A collaborative industrial robot system
By introducing multiple mobile seats and limiting mechanisms into the industrial robot system, combined with drive motors, the problem of robot limit failure on the overhead track was solved, achieving stable movement and rapid positioning, and reducing safety risks.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI MARITIME UNIVERSITY
- Filing Date
- 2026-05-22
- Publication Date
- 2026-07-21
AI Technical Summary
Existing collaborative industrial robot systems rely on frictional restraint between the moving structure and the overhead rail for operation at heights and under heavy loads, which can easily lead to robot falls or equipment collisions.
By employing multiple moving seats, drive and control mechanisms, rotational limit mechanisms, and sliding limit mechanisms, combined with drive and control motors and limit components, the robot achieves stable movement and dual limit on the overhead track, ensuring that the robot can stay stably on overhead tracks with large inclines.
It enables stable movement and rapid positioning of robots on the overhead rail, eliminating the risk of falls or equipment collisions from heights, and is suitable for high-altitude operations and heavy-load scenarios.
Smart Images
Figure CN122425640A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of robotics technology, and in particular relates to a collaborative industrial robot system. Background Technology
[0002] In intelligent manufacturing and heavy industrial production, collaborative industrial robot systems have become core equipment in scenarios such as automobile welding, engineering machinery loading and unloading, and high-altitude material handling due to their advantages of high-altitude operation, heavy load, and flexible collaboration.
[0003] Existing devices mostly rely on the friction between the moving structure and the track to achieve static limiting, or use a single rotational limiting mechanism (such as brake pads braking the moving structure). However, this still has certain drawbacks in actual use: When the moving structure is overloaded and located in an area with a large slope on the overhead track, the friction between the moving structure and the overhead track alone cannot effectively limit the movement of the moving structure. This can easily lead to friction limit failure, causing the moving structure to slide along the overhead track, which could result in the robot falling from a height or an equipment collision accident. Summary of the Invention
[0004] The purpose of this invention is to provide a collaborative industrial robot system to solve the problems existing in the prior art.
[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides a collaborative industrial robot system, including a ceiling track, a plurality of movable seats slidably connected to the bottom of the ceiling track, movable components symmetrically arranged on the movable seats, the movable components being adapted to the ceiling track, a robot being fixedly connected to the bottom of the movable seats, a drive and control mechanism being provided at the top of the movable seats, the drive and control mechanism being intermittently engaged with the movable components, a rotation limiting mechanism and a sliding limiting mechanism being respectively provided at the top of the movable seats, the sliding limiting mechanism being connected to the drive and control mechanism and intermittently contacting the inner wall of the ceiling track, the rotation limiting mechanism including a control component and a limiting component respectively connected to the same movable component, the limiting component being slidably connected to the movable seat, and the limiting component being adapted to the control component.
[0006] Optionally, the drive control mechanism includes a slide block slidably connected to the movable seat. A drive control motor is fixedly connected to the top surface of the slide block. A drive control gear and a drive control device are sequentially fixedly connected to the output shaft of the drive control motor. A drive control rack is fixedly connected to the movable seat. The bottom of the drive control gear meshes with the drive control rack. An elastic rack is provided on one side of the drive control rack. The elastic rack intermittently engages with the drive control gear. The drive control device intermittently engages with the movable component. A bracket is fixedly connected to the slide block. A sliding column is fixedly connected to the side of the bracket away from the slide block. The sliding column is adapted to the control component.
[0007] This invention discloses the following technical effects: This invention can not only change the position of the robot on the overhead track, allowing multiple robots on the track to move to a designated position and cooperate with each other to complete tasks such as product handling, welding, or clamping; it can also perform dual limiting of rotation and sliding for the stationary mobile seat and robot, enabling the robot to stably and quickly stop at any position on the overhead track. Even when the coefficient of friction between the moving components and the overhead track decreases or the mobile seat stops on an overhead track with a large slope, the stability of the robot and the mobile seat can be ensured, preventing high-altitude falls or equipment collisions caused by the wheels sliding without turning. It is suitable for high-altitude operations or high-load heavy loads and other high-risk scenarios. Attached Figure Description
[0008] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a structural schematic diagram from one perspective of the present invention; Figure 2 This is a structural schematic diagram from another perspective of the present invention; Figure 3 This is a schematic diagram of the installation of the robot of the present invention; Figure 4 This is a schematic diagram of the structure of the movable base of the present invention; Figure 5 This is a schematic diagram showing the connection of the control component, the moving shaft, and the rotating component of the present invention; Figure 6 This is an exploded view of the control component, moving shaft, and rotating component of the present invention; Figure 7 This is a schematic diagram of the drive control mechanism of the present invention; Figure 8 This is a schematic diagram of the structure of the limiting component of the present invention; Figure 9 This is a schematic diagram of the sliding limiting mechanism of the present invention.
[0009] Figure label: 100. Ceiling rail; 200. Robot; 300. Movable seat; 400. Movable component; 410. Movable shaft; 420. Movable wheel; 430. Rotating component; 440. Slide; 500. Control component; 510. Sleeve; 520. Conical sleeve; 530. Connecting sleeve; 540. Annular groove; 600. Drive control mechanism; 610. Slide seat; 620. Drive control motor; 630. Drive control gear; 640. Drive control device; 650. Bracket; 660. Sliding column; 670, drive rack; 680, elastic rack; 700, limiting assembly; 710, fixed base; 720, slider; 730, first limiting spring; 740, connector; 750, side frame; 760, limiting wheel; 770, limiting groove; 800, sliding limiting mechanism; 810, first limiting rack; 820, limiting gear; 830, second limiting rack; 840, L-shaped block; 850, guide post; 860, limiting plate; 870, second limiting spring. Detailed Implementation
[0010] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0011] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0012] Reference Figures 1 to 9 As shown, this embodiment provides a collaborative industrial robot system, including a ceiling track 100. Multiple movable seats 300 are slidably connected to the bottom of the ceiling track 100. Movable components 400 are symmetrically arranged on the movable seats 300, and the movable components 400 are adapted to the ceiling track 100. A robot 200 is fixedly connected to the bottom of the movable seats 300. A drive and control mechanism 600 is provided on the top of the movable seats 300, and the drive and control mechanism 600 intermittently cooperates with the movable components 400. A rotation limiting mechanism and a sliding limiting mechanism 800 are respectively provided on the top of the movable seats 300. The sliding limiting mechanism 800 is connected to the drive and control mechanism 600 and intermittently contacts the inner wall of the ceiling track 100. The rotation limiting mechanism includes a control component 500 and a limiting component 700 respectively connected to the same movable component 400. The limiting component 700 is slidably connected to the movable seat 300 and is adapted to the control component 500.
[0013] This invention can not only change the position of the robot 200 on the ceiling track 100, allowing multiple robots 200 on the ceiling track 100 to move to a designated position and cooperate with each other to complete tasks such as product handling, welding, or clamping; it can also perform dual rotation and sliding limits on the stationary movable seat 300 and the robot 200, enabling the robot 200 to stably and quickly stop at any position on the ceiling track 100. Even when the coefficient of friction between the movable component 400 and the ceiling track 100 decreases or the movable seat 300 stops on the ceiling track 100 with a large slope, the stability of the robot 200 and the movable seat 300 can be ensured, preventing high-altitude falls or equipment collisions caused by sliding without rotating wheels, and significantly reducing safety risks.
[0014] In a further optimized design, the drive control mechanism 600 includes a slide 610 slidably connected to the movable seat 300. A drive control motor 620 is fixedly connected to the top surface of the slide 610. A drive control gear 630 and a drive control device 640 are sequentially fixedly connected to the output shaft of the drive control motor 620. A drive control rack 670 is fixedly connected to the movable seat 300. The bottom of the drive control gear 630 meshes with the drive control rack 670. An elastic rack 680 is provided on one side of the drive control rack 670. The elastic rack 680 and the drive control gear 630 are intermittently engaged. The drive control device 640 and the movable component 400 are intermittently engaged. A bracket 650 is fixedly connected to the slide 610. A sliding column 660 is fixedly connected to the side of the bracket 650 away from the slide 610. The sliding column 660 is adapted to the control component 500.
[0015] In a further optimized design, the moving component 400 includes a moving shaft 410 mounted on a moving base 300. Moving wheels 420 are mounted on both ends of the moving shaft 410. A rotating component 430 and a control component 500 are mounted on one of the moving shafts 410. The moving shaft 410 is slidably connected to the control component 500, and the rotating component 430 is intermittently engaged with the drive control component 640.
[0016] In a further optimized design, the movable shaft 410 is provided with a sliding groove 440, and the inner wall of the sleeve 510 is provided with a spline, which is adapted to the sliding groove 440.
[0017] Further optimization of the scheme: the control component 500 includes a sleeve 510 slidably connected to the outside of the moving shaft 410. A tapered sleeve 520 and a connecting sleeve 530 are respectively installed at both ends of the sleeve 510. The tapered sleeve 520 is slidably engaged with the limiting component 700. The connecting sleeve 530 is provided with an annular groove 540, which is adapted to the sliding column 660.
[0018] In a further optimized design, the limiting component 700 includes a limiting wheel 760 mounted on the moving shaft 410. The limiting wheel 760 has multiple limiting grooves 770 evenly spaced circumferentially. The limiting component 700 also includes a fixed seat 710 fixedly connected to the moving seat 300. A slider 720 is symmetrically slidably connected to the top surface of the fixed seat 710. The two sliders 720 are connected by a first limiting spring 730. The two sliders 720 are located on both sides of the conical sleeve 520. A connecting piece 740 that slides and engages with the outer wall of the conical sleeve 520 is fixedly attached to the inner side of the two sliders 720. A side frame 750 is fixedly attached to the side of the slider 720 away from the connecting piece 740. The end of the side frame 750 away from the slider 720 is adapted to the limiting groove 770.
[0019] In a further optimized design, the sliding limiting mechanism 800 includes a limiting gear 820 mounted on the top surface of the movable seat 300. A first limiting rack 810 and a second limiting rack 830 are respectively meshed on both sides of the limiting gear 820. The first limiting rack 810 is fixedly connected to the slide seat 610. An L-shaped block 840 is fixedly connected to the outside of the second limiting rack 830. The L-shaped block 840 is slidably connected to the movable seat 300. The side of the L-shaped block 840 away from the second limiting rack 830 is parallel to the inner wall of the ceiling track 100. A plurality of guide posts 850 are slidably connected at equal intervals on the side of the L-shaped block 840 away from the second limiting rack 830. A limiting plate 860 is fixedly connected to the end of the guide post 850 away from the second limiting rack 830. A second limiting spring 870 is provided on the outside of the guide post 850. The second limiting spring 870 is located between the L-shaped block 840 and the limiting plate 860.
[0020] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.
[0021] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims
1. A collaborative industrial robot system, characterized in that: The system includes a ceiling track (100), with multiple movable seats (300) slidably connected to its bottom. Each movable seat (300) has symmetrically arranged movable components (400) that are adapted to the ceiling track (100). A robot (200) is fixedly connected to the bottom of each movable seat (300), and a drive control mechanism (600) is provided at the top of each movable seat (300). The drive control mechanism (600) and the movable components (400) cooperate intermittently. The top of the device is provided with a rotation limiting mechanism and a sliding limiting mechanism (800). The sliding limiting mechanism (800) is connected to the drive control mechanism (600) and intermittently contacts the inner wall of the ceiling track (100). The rotation limiting mechanism includes a control component (500) and a limiting component (700) respectively connected to the same moving component (400). The limiting component (700) is slidably connected to the moving seat (300) and is adapted to the control component (500).
2. The collaborative industrial robot system according to claim 1, characterized in that: The drive control mechanism (600) includes a slide (610) slidably connected to the movable seat (300). A drive control motor (620) is fixedly connected to the top surface of the slide (610). A drive control gear (630) and a drive control device (640) are sequentially fixedly connected to the output shaft of the drive control motor (620). A drive control rack (670) is fixedly connected to the movable seat (300). The bottom of the drive control gear meshes with the drive control rack (670). A flexible rack (680) is provided on one side of (670), the flexible rack (680) is intermittently engaged with the drive control gear (630), the drive control device (640) is intermittently engaged with the moving component (400), a bracket (650) is fixedly connected to the slide (610), and a sliding column (660) is fixedly connected to the side of the bracket (650) away from the slide (610), the sliding column (660) is adapted to the control component (500).
3. The collaborative industrial robot system according to claim 2, characterized in that: The moving component (400) includes a moving shaft (410) mounted on the moving base (300), with moving wheels (420) mounted at both ends of the moving shaft (410). A rotating component (430) and the control component (500) are mounted on one of the moving shafts (410). The moving shaft (410) is slidably connected to the control component (500), and the rotating component (430) is intermittently engaged with the drive control component (640).
4. The collaborative industrial robot system according to claim 3, characterized in that: The control component (500) includes a sleeve (510) slidably connected to the outside of the moving shaft (410). A tapered sleeve (520) and a connecting sleeve (530) are respectively installed at both ends of the sleeve (510). The tapered sleeve (520) is slidably engaged with the limiting component (700). The connecting sleeve (530) is provided with an annular groove (540), which is adapted to the sliding column (660).
5. The collaborative industrial robot system according to claim 4, characterized in that: The movable shaft (410) is provided with a sliding groove (440), and the inner wall of the sleeve (510) is provided with a spline, which is adapted to the sliding groove (440).
6. The collaborative industrial robot system according to claim 4, characterized in that: The outer diameter of the tapered sleeve (520) near the drive control mechanism (600) is larger than the outer diameter of the tapered sleeve (520) away from the drive control mechanism (600).
7. The collaborative industrial robot system according to claim 4, characterized in that: The limiting assembly (700) includes a limiting wheel (760) mounted on the moving shaft (410). The limiting wheel (760) is provided with a plurality of limiting grooves (770) at equal intervals in the circumferential direction. The limiting assembly (700) also includes a fixed seat (710) fixedly connected to the moving seat (300). The top surface of the fixed seat (710) is symmetrically slidably connected to a slider (720). The two sliders (720) are connected by a first limiting spring (730). The two sliders (720) are respectively located on both sides of the conical sleeve (520). The inner sides of the two sliders (720) are respectively fixed with a connecting piece (740) that slides and engages with the outer wall of the conical sleeve (520). A side frame (750) is fixedly connected to the side of the slider (720) away from the connecting piece (740). The end of the side frame (750) away from the slider (720) is adapted to the limiting groove (770).