Multi-degree-of-freedom industrial robot collaborative operation device

Abstract

The invention mainly relates to the technical field of rail robots, in particular to a multi-degree-of-freedom industrial robot collaborative operation device which comprises a sky rail and a robot connected to the sky rail through a moving seat. The device further comprises a driving control assembly, a rotating limiting assembly, an actuating assembly and a sliding limiting assembly, the driving control assembly is in transmission coupling with the walking rotating shaft at the coupling position so as to drive and control the walking rotating shaft to rotate and disengages transmission coupling at the disengagement position, the rotating limiting assembly is detachably clamped with the walking rotating shaft, and the actuating assembly drives the rotating limiting assembly to be clamped with the walking rotating shaft. The driving control assembly moves to the disengagement position to release clamping when moving to the coupling position, the sliding limiting assembly responds to the driving control assembly to move to the disengagement position to extend out of the moving base and abut against the sky rail, and the sliding limiting assembly moves to the coupling position to be contained in the moving base and separated from the sky rail to release sliding limitation. And the position control precision is high.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to a multi-degree-of-freedom industrial robot collaborative operation device. Background Technology

[0002] Multi-degree-of-freedom industrial robot collaborative operation devices have become one of the core equipment in scenarios such as automobile welding, construction machinery loading and unloading, and high-altitude material handling due to their advantages of high-altitude operation, heavy load, and flexible collaboration. Its typical structure is a combination of a ceiling track, a walking structure, and a robot. The robot's position is adjusted by the walking structure moving along the ceiling track, enabling multiple robots to collaboratively complete complex processes such as welding and material handling.

[0003] Existing devices mostly rely on friction between the walking structure and the overhead track to achieve static positioning, or use a single rotational positioning method, such as brake pads to brake the walking structure. In actual use, this robot solution still has certain shortcomings: First, when the load on the walking structure is too large and it is in an area with a large slope on the overhead track, the friction between the walking structure and the overhead track alone cannot effectively limit the movement of the walking structure. This can easily lead to the failure of the friction limit, causing the walking structure to slide along the overhead track, which could result in the robot falling from a height or an equipment collision accident. Secondly, a single rotation limiter can only restrict the rotation of the walking structure and cannot resist the sliding component of the walking structure. Especially under heavy loads, there is still a risk that the wheels will not rotate but the whole structure will slide, resulting in poor position adjustment accuracy of the robot and reducing the efficiency and quality of multi-robot collaborative operations.

[0004] Existing technology provides a track-driven robot, which specifically includes an I-beam track, a walking mechanism, and a limiting mechanism. In the walking mechanism, a dual-axis motor drives a bevel gear to rotate, simultaneously rotating the vertical and lateral guide wheels, thereby driving the robot to move along the track. In the limiting mechanism, an electric actuator moves a movable frame, which in turn rotates a positioning plate on the movable seat via a gear and rack structure. The friction between the positioning plate and the track achieves sliding limitation of the movable seat.

[0005] This solution, while achieving anti-slip limiting for the mobile seat, doesn't address how to limit the movement mechanism. In a conventional scenario, the aforementioned dual-axis motor could be a brake motor to brake and limit the movement mechanism. This achieves both braking and limiting of the movement mechanism and anti-slip limiting of the robot's mobile seat, improving the robot's position adjustment accuracy on the track to some extent. Even so, this solution still has the following problems: for example, the movement mechanism, movement braking mechanism, and anti-slip limiting mechanism require at least two independent drive sources controlled and each transmitted power through an independent transmission mechanism. This not only results in complex structure, high equipment cost, and heavy weight, but also, for collaborative units composed of multiple robots, many variables need to be controlled for position adjustment, leading to poor system robustness and real-time performance. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a multi-degree-of-freedom industrial robot collaborative operation device, which has the advantages of simple transmission structure and high position adjustment accuracy.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A multi-degree-of-freedom industrial robot collaborative operation device is provided, including a track and a robot connected to the track via a movable seat. The movable seat has wheels connected to it via a walking shaft. The device further includes: a drive and control assembly, reciprocally mounted on the movable seat between a coupled position and a disengaged position, wherein in the coupled position, the drive and control assembly drives the walking shaft to rotate, and in the disengaged position, the drive and control assembly disengages from the walking shaft; and a rotation limiting assembly, mounted on the movable seat, releasably engaging the walking shaft to releasably limit its movement. The traveling shaft rotates; an actuation component, mounted on the movable seat and connected to the drive control component and the rotation limiting component, drives the rotation limiting component to engage the traveling shaft in response to the drive control component moving to the disengaged position, and moves to the coupled position to release the engagement; and a sliding limiting component, mounted on the movable seat and drivenly connected to the drive control component, extends out of the movable seat and presses against the ceiling track in response to the drive control component moving to the disengaged position to restrict the sliding of the movable seat, and moves to the coupled position to be housed inside the movable seat and separated from the ceiling track to release the sliding restriction.

[0008] To optimize the above solution, the following technical measures were also adopted: Preferably, the movable seat is fixedly provided with a drive control rack, and the drive control assembly includes a slide, a drive control motor, a drive control gear, a drive control device, a bracket, and a slide column. The slide is horizontally slidably mounted on the movable seat, and the drive control motor is fixed on the slide. One side of the slide is connected to a sliding limit assembly. The output end of the drive control motor is respectively fixed with a drive control gear and a drive control device. The drive control gear is rigidly meshed with the drive control rack. The traveling shaft is provided with a rotating component that is coupled to the drive control device. The bracket is fixed on the slide, and one side of the bracket is fixed with a slide column that slides in cooperation with the actuation assembly.

[0009] Preferably, the movable seat is provided with an elastic rack, which is slidably disposed on one end of the drive control rack and arranged side by side. Along the extension direction of the drive control rack, the elastic rack and the drive control rack are connected by a spring. When the drive control assembly moves to the coupling position, the drive control gear rotates forward until the drive control gear rolls onto the elastic rack and maintains elastic reciprocating engagement. The end of the elastic rack away from the spring abuts against the movable seat in the initial state. When the drive control gear rotates in reverse, the elastic rack and the drive control gear maintain rigid engagement until the drive control gear rolls back from the elastic rack to the drive control rack.

[0010] Preferably, the actuation assembly includes a sleeve, a conical sleeve, and a connecting sleeve. The sleeve is sleeved on the outside of the travel shaft, and the inner wall of the sleeve is splinedly connected to the travel shaft. The conical sleeve and the connecting sleeve are fixed at both ends of the sleeve, respectively. The conical sleeve is in sliding contact with the rotation limiting assembly. The connecting sleeve has an annular groove, which is in sliding contact with the sliding column in the circumferential direction but in a limiting position in the axial direction.

[0011] Preferably, the rotation limiting assembly includes a fixed base, a slider, a limiting spring, a connecting piece, an L-shaped side frame, and a limiting wheel. The fixed base is fixed on the movable base. The limiting wheel is located on one side of the conical sleeve and is fixedly connected to the traveling shaft. Two sliders are slidably mounted on the movable base. The two sliders are distributed on both radial sides of the conical sleeve and are connected to each other by the limiting spring. A connecting piece that slides into the outer wall of the conical sleeve is fixed on the opposite side of each slider. An L-shaped side frame is fixed on each slider. One end of the L-shaped side frame is close to the limiting wheel and engages with the limiting groove distributed circumferentially on the limiting wheel.

[0012] Preferably, the sliding limiting assembly includes a limiting rack one, a limiting gear, a limiting rack two, and a limiting plate. The limiting gear is horizontally rotatably mounted on the movable seat. The limiting rack one and the limiting rack two are distributed on both sides of the limiting gear and mesh with it. The limiting rack one is fixedly connected to one side of the slide seat. The limiting plate is installed at one end of the limiting rack two for pressing against the inner wall of the ceiling track.

[0013] Preferably, the sliding limiting assembly further includes an L-shaped block, a guide post, and a second limiting spring. The L-shaped block is horizontally slidably mounted on the movable seat. The second limiting rack is fixedly connected to the L-shaped block. One end of the L-shaped block is parallel to the inner wall of the ceiling track and has guide posts horizontally slidably distributed thereon. One end of the guide post is fixed with the limiting plate. The second limiting spring is installed between the limiting plate and the L-shaped block.

[0014] Preferably, the tapered sleeve has a first limiting ring and a second limiting ring along the axial direction, and the connecting member slides in contact with the tapered sleeve and is located between the first limiting ring and the second limiting ring at its upper limit along the axial direction.

[0015] Preferably, the sleeve, tapered sleeve, and connecting sleeve are integrally cast along the axial direction and divided into two semi-cylinders along the radial direction, which can be detachably assembled into one piece.

[0016] Preferably, the first limiting rack and the second limiting rack are driven by the limiting gear to move in opposite directions along a set direction, which is orthogonal to the track extension direction of the ceiling rail and the height direction of the device.

[0017] Because of the above-described solutions, one or more technical solutions provided in this application embodiment have at least the following technical effects or advantages: In its initial state, the drive and control components are in the disengaged position, meaning they are disengaged from the traveling shaft. At this point, the actuation component, in conjunction with the drive and control components, can drive the rotation limit component to rotate and limit the traveling shaft, thus restricting the movement of the traveling wheels on the overhead track. Simultaneously, the drive and control components can cause the sliding limit component to press against the inner wall of the overhead track, thereby limiting the sliding of the mobile seat. In other words, by controlling a single, independent drive and control component, both rotation and sliding limits of the mobile seat can be achieved, allowing the robot to stop stably and quickly at any position on the overhead track. Even when the friction coefficient between the traveling wheels and the overhead track decreases or the mobile seat stops on a steep overhead track, the stability of the robot and mobile seat is ensured, preventing falls from heights or equipment collisions caused by wheels sliding without rotation. This significantly reduces safety risks and is suitable for high-altitude operations or heavy-load scenarios, enabling the robot to operate safely and reliably under complex conditions while meeting the long-term requirements of high precision and low maintenance.

[0018] On another front, from a hardware perspective, the movement of the mobile platform on the overhead track, the braking and limiting of the traveling wheels, and the anti-slip limiting of the mobile platform are all driven by the same drive and control component. This reduces the number of drive sources, simplifies the transmission structure, reduces the weight carried by the track, and saves on equipment costs. From a collaborative control perspective, since the positions of each robot on the same overhead track can be achieved by controlling its corresponding single drive and control component, the number of control variables is greatly reduced. This not only improves the accuracy and reliability of position control but also significantly enhances the robustness and real-time performance of the system. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only involve some embodiments of this application and should not be construed as limiting this application.

[0020] Figure 1 This is a first-view structural schematic diagram of the multi-degree-of-freedom industrial robot collaborative operation device provided in an embodiment of the present invention.

[0021] Figure 2 This is a second-view structural schematic diagram of the multi-degree-of-freedom industrial robot collaborative operation device provided in an embodiment of the present invention.

[0022] Figure 3 for Figure 1 A schematic diagram of the robot's installation.

[0023] Figure 4 for Figure 3 A schematic diagram of the structure of the moving seat, the walking component, the actuation component, the drive control component, the rotation limit component, and the sliding limit component.

[0024] Figure 5 for Figure 4 A schematic diagram showing the connection of the central actuator, the traveling shaft, and the rotating components.

[0025] Figure 6 for Figure 5 Exploded view of the structure of the central actuator, the traveling shaft, and the rotating parts.

[0026] Figure 7 for Figure 4 A schematic diagram of the drive control component.

[0027] Figure 8 for Figure 4 A schematic diagram of the rotating limit component.

[0028] Figure 9 for Figure 4 A schematic diagram of the middle sliding limit component.

[0029] Figure label: 100. Ceiling rail; 200. Robot; 300. Movable seat; 400. Walking assembly; 410. Walking shaft; 420. Walking wheel; 430. Rotating component; 440. Keyway; 500. Actuation assembly; 510. Sleeve; 520. Conical sleeve; 530. Connecting sleeve; 540. Annular groove; 600. Drive control assembly; 610. Slide; 620. Drive control motor; 630. Drive control gear; 640. Drive control device; 650. Bracket; 660. Sliding column 670, Drive rack; 680, Elastic rack; 700, Rotation limit assembly; 710, Fixed base; 720, Slider; 730, Limit spring one; 740, Connector; 750, L-shaped side frame; 760, Limit wheel; 770, Limit groove; 800, Sliding limit assembly; 810, Limit rack one; 820, Limit gear; 830, Limit rack two; 840, L-shaped block; 850, Guide post; 860, Limit plate; 870, Limit spring two. Detailed Implementation

[0030] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings, so as to more clearly understand the purpose, features and advantages of this invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of this invention, but are only for illustrating the essential spirit of the technical solutions of this invention. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0031] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0032] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0033] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “and / or” unless otherwise expressly stated herein.

[0034] In the following description, in order to clearly demonstrate the structure and working method of the present invention, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0035] The implementation details of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following content is only for the convenience of understanding the implementation details and is not necessary for implementing this solution.

[0036] refer to Figures 1 to 9 As shown, this embodiment proposes a multi-degree-of-freedom industrial robot collaborative operation device, which aims to solve the problem that existing track robot devices require multiple sets of drive sources to drive the walking component, braking component, and anti-slip component, resulting in complex structure and many position control variables, causing poor system robustness and real-time performance. It can not only reduce the number of drive sources and simplify the transmission mechanism, but also reduce the position control variables, improve the position adjustment accuracy and reliability of the robot, and improve the system robustness and real-time performance.

[0037] refer to Figures 1 to 4 As shown, in this embodiment, the multi-degree-of-freedom industrial robot collaborative operation device specifically includes a ceiling track 100 distributed above the operation platform and a robot 200 connected to the ceiling track 100 via a movable seat 300. The movable seat 300 is connected to a walking wheel 420 via a walking shaft 410.

[0038] Specifically, the overhead track 100 has a C-shaped cross-section, and multiple movable seats 300 are distributed on the overhead track 100. Each movable seat 300 has a robot at its lower part. The robot is preferably a multi-degree-of-freedom robot, such as a six-axis industrial robot. The end effector is set according to the different tasks to be performed. The movable seat 300 has a U-shaped cross-section, and walking components 400 are symmetrically arranged at the front and rear ends of the movable seat 300. The walking component 400 includes a walking shaft 410 and walking wheels 420. The walking shaft 410 extends along the width direction of the track, and its two ends extend out of the corresponding side walls of the movable seat 300 and are connected to the walking wheels 420.

[0039] In this embodiment, the device further includes a drive control component 600, a rotation limiting component 700, an actuation component 500, and a sliding limiting component 800. The drive control component 600 is reciprocally mounted on the movable base 300 between a coupled position and a disengaged position. In the coupled position, it drives and couples the walking shaft 410 to drive and control the rotation of the walking shaft 410. In the disengaged position, it disengages the drive coupling from the walking shaft 410. The rotation limiting component 700 is mounted on the movable base 300 and can be disengaged from the walking shaft 410 to releasably restrict the rotation of the walking shaft 410. The actuation component 500 is mounted on the movable seat 300 and connects the drive control component 600 and the rotation limit component 700. In response to the drive control component 600 moving to the disengaged position, the rotation limit component 700 engages with the traveling shaft 410 and moves to the coupled position to release the engagement. The sliding limit component 800 is mounted on the movable seat 300 and is drive-connected to the drive control component 600. In response to the drive control component 600 moving to the disengaged position, it extends laterally out of the movable seat 300 and presses against the ceiling rail 100 to restrict the sliding of the movable seat 300. It moves to the coupled position and is stored inside the movable seat 300 and separated from the ceiling rail 100 to release the sliding restriction.

[0040] Initially, the drive control component 600 is in the disengaged position, meaning it is separated from the traveling shaft 410. At this time, the actuation component 500, in cooperation with the drive control component 600, can drive the rotation limit component 700 to rotate and limit the traveling shaft 410, thereby restricting the movement of the traveling wheel 420 on the ceiling rail 100. Simultaneously, the drive control component can cause the sliding limit component 800 to press against the inner wall of the ceiling rail 100, thus completing the sliding limit of the moving seat 300. In other words, the moving seat 300 can be controlled by a single, independent drive control component 600. The dual limiting of rotation and sliding allows the robot 200 to stop stably and quickly at any position on the overhead rail 100. Even when the coefficient of friction between the traveling wheel 420 and the overhead rail 100 decreases or the moving seat 300 stops on the overhead rail 100 with a large slope, the stability of the robot 200 and the moving seat 300 can be ensured, preventing high-altitude falls or equipment collisions caused by the wheels sliding without rotating. This significantly reduces safety risks and makes the robot suitable for high-altitude operations or high-load scenarios. It allows the robot 200 to operate safely and reliably under complex working conditions and meet the long-term use requirements of high precision and low maintenance.

[0041] In this embodiment, from a hardware structure perspective, the movement of the mobile seat 300 on the overhead track 100, the braking of the traveling wheels 420, and the anti-slip limiting of the mobile seat 300 are all driven by the same drive control component 600. This reduces the number of drive sources, simplifies the transmission structure, reduces the weight carried by the track, and saves on device costs. From a collaborative control perspective, since the positions of each robot on the same overhead track 100 can be achieved by controlling the corresponding single drive control component 600, the number of control variables is greatly reduced. This not only improves the position control accuracy and reliability but also significantly enhances the robustness and real-time performance of the system.

[0042] In this embodiment, the multi-degree-of-freedom industrial robot collaborative operation device is particularly suitable for low-speed, heavy-load, single-stroke applications. Typically, the overhead track 100 is a closed circular track, and each collaborative robot has a single track movement direction. The robot control module, such as a PLC module, uniformly controls the unidirectional movement and position control of the moving seat 300. The specific control method refers to the prior art and will not be elaborated here.

[0043] When it is necessary to change the position of robot 200 on ceiling track 100, drive control component 600 can drive actuator component 500 and sliding limit component 800 by moving. Drive control component 600 is coupled with walking shaft 410. Actuator component 500 drives rotation limit component 700 to release from the engagement of walking shaft 410, thereby releasing the rotation limit of walking wheel 420. Sliding limit component 800 releases its pressure contact with the inner wall of ceiling track 100 by being housed in moving seat 300, thereby releasing the sliding limit of moving seat 300. At this time, moving seat 300 is in a free state on ceiling track 100 and can move by the power transmitted by drive control component 600. The drive control component 600 drives the moving seat 300 to move on the ceiling track 100 through transmission coupling with the walking shaft 410, thereby changing the position of the robot 200 on the ceiling track 100. This allows multiple robots 200 on the ceiling track 100 to move to a designated position and cooperate with each other to complete operations such as product handling, welding, or clamping.

[0044] After the position adjustment of robot 200 is completed, drive and control component 600 reverses its operation and returns to its initial state, so that rotation limit component 700, actuation component 500 and sliding limit component 800 all return to their initial state, and once again perform dual rotation and sliding limit on moving seat 300 and robot 200.

[0045] In this embodiment, a drive control rack 670 is fixedly provided on the movable seat 300. The drive control assembly 600 includes a slide 610, a drive control motor 620, a drive control gear 630, a drive control device 640, a bracket 650, and a slide column 660. The slide 610 is horizontally slidably mounted on the movable seat 300. The drive control motor 620 is fixed on the slide 610. One side of the slide 610 is connected to the sliding limit assembly 800. The output end of the drive control motor 620 is respectively fixed with the drive control gear 630 and the drive control device 640. The drive control gear 630 is rigidly meshed with the drive control rack 670. The traveling shaft 410 is provided with a rotating component 430 that is coupled to the drive control device 640. The bracket 650 is fixed on the slide 610. One side of the bracket 650 is fixed with a slide column 660 that slides with the actuation assembly 500.

[0046] Specifically, the movable seat 300 is provided with a linear slide groove extending along the axial direction of the traveling shaft 410, and the bottom of the slide 610 is provided with a linear slide rail. The linear slide rail cooperates with the linear slide groove so that the slide 610 can move along the axial direction of the traveling shaft 410. Furthermore, the movable seat 300 is provided with an elastic rack 680, which is slidably disposed on one end of the drive control rack 670 and arranged side by side. Along the extending direction of the drive control rack 670, the elastic rack 680 and the drive control rack 670 are connected by a spring. When the drive control assembly 600 moves to the coupling position, the drive control gear 630 rotates forward until the drive control gear 630 rolls onto the elastic rack 680 and maintains elastic reciprocating engagement. The end of the elastic rack 680 away from the spring abuts against the movable seat 300 in the initial state. When the drive control gear 630 rotates in reverse, the elastic rack 680 and the drive control gear 630 maintain rigid engagement until the drive control gear 630 rolls back from the elastic rack 680 to the drive control rack 670.

[0047] When the drive control component 600 moves from the disengaged position to the coupled position, the drive control motor 620 rotates forward and the drive control gear 630 rotates forward. When the drive control component 600 moves from the coupled position to the disengaged position, the drive control motor 620 rotates in reverse and the drive control gear 630 rotates in reverse.

[0048] refer to Figure 4 and Figure 7As shown, when it is necessary to control the moving seat 300 to move along the ceiling track, the drive control component 600 moves from the disengaged position to the coupled position. At this time, the drive control motor 620 is controlled to rotate forward. As the drive control gear 630 rolls on the drive control rack 670 toward the elastic rack 680, the slide 610 slides synchronously along the linear groove until the drive control gear 630 disengages from the drive control rack 670 and rolls onto the elastic rack 680. In the initial state, the gap between the elastic rack 680 and the drive control rack 670 is approximately the width of two teeth. The drive control gear 630 engages with only one pair of teeth on either the drive control rack 670 or the elastic rack 680. This ensures that after the drive control rack 670 separates from the drive control gear 630, the elastic rack 680 has sufficient clearance to engage with the drive control gear 630. In the elastic reciprocating meshing, after the elastic rack 680 and the drive control gear 630 engage, the drive control gear 630 no longer rolls in its original direction, but only rotates on its own axis, and the drive control assembly 600 and the walking shaft 410 enter transmission coupling. When the drive control motor 620 reverses, since the end of the elastic rack 680 away from the spring abuts against the moving seat 300 in the initial state, the drive control gear 630 and the elastic rack 680 mesh in the opposite direction. The elastic rack 680 is blocked by the moving seat 300 in the reverse direction, for example, by a stop block provided on the moving seat 300, so it cannot move in the reverse direction. Therefore, the drive control gear 630 can only roll back to the drive control rack 670 under the action of the rigid meshing force provided by the elastic rack 680, until the slide 610 can return to the initial position.

[0049] In the initial state, the drive control rack 670 meshes with the drive control gear 630. At this time, the drive control device 640 is disengaged from the rotating component 430. The slide column 660 drives the actuation component 500 to the initial state. The actuation component 500 drives the rotation limit component 700 to rotate and limit the travel shaft 410. The slide block 610 drives the sliding limit component 800 to press against the inner wall of the ceiling rail 100, thereby completing the dual limit of rotation and sliding of the moving seat 300.

[0050] When the position of robot 200 needs to be changed, drive motor 620 drives drive gear 630 and drive control unit 640 to rotate synchronously. Drive gear 630, in cooperation with drive rack 670, can drive slide block 610 to slide on moving seat 300. Slide block 610 drives drive control unit 640, bracket 650 and sliding limit component 800 to move synchronously. Bracket 650 drives actuator component 500 to slide on moving component 400 through slide column 660. Actuator component 500 releases the rotation restriction component 700 on the walking axis 410. 800 can release the sliding limit of the movable seat 300, so that the movable seat 300 and the movable component 400 are in a free state; when the drive control 640 moves to the position where it is coupled with the rotating component 430 (that is, the drive control component 600 moves to the coupling position), the slide 610 stops moving, the drive control gear 630 and the elastic rack 680 enter elastic reciprocating meshing, the drive control 640 drives the walking shaft 410 to rotate on the movable seat 300, thereby driving the movable seat 300 and the robot 200 to move along the trajectory laid out by the ceiling track 100, thus completing the change of the position of the robot 200.

[0051] After the robot 200 has finished adjusting its position, the drive motor 620 drives the drive control unit 640 and drive gear 630 to reverse. The drive gear 630, through the elastic rack 680 and drive rack 670, can drive the slide 610 back to its initial state. The slide 610 drives the sliding limit component 800 to return to its initial state and again limits the sliding of the moving seat 300. The slide column 660 drives the actuation component 500 back to its initial state. The actuation component 500 drives the rotation limit component 700 to return to its initial state and again limits the rotation of the walking shaft 410.

[0052] In this embodiment, the rotating component 430 and the drive control component 640 preferably adopt a conical friction wheel structure. The rotating component 430 and the drive control component 640 are frictionally connected, and the rotation speed is effectively transmitted through the frictional connection.

[0053] In this embodiment, the actuation component 500 includes a sleeve 510, a conical sleeve 520, and a connecting sleeve 530. The sleeve 510 is sleeved on the outside of the travel shaft 410, and the inner wall of the sleeve 510 is splinedly connected to the travel shaft 410. The conical sleeve 520 and the connecting sleeve 530 are respectively fixed at both ends of the sleeve 510. The conical sleeve 520 slides in contact with the rotation limiting component 700. The connecting sleeve 530 has an annular groove 540. The annular groove 540 slides in contact with the sliding column 660 in the circumferential direction but is limited in the axial direction to prevent the sliding column 660 from disengaging from the annular groove 540.

[0054] In this embodiment, the outer diameter of the end of the tapered sleeve 520 closest to the drive control component 600 is larger than the outer diameter of the end furthest from the drive control component 600. In the initial state, the rotation limiting component 700 slides in contact with the outer wall of the end of the tapered sleeve 520 with the smaller outer diameter.

[0055] Initially, the sliding column 660, through the annular groove 540, can drive the connecting sleeve 530 to its initial state. The connecting sleeve 530 drives the sleeve 510 to its initial position. At this time, the conical sleeve 520 can drive the rotation limiting component 700 to rotate and limit the walking shaft 410. When the drive motor 620 is working, the sliding column 660, through the connecting sleeve 530, can drive the sleeve 510 to slide horizontally on the walking shaft 410. The sleeve 510 drives the conical sleeve 520 to slide, changing the contact position between the conical sleeve 520 and the rotation limiting component 700, so that the rotation limiting component 700 can release the rotation limiting of the walking shaft 410. After the robot 200 completes the position adjustment, the sliding column 660, through the connecting sleeve 530, drives the sleeve 510 back to its initial position, so that the conical sleeve 520 can again drive the rotation limiting component 700 to rotate and limit the walking shaft 410.

[0056] In a preferred embodiment, the sleeve 510, the tapered sleeve 520, and the connecting sleeve 530 are integrally cast along the axial direction and divided into two semi-cylinders along the radial direction. These two semi-cylinders can be detachably assembled into one piece, which facilitates quick connection with the traveling shaft 410.

[0057] In this embodiment, as Figures 3 to 8 As shown, the rotation limiting assembly 700 includes a fixed base 710, a slider 720, a limiting spring 730, a connecting piece 740, an L-shaped side frame 750, and a limiting wheel 760. The fixed base 710 is fixed on the movable base 300. The limiting wheel 760 is located on one side of the conical sleeve 520 and is fixedly connected to the traveling shaft 410. Two sliders 720 are slidably mounted on the movable base 300. The two sliders 720 are distributed on both radial sides of the conical sleeve 520 and are connected to each other by the limiting spring 730. A connecting piece 740 that slides and engages with the outer wall of the conical sleeve 520 is fixed on each of the two sliders 720. An L-shaped side frame 750 is fixed on each of the two sliders 720. One end of the L-shaped side frame 750 is close to the limiting wheel 760 and engages with the circumferentially distributed limiting groove 770 of the limiting wheel 760.

[0058] In this embodiment, the limiting groove 770 preferably adopts a trapezoidal groove structure with a wide inlet and a narrow bottom. This can help the L-shaped side frame 750 quickly engage with the limiting groove 770 on the limiting wheel 760, thereby quickly completing the rotation limiting of the traveling shaft 410, and then completing the rotation limiting of the traveling track wheel 420.

[0059] In the initial state, the sliding column 660 can drive the connecting sleeve 530 to the initial state through the annular groove 540. The connecting sleeve 530 drives the sleeve 510 to the initial position. At this time, the end with the smaller outer diameter of the tapered sleeve 520 slides in contact with the connecting piece 740. The connecting pieces 740 and the slider 720 on both sides move closer to each other under the action of the limiting spring 730, which can drive the two L-shaped side frames 750 to move closer to each other. This allows the two L-shaped side frames 750 to radially engage with the limiting groove 770 on the limiting wheel 760, thus completing the rotational limiting of the traveling shaft 410.

[0060] When the drive motor is working, the slide column 660 can drive the sleeve 510 to slide horizontally on the travel shaft 410 through the connecting sleeve 530. The sleeve 510 drives the tapered sleeve 520 to slide, so that the end of the tapered sleeve 520 with the larger outer diameter slides into contact with the connecting piece 740. The tapered sleeve 520 drives the two sliders 720 to move away from each other through the connecting piece 740. The two sliders 720 drive their respective L-shaped side frames 750 to move away from each other, so that the L-shaped side frames 750 separate from the upper limit groove 770 of the limit wheel 760, thereby releasing the rotation limit on the travel shaft 410.

[0061] In a preferred embodiment, the connector 740 preferably adopts a connection structure consisting of a cylinder and balls, with the cylinder fixed on the side wall of the slider 720, the balls mounted on the cylinder, and the balls slidingly contacting the outer wall of the tapered sleeve 520.

[0062] In this embodiment, the sleeve-type actuation component 500, which is slidably mounted on the walking shaft 410, makes sliding contact with the cylindrical ball on the slider 720, so that the drive control component 600 drives the L-shaped side frame 750 to engage or disengage from the limiting groove 770 on the limiting wheel 760, thereby rotating and limiting or releasing the walking shaft 410. The actuation component 500 is sleeved on the outer periphery of the walking shaft 410, and it can serve as a consumable part to prevent wear and impact on the walking shaft 410. At the same time, the actuation component 500 adopts a detachable design, which is convenient for maintenance and replacement.

[0063] refer to Figure 4 and Figure 9As shown, in this embodiment, the sliding limiting assembly 800 includes a limiting rack 810, a limiting gear 820, a limiting rack 830, and a limiting plate 860. The limiting gear 820 is horizontally rotatably mounted on the movable seat 300. The limiting racks 810 and 830 are distributed on both sides of the limiting gear 820 and mesh with it. The limiting rack 810 is fixedly connected to one side of the slide 610, preferably using a detachable connection, such as a screw connection. The limiting plate 860 is installed at one end of the limiting rack 830 to press against the inner wall of the ceiling track 100.

[0064] In the initial state, the slide 610 drives the first limiting rack 810 to the initial position. The first limiting rack 810 drives the second limiting rack 830 to approach the inner wall of the ceiling rail 100 through the limiting gear 820. The second limiting rack 830 drives the L-shaped block 840 to approach the inner wall of the ceiling rail 100, so that the limiting plate 860 on the L-shaped block 840 can press against the inner wall of the ceiling rail 100, thereby completing the sliding limit of the moving seat 300. This allows the robot 200 to stop stably and quickly at any position on the ceiling rail 100. Even if the coefficient of friction between the moving component 400 and the ceiling rail 100 decreases or the moving seat 300 stops on the ceiling rail 100 with a large slope, the stability of the robot 200 and the moving seat 300 can be ensured. This prevents high-altitude falls or equipment collisions caused by the wheels sliding without turning, greatly reducing safety risks and making it suitable for high-altitude operations or heavy loads and other high-risk scenarios.

[0065] When it is necessary to change the position of robot 200 on ceiling rail 100, slide 610 drives limit rack 1 810 to move. Limit rack 1 810 drives limit rack 2 830 to move away from the inner wall of ceiling rail 100 through limit gear 820. Limit rack 2 830 drives limit plate 860 away from the inner wall of ceiling rail 100 through L-shaped block 840, thereby releasing the limit plate 860 from the sliding limit of moving seat 300, so that multiple robots 200 on ceiling rail 100 can move to the designated position and cooperate with each other to complete operations such as product handling, welding or clamping.

[0066] In this embodiment, the sliding limiting assembly 800 further includes an L-shaped block 840, guide posts 850, and a second limiting spring. The L-shaped block 840 is horizontally slidably mounted on the movable seat 300. The second limiting rack 830 is fixedly connected to the L-shaped block 840. One end of the L-shaped block 840 is parallel to the inner wall of the ceiling track 100, and guide posts 850 are horizontally distributed there. There are three guide posts 850. One end of each guide post 850 is fixed to the limiting plate 860. In order to reduce the contact pressure between the limiting plate 860 and the inner wall of the ceiling track 100, the limiting plate 860 is set parallel to the inner wall of the ceiling track 100. The second limiting spring is installed between the limiting plate 860 and the L-shaped block 840. The setting of the second limiting spring can reduce the vibration and impact transmitted from the ceiling track 100 to the movable seat 300.

[0067] In this embodiment, the first limiting rack 810 and the second limiting rack 830 are driven by the limiting gear 820 to move in opposite directions along a set direction, which is orthogonal to the track extension direction of the ceiling track 100 and the height direction of the device. Here, the distance and specific stroke of the limiting plate 860 can be determined according to the meshing method of the first limiting rack 810, the second limiting rack 830, and the limiting gear 820, such as the meshing length and gear design.

[0068] refer to Figure 6 As shown, specifically, the tapered sleeve 520 has a first limiting ring and a second limiting ring along the axial direction. The connecting member 740 slides in contact with the tapered sleeve 520 and is located between the first limiting ring and the second limiting ring at its upper limit along the axial direction. In one scenario, the first limiting ring is closer to the rotation limiting component 700 than the second limiting ring. When the drive control component is in the coupled position, the connecting member 740 contacts the second limiting ring along the axial direction, and the connecting member 740 also acts as a limiting element, restricting the drive control component 600 from continuing to move forward along the axial direction, i.e., moving towards the rotation limiting component 700. Similarly, when the drive control component is in the disengaged position, the connecting member 740 contacts the first limiting ring along the axial direction, and the connecting member 740 also acts as a limiting element, restricting the drive control component 600 from continuing to move backward along the axial direction, i.e., moving away from the rotation limiting component 700.

[0069] In summary, in this embodiment, from a hardware structure perspective, the movement of the mobile seat 300 on the overhead track 100, the braking of the traveling wheels 420, and the anti-slip limiting of the mobile seat 300 are all driven by the same drive control component 600. This reduces the number of drive sources, simplifies the transmission structure, reduces the weight carried by the track, and saves on device costs. From a collaborative control perspective, since the positions of each robot on the same overhead track 100 can be achieved by controlling the corresponding single drive control component 600, the number of control variables is greatly reduced. This not only improves the position control accuracy and reliability but also significantly enhances the robustness and real-time performance of the system.

[0070] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or basic characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects. The scope of the invention is defined by the appended claims rather than the foregoing description. Therefore, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0071] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-degree-of-freedom industrial robot collaborative operation device, comprising a ceiling track and a robot connected to the ceiling track via a movable seat, wherein the movable seat is connected to traveling wheels via a traveling shaft, characterized in that, The device further includes: A drive and control assembly is reciprocally mounted on a movable base between a coupled position and a disengaged position. In the coupled position, it drives and couples the travel shaft to rotate, and in the disengaged position, it disengages the drive coupling from the travel shaft. A rotation limiting component, mounted on a movable base, can be disengaged from the travel shaft to releasably restrict the rotation of the travel shaft; An actuation component, mounted on a movable base, connects a drive control component and a rotation limiting component. In response to the drive control component moving to the disengaged position, it drives the rotation limiting component to engage the traveling shaft, and moves to the coupled position to disengage the engagement. The sliding limit component is installed on the movable seat and is connected to the drive control component. In response to the drive control component moving to the disengaged position, it extends out of the movable seat and presses against the top rail to limit the sliding of the movable seat. It then moves to the coupling position and is stored inside the movable seat and separates from the top rail to release the sliding restriction.

2. The multi-degree-of-freedom industrial robot collaborative operation device according to claim 1, characterized in that, The movable seat is fixedly provided with a drive control rack. The drive control assembly includes a slide, a drive control motor, a drive control gear, a drive control device, a bracket, and a slide column. The slide is horizontally slidably mounted on the movable seat. The drive control motor is fixed on the slide. One side of the slide is connected to a sliding limit assembly. The output end of the drive control motor is fixed with the drive control gear and the drive control device respectively. The drive control gear is rigidly meshed with the drive control rack. The traveling shaft is provided with a rotating component that is coupled to the drive control device. The bracket is fixed on the slide. One side of the bracket is fixed with a slide column that slides in cooperation with the actuation assembly.

3. The multi-degree-of-freedom industrial robot collaborative operation device according to claim 2, characterized in that, The movable seat is provided with an elastic rack, which is slidably disposed on one end of the drive control rack and arranged side by side. Along the extension direction of the drive control rack, the elastic rack and the drive control rack are connected by a spring. When the drive control assembly moves to the coupling position, the drive control gear rotates forward until the drive control gear rolls onto the elastic rack and maintains elastic reciprocating engagement. The end of the elastic rack away from the spring abuts against the movable seat in the initial state. When the drive control gear rotates in reverse, the elastic rack and the drive control gear maintain rigid engagement until the drive control gear rolls back from the elastic rack to the drive control rack.

4. The multi-degree-of-freedom industrial robot collaborative operation device according to claim 3, characterized in that, The actuation assembly includes a sleeve, a conical sleeve, and a connecting sleeve. The sleeve is fitted onto the outside of the traveling shaft, and the inner wall of the sleeve is splinedly connected to the traveling shaft. The conical sleeve and the connecting sleeve are fixed at both ends of the sleeve, respectively. The conical sleeve is in sliding contact with the rotation limiting assembly. The connecting sleeve has an annular groove, which is in sliding contact with the sliding column in the circumferential direction but in a limiting position in the axial direction.

5. The multi-degree-of-freedom industrial robot collaborative operation device according to any one of claims 1 to 4, characterized in that, The rotation limiting assembly includes a fixed base, sliders, a limiting spring, a connecting piece, an L-shaped side frame, and a limiting wheel. The fixed base is fixed on a movable base. The limiting wheel is located on one side of the conical sleeve and is fixedly connected to the traveling shaft. Two sliders are slidably mounted on the movable base. The two sliders are distributed on both radial sides of the conical sleeve and are connected to each other by the limiting spring. A connecting piece that slides and engages with the outer wall of the conical sleeve is fixed on the opposite side of each slider. An L-shaped side frame is fixed on each slider. One end of the L-shaped side frame is close to the limiting wheel and engages with the circumferentially distributed limiting grooves on the limiting wheel.

6. The multi-degree-of-freedom industrial robot collaborative operation device according to claim 3, characterized in that, The sliding limiting assembly includes a limiting rack one, a limiting gear, a limiting rack two, and a limiting plate. The limiting gear is horizontally rotatably mounted on the movable seat. The limiting rack one and the limiting rack two are distributed on both sides of the limiting gear and mesh with it. The limiting rack one is fixedly connected to one side of the slide seat. A limiting plate is installed at one end of the limiting rack two for pressing against the inner wall of the ceiling track.

7. The multi-degree-of-freedom industrial robot collaborative operation device according to claim 5, characterized in that, The sliding limiting assembly also includes an L-shaped block, a guide post, and a second limiting spring. The L-shaped block is horizontally slidably mounted on the movable seat. The second limiting rack is fixedly connected to the L-shaped block. One end of the L-shaped block is parallel to the inner wall of the ceiling track and has guide posts horizontally slidably distributed thereon. One end of the guide post is fixed with the limiting plate. The second limiting spring is installed between the limiting plate and the L-shaped block.

8. The multi-degree-of-freedom industrial robot collaborative operation device according to claim 4, characterized in that, The tapered sleeve has a first limiting ring and a second limiting ring along the axial direction, and the connecting member slides in contact with the tapered sleeve and is located between the first limiting ring and the second limiting ring at its upper limit along the axial direction.

9. The multi-degree-of-freedom industrial robot collaborative operation device according to claim 4, characterized in that, The sleeve, tapered sleeve, and connecting sleeve are cast in one piece along the axial direction and are divided into two semi-cylinders along the radial direction. These two semi-cylinders can be detachably assembled into one piece.

10. The multi-degree-of-freedom industrial robot collaborative operation device according to claim 1, characterized in that, The first and second limiting racks are driven by the limiting gear to move in opposite directions along a set direction, which is orthogonal to the track extension direction of the ceiling rail and the height direction of the device.

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