 63 drives the negative pressure suction cup units 62 to achieve adjustable horizontal spacing. The spacing adjustment assembly 63 includes a second electric slide rail 631 installed at the bottom of the suction cup mounting beam 61. Multiple matching negative pressure suction cup units 64 are installed within the second electric slide rail 631. Two electric sliders 632, and multiple negative pressure suction cup units 62 are respectively installed at the bottom of the corresponding second electric sliders 632. The spacing between adjacent negative pressure suction cup units 62 can be adjusted from 50 to 300 mm. One-click spacing preset and custom adjustment are supported. Through the workpiece size recognition data of the central control module 4, the system can automatically calculate the optimal suction cup spacing. For example, when gripping a 300 mm × 200 mm plate-shaped workpiece, the spacing between adjacent negative pressure suction cup units 62 is automatically adjusted to 100 mm to ensure uniform force. When gripping irregular workpieces, personalized spacing can be set by manual programming to adapt to complex working scenarios.

[0022] The negative pressure suction cup unit 62 includes a U-shaped mounting bracket 621 installed at the bottom of the second electric slider 632. A connecting bracket 622 is mounted inside the U-shaped mounting bracket 621 via a micro servo motor. Negative pressure suction cup bodies 623 are mounted at both ends of the connecting bracket 622 via electric telescopic rods. The micro servo motor inside the U-shaped mounting bracket 621 can achieve an angle adjustment of ±30° with an adjustment accuracy of 0.5°. Together with the negative pressure suction cup bodies 623 at both ends of the connecting bracket 622, a "dual suction cup cooperative gripping" mode is formed: when gripping a flat workpiece, the two suction cups simultaneously adsorb, improving gripping stability. When gripping a curved or tilted workpiece, the micro servo motor automatically adjusts the suction cup angle according to the tilt angle of the workpiece surface. Combined with the telescopic adjustment of the electric telescopic rods, it ensures that the adhesion between the suction cup and the workpiece surface is ≥95%, avoiding gripping failure due to air leakage. The negative pressure suction cup body 623 is made of nitrile rubber, and the adsorption surface adopts a honeycomb texture design to enhance sealing performance.

[0023] An independent negative pressure control unit 64 is connected to each negative pressure suction cup unit 62 via a negative pressure pipeline, independently controlling the negative pressure suction force of each suction cup. The independent negative pressure control unit 64 includes a negative pressure sensor, a solenoid valve, and a negative pressure pump. The negative pressure pump is connected to each negative pressure suction cup body 623 via a negative pressure pipeline, independently controlling the negative pressure suction force of each suction cup body 623. The negative pressure sensor is electrically connected to the central control module 4 via a signal line, monitoring and transmitting the negative pressure value of each individual suction cup body 623 in real time. The central control module 4 adjusts the negative pressure pump according to the workpiece material and weight via the solenoid valve, adaptively adjusting the negative pressure suction force. The negative pressure sensor uses a high-precision MEMS sensor with a measurement range of -100kPa to 0kPa and an accuracy of ±0.5kPa, acquiring data in real time. The negative pressure value of each suction cup is transmitted to the central control module 4. The data preprocessing unit 42 filters the negative pressure data to eliminate errors caused by fluctuations in ambient air pressure. The central control module 4 has a built-in database of workpiece material, weight, and negative pressure suction. For example, when gripping a 5kg steel workpiece, the negative pressure pump is automatically adjusted to output a negative pressure of -80kPa. When gripping a 0.5kg foam workpiece, the negative pressure output is -30kPa, ensuring a firm grip while preventing workpiece deformation. In addition, the system is equipped with a negative pressure abnormality protection mechanism. When the negative pressure value of a single suction cup is lower than 80% of the preset threshold, the solenoid valve automatically cuts off the negative pressure pipeline of that suction cup. At the same time, the negative pressure compensation of adjacent suction cups is activated, increasing the suction of adjacent suction cups by 10%-20% and triggering an early warning to prevent the workpiece from falling.

[0024] Communication module 5 enables real-time data interaction between the central control module 4, the regional mobile platform module 2, the robotic arm execution module 3, and the negative pressure suction cup assembly 6. Communication module 5 supports dual-mode switching between industrial Ethernet and wireless communication to meet the communication needs of different workshop environments. Industrial Ethernet is suitable for scenarios with extremely high stability requirements, with a transmission rate ≥1Gbps and a data transmission latency ≤5ms. Wireless communication is suitable for scenarios where equipment needs flexible movement or where workshop wiring is difficult, with a transmission rate ≥100Mbps and a latency ≤10ms in 5G mode. In Wi-Fi mode, it supports concurrent communication of multiple devices, with a maximum of 32 access nodes. Each communication node corresponds one-to-one with each execution component (mobile platform, robotic arm joint, suction cup unit, etc.), employing a redundant design. When a communication node fails, the system automatically switches to a backup node with a switching time ≤1ms, ensuring uninterrupted communication.

[0025] The central control module 4 is electrically connected to the regional mobile platform module 2, the robotic arm execution module 3, and the negative pressure suction cup assembly 6. The central control module 4 includes a sensor unit 41, a data preprocessing unit 42, an LSTM prediction model 43, an early warning unit 44, a cloud management platform 45, and a field operation terminal 46. It also has a built-in control system. Through the communication module 5, it acquires the position, status, and environmental data of each mobile platform in real time. Based on the digital twin model and multi-objective optimization algorithm, it realizes the dynamic allocation, action coordination, and conflict prediction of multi-area operation tasks, and achieves unified scheduling and action synchronization of multi-area equipment. The digital twin model collects the three-dimensional parameters, motion characteristics, and environmental data of equipment such as the rack 1, regional mobile platform module 2, robotic arm execution module 3, and negative pressure suction cup assembly 6 to build a 1:1 virtual simulation system, which maps the operating status of physical equipment in real time. The multi-objective optimization algorithm aims at "maximum operation efficiency, lowest energy consumption, and fewest conflicts" to dynamically allocate multi-area operation tasks. For example, when three work areas receive grasping tasks at the same time, the system uses virtual simulation to predict the work path and action sequence of each device, avoids cross collisions of robotic arms, allocates the optimal work sequence, and realizes conflict-free parallel operation in multiple areas. The conflict prediction mechanism is based on device position data and motion trajectory prediction. When the expected collision probability of two devices exceeds 5%, the system automatically adjusts the action sequence or path to ensure work safety.

[0026] The sensor unit 41 includes a positioning sensor, a vibration sensor, and a temperature sensor. It is used to collect the position data of the area moving platform module 2, the vibration frequency and temperature data of the robotic arm execution module 3 and the negative pressure suction cup assembly 6. The positioning sensor collects the position data of the area moving platform module 2 in real time. The vibration sensor is installed at the connecting frame 622 between the robotic arm joint of the robotic arm execution module 3 and the mounting bracket 622 of the negative pressure suction cup body 623. The measurement range is 10-1000Hz and the accuracy is ±0.1Hz. It captures abnormal vibrations during equipment operation. The temperature sensor uses a PT100 platinum resistance thermometer. The measurement range is -20℃-150℃ and the accuracy is ±0.5℃. It monitors the temperature changes of key components such as motors and bearings.

[0027] The data preprocessing unit 42 filters and normalizes the collected raw data and extracts feature vectors. The data preprocessing unit 42 eliminates noise interference in vibration and temperature data through Kalman filtering, and then performs normalization processing to extract 12 feature vectors such as vibration peak value, temperature mean, and position deviation.

[0028] The early warning unit 44 is used to trigger a graded maintenance reminder when the fault risk value exceeds a preset threshold, and synchronize it to the cloud management platform 45. The LSTM prediction model 43 optimizes the sparse gating weights, reduces redundant parameters, and improves the prediction speed. After inputting the feature vector, it can output the equipment fault risk value (0-100 points) and the remaining life prediction result (error ≤10%) within 50ms. When the fault risk value exceeds 80 points, the early warning unit 44 triggers a first-level maintenance reminder (immediate shutdown and maintenance are required). When the risk value is between 60 and 80 points, a second-level maintenance reminder is triggered (maintenance is recommended within 24 hours). When the risk value is below 60 points, normal operation and continuous monitoring are maintained. All early warning information is synchronized to the cloud management platform 45, which supports real-time viewing on mobile APP and computer. The cloud management platform 45 supports multi-user permission management (administrator, operator, maintenance personnel) and has functions such as equipment monitoring, task management, data statistics, and fault tracing. Administrators can remotely issue work tasks and adjust work parameters through the platform. Operators can view the operating status of equipment in each area in real time (location, speed, load, negative pressure value, etc.). Maintenance personnel can query historical equipment fault data and remaining life prediction results to formulate targeted maintenance plans. The cloud management platform has a built-in data storage module that can save more than one year of equipment operation data and work records. It supports data export and analysis, providing data support for production optimization. At the same time, the platform supports remote system firmware upgrades without on-site downtime, improving maintenance efficiency.

[0029] The communication module 5 uses industrial Ethernet or wireless communication. Its communication nodes are connected to each execution component in a one-to-one signal connection. The data transmission delay is ≤10ms. The central control module 4 receives the work task and workpiece position signal through the communication coordination module, and autonomously plans the operation path and action sequence of each device to achieve multi-area conflict-free parallel operation.

[0030] The functional principles of this multi-regional collaborative robot system can be further explained through the following operational methods: Staff can enter job task information through the cloud management platform 45 or the on-site operation terminal 46, including parameters such as workpiece type (material, size, weight), work area distribution, task priority, and completion time limit. If it is a batch operation, an Excel format task list can be imported, and the system will automatically parse the task details. The central control module 4 starts the initialization program and sends self-test commands to the mobile platform modules 2, robotic arm execution modules 3, and negative pressure suction cup assembly 6 in each area through the communication module 5. Each module reports its operating status (such as slide rail lubrication, motor temperature, and suction cup sealing). The positioning sensor calibrates the initial position of the mobile platform, and the robotic arm performs the origin return action to ensure that each component is in a ready state. If an abnormality is detected (such as suction cup negative pressure leakage), the early warning unit 44 immediately triggers a prompt. After the fault is cleared, the system is re-initialized. The central control module 4 collects environmental data such as the regional layout of the rack 1 and the initial position of the workpiece (obtained through a visual sensor or preset coordinates), updates the digital twin virtual simulation system, and constructs a virtual working environment that matches the physical scene 1:1, providing data support for subsequent scheduling and planning.

[0031] The multi-objective optimization algorithm of the central control module 4 decomposes the work tasks and dynamically allocates the tasks to the robot units in the corresponding areas based on the equipment load status of each work area (such as whether the equipment is currently idle and the remaining work capacity). For example, three workpiece grasping tasks of different specifications are allocated to work areas 1, 2 and 3 respectively to ensure that the load of each area is balanced. Based on the digital twin model, the central control module 4 plans the optimal operation path for the regional mobile platform module 2 and the robotic arm execution module 3 in each region. At the same time, the intelligent predictive maintenance module 7 predicts the action sequence of the equipment in multiple regions. If it detects that there is a risk of intersection between the operation paths of two robotic arms (collision probability ≥ 5%), it automatically adjusts the order of actions or the path trajectory to ensure that multiple regions can operate in parallel without conflict. The central control module 4 automatically configures the parameters of the negative pressure suction cup assembly 6 according to the workpiece material and weight: the independent negative pressure control unit 64 presets the target negative pressure value (e.g., -80kPa for a 5kg steel workpiece), the spacing adjustment assembly 63 calculates the optimal suction cup spacing according to the workpiece size (e.g., 100mm spacing for a 300mm×200mm plate-shaped workpiece), and the robotic arm execution module 3 presets the movement speed and load threshold (e.g., the movement speed of a lightly loaded workpiece is set to 100° / s, and the movement speed of a heavily loaded workpiece is set to 60° / s).

[0032] The area moving platform module 2 receives the position command from the central control module 4. The first electric slide rail 21 drives the electric slider to move the installation platform 22 in translation. The positioning sensor provides real-time feedback of position data to ensure that the moving platform accurately stops at the workpiece picking area with a positioning error of ≤ ±0.05mm. During the translation process, if the moving speed exceeds 0.5m / s, the system automatically starts the deceleration buffer mechanism to avoid position deviation caused by inertia. The robotic arm execution module 3 starts the operation according to the planned path. Through the coordinated movement of multiple degrees of freedom joints (lifting, rotating, and extending), it drives the negative pressure suction cup assembly 6 to move above the workpiece. At this time, the micro servo motor of the negative pressure suction cup unit 62 adjusts the angle of the connecting frame 622 according to the tilt angle of the workpiece surface (detected by a vision sensor or obtained by preset data) to ensure that the negative pressure suction cup body 623 and the workpiece surface have a contact degree of ≥95%. The second electric slider 632 of the spacing adjustment assembly 63 adjusts the suction cup spacing synchronously. The independent negative pressure control unit 64 starts the negative pressure pump and delivers negative pressure to each negative pressure suction cup body 623 through the negative pressure pipeline. The negative pressure sensor monitors the adsorption pressure in real time. When the pressure reaches the preset threshold and stabilizes for 300ms, the gripping is confirmed to be successful. If the negative pressure value of a single suction cup is lower than 80% of the preset threshold, the system automatically cuts off the suction cup pipeline, starts the negative pressure compensation of the adjacent suction cup (increases the suction force by 10%-20%), and records the abnormal information. After the gripping is completed, the robotic arm maintains a stable posture to avoid workpiece shaking. The central control module 4 synchronizes the action status of the equipment in each area through the communication module 5 and coordinates the transfer sequence of workpieces in multiple areas. For example, after the robotic arm in area 1 grabs the workpiece, the area moving platform module 2 controls it to move to the transfer handover point. The robotic arm in area 2 moves to the handover point to receive the workpiece, realizing seamless transfer of workpieces in multiple areas. When placing the workpiece, the robotic arm accurately positions itself according to the preset placement coordinates and slowly releases the negative pressure to ensure that the workpiece is placed stably and avoids collisions or scratches.

[0033] During operation, sensor unit 41 continuously collects data: positioning sensor monitors the position deviation of the mobile platform, vibration sensor captures the vibration frequency of the robotic arm joint and suction cup mounting bracket (normal range 10-500Hz), temperature sensor monitors the temperature of key components such as motor and bearing (normal range -20℃-80℃), and the data is transmitted to the central control module 4 in real time through communication module 5, and the digital twin model updates the equipment operating status synchronously. The data preprocessing unit 42 performs Kalman filtering and normalization on the collected raw data, extracts 12 feature vectors such as vibration peak, average temperature, and position deviation, and inputs them into the optimized LSTM prediction model 43. The model outputs the equipment failure risk value (0-100 points) and the remaining life prediction result. For example, when the vibration frequency of the robotic arm joint continues to exceed 500Hz, the failure risk value increases and the model predicts that the remaining life is shortened. When the fault risk value exceeds 80 points, the early warning unit 44 triggers a first-level maintenance reminder, the central control module 4 automatically suspends the operation in the corresponding area, synchronizes the information to the cloud management platform 45, and notifies the maintenance personnel to immediately stop the machine for inspection. When the risk value is between 60 and 80 points, a second-level maintenance reminder is triggered, and the system pushes maintenance suggestions (such as adding grease to the slide rail) during the operation interval. When the risk value is below 60 points, the system continues to monitor and synchronizes the data to the cloud for archiving. After all tasks are completed, the central control module 4 collects the task data (such as task duration, success rate, and energy consumption), generates a task report, and stores it in the cloud management platform 45. It supports data export and historical traceability. At the same time, the system starts the equipment cleaning program, the robotic arm performs a reset action, the negative pressure suction cup component 6 releases the residual negative pressure, and the mobile platform returns to the initial position to wait for the next round of task instructions.

[0034] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A collaborative robot system for multi-regional operations, characterized in that, It includes a frame (1), an area mobile platform module (2), a robotic arm execution module (3), a central control module (4), a communication module (5), a horizontally arranged negative pressure suction cup assembly (6), and an intelligent predictive maintenance module (7). The frame (1) divides the work area into independent work areas, and each work area is equipped with a corresponding area moving platform module (2). The robotic arm execution module (3) is fixedly installed on the corresponding area moving platform module (2). The horizontally arranged negative pressure suction cup assembly (6) is installed at the end of the robotic arm execution module (3), including a suction cup mounting beam (61), multiple negative pressure suction cup units (62) evenly arranged horizontally along the suction cup mounting beam (61), a spacing adjustment assembly (63), and an independent negative pressure control unit (64). The negative pressure suction cup unit (62) is movably connected to the suction cup mounting beam (61) through the spacing adjustment assembly (63). The spacing adjustment assembly (63) drives the negative pressure suction cup unit (62) to achieve adjustable horizontal spacing. The independent negative pressure control unit (64) is connected to each negative pressure suction cup unit (62) through a negative pressure pipeline to control the negative pressure suction force of each negative pressure suction cup individually. The communication module (5) enables real-time data interaction between the central control module (4), the regional mobile platform module (2), the robotic arm execution module (3), and the negative pressure suction cup assembly (6); The central control module (4) is electrically connected to the regional mobile platform module (2), the robotic arm execution module (3), and the negative pressure suction cup assembly (6) respectively. The central control module (4) includes a sensor unit (41), a data preprocessing unit (42), an LSTM prediction model (43), an early warning unit (44), a cloud management platform (45), and a field operation terminal (46). It obtains the location, status, and environmental data of each mobile platform in real time through the communication module (5), and has a built-in control system. Based on the digital twin model and multi-objective optimization algorithm, it realizes the dynamic allocation of multi-region operation tasks, action coordination, and conflict prediction, and realizes unified scheduling and action synchronization of multi-region equipment.

2. The collaborative robot system for multi-region operations according to claim 1, characterized in that, The frame (1) is a modular aluminum profile splicing structure. The frames (1) of each working area are connected by bolts to form an overall frame, and a safety interval is reserved between each working area.

3. The collaborative robot system for multi-region operations according to claim 1, characterized in that, The regional mobile platform module (2) includes a first electric slide rail (21) mounted on a frame (1), a first electric slider adapted to it is mounted on the first electric slide rail (21), and an installation platform (22) is mounted on the upper end of the first electric slider. The robotic arm execution module (3) is mounted on the installation platform (22).

4. The collaborative robot system for multi-region operations according to claim 1, characterized in that, The robotic arm execution module (3) is a multi-degree-of-freedom joint robotic arm. Each adjacent joint is connected by joint bearings and servo motor shaft transmission, thereby realizing lifting, rotation and extension actions in sequence.

5. A collaborative robot system for multi-regional operations according to claim 1, characterized in that, The spacing adjustment assembly (63) includes a second electric slide rail (631) installed at the bottom of the suction cup mounting beam (61). The second electric slide rail (631) is equipped with a plurality of matching second electric sliders (632). The plurality of negative pressure suction cup units (62) are respectively installed at the bottom of the corresponding second electric sliders (632). The negative pressure suction cup unit (62) includes a U-shaped mounting bracket (621) installed at the bottom of the second electric slider (632). A connecting bracket (622) is installed inside the U-shaped mounting bracket (621) by a micro servo motor. The negative pressure suction cup body (623) is installed at both the front and rear ends of the connecting bracket (622) by an electric telescopic rod.

6. A collaborative robot system for multi-region operations according to claim 5, characterized in that, The independent negative pressure control unit (64) includes a negative pressure sensor, a solenoid valve and a negative pressure pump. The negative pressure pump is connected to each negative pressure suction cup body (623) through a negative pressure pipeline and controls the negative pressure suction force of each negative pressure suction cup body (623) individually. The negative pressure sensor is electrically connected to the central control module (4) through a signal line to monitor and transmit the negative pressure value of a single negative pressure suction cup body (623) in real time. The central control module (4) adjusts the negative pressure pump through the solenoid valve according to the workpiece material and weight to adaptively adjust the negative pressure suction force.

7. A collaborative robot system for multi-region operations according to claim 1, characterized in that, The sensor unit (41) includes a positioning sensor, a vibration sensor and a temperature sensor, used to collect the position data of the area moving platform module (2), the vibration frequency and temperature data of the robotic arm execution module (3) and the negative pressure suction cup assembly (6); The data preprocessing unit (42) filters and normalizes the collected raw data and extracts feature vectors; The LSTM prediction model (43) outputs the equipment failure risk value and remaining life prediction results; The early warning unit (44) is used to trigger a graded maintenance reminder when the fault risk value exceeds a preset threshold, and synchronize it to the cloud management platform (45).

8. A collaborative robot system for multi-regional operations according to claim 1, characterized in that, The communication module (5) is an industrial Ethernet or wireless communication, and its communication nodes are connected to each execution component in a one-to-one signal connection.

Images