A multi-degree-of-freedom robotic arm for industrial processing

Abstract

This invention relates to the field of robotic processing technology, specifically to a multi-degree-of-freedom manipulator for industrial processing, comprising: a support base; a robotic arm rotatably mounted on the support base, with a drive source positioned between adjacent robotic arms; an operating arm disposed at one end of the robotic arm; a positioning component fixedly disposed at one end of the operating arm for positioning the shell of a cleaning robot during processing; and a fixing component disposed at one end of the positioning component for fixing the shell of the cleaning robot during processing. The angles between multiple robotic arms are controlled by the drive source, enabling high-degree-of-freedom adjustment of the operating arm in space, facilitating rapid adaptation to processing requirements at different positions and angles. The positioning component can precisely conform to the specific structure of the cleaning robot shell, achieving rapid positioning of the manipulator and improving operational efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotic processing technology, specifically to a multi-degree-of-freedom robotic arm for industrial processing. Background Technology

[0002] With the rapid development of intelligent cleaning equipment, cleaning robots are widely used in home, commercial, and industrial environments, undertaking various tasks such as sweeping, dusting, and wiping. To improve cleaning efficiency, adapt to diverse environments, and optimize component layout, the structural design of cleaning robots is constantly evolving towards modularity and integration. Particularly in terms of the top structure, some cleaning robots adopt an open shell structure with a recessed annular cavity. This structure is often used to install LiDAR, visual recognition modules, rotary vacuuming mechanisms, or extended sensor components. This type of annular cavity not only has a closed curved surface but also exhibits certain depth, height differences, and local curvature variations, resulting in a complex structure and high positioning accuracy requirements.

[0003] During the precision assembly, functional debugging, or post-maintenance and modification of cleaning robots before they leave the factory, delicate operations such as positioning, cleaning, grinding, drilling, or fitting are often required inside the annular shell. This places higher demands on the adaptability of processing equipment, especially robotic arms, including the ability to penetrate deep into the shell, adapt to different bending radii, achieve multi-point stable support and clamping, and avoid deformation of thin shells. However, existing industrial robotic arms are mostly based on general structures and are commonly used in tasks such as handling, spot welding, and spraying on industrial production lines. Their structures are relatively rigid, and the gripping parts are mainly planar or simple geometric shapes, making it difficult to flexibly adapt to concave curved surfaces or local irregular structures. When facing complex spatial structures such as the annular open shell at the top of a cleaning robot, the following shortcomings exist: Single clamping structure and poor adaptability: Traditional grippers or fixing devices are mostly symmetrical or three-finger structures, which are difficult to achieve effective fitting while maintaining the integrity of the shell, easily causing positioning deviations or local detachment, uneven force distribution, and easy damage to the workpiece: Especially for the shell of a cleaning robot made of plastic or composite materials, local compression, deformation, or even cracks are likely to occur under unoptimized rigid clamping.

[0004] Therefore, it is necessary to provide a multi-degree-of-freedom robot for industrial processing to solve the above problems.

[0005] It should be noted that the information disclosed in this background section is only for understanding the background technology of this application concept, and therefore may include information that does not constitute prior art. Summary of the Invention

[0006] Based on the aforementioned problems in the existing technology, the problem to be solved by this application is that: existing industrial robotic arms are mostly used for general grasping and operation, and it is difficult to achieve precise positioning and stable clamping for cleaning robot shells with special structures, such as those with annular opening grooves.

[0007] The technical solution adopted by this application to solve its technical problem is: a multi-degree-of-freedom manipulator for industrial processing, comprising: a support base; a manipulator rotatably mounted on the support base, and a second drive source disposed between adjacent manipulators; and an operating arm disposed at one end of the manipulator.

[0008] A positioning component; the positioning component includes a connecting cylinder disposed on the operating arm, a plurality of connecting plates disposed on the connecting cylinder, a support arm disposed at one end of the connecting plate, a fixing ring disposed at one end of the support arm, a connecting sleeve disposed at one end of the fixing ring, the connecting sleeve being a hollow structure, the positioning component being used to position the shell of the cleaning robot during processing;

[0009] A fixing component; the fixing component includes a connecting tube sleeved on the fixing ring, a limiting plate being provided on the connecting tube, and a rotating disk being provided at one end of the connecting tube. The fixing component is used to fix the shell of the cleaning robot during processing.

[0010] Preferably, the positioning component further includes a fixed seat disposed at the other end of the support arm. The fixed seat is provided with multiple sets of mounting seats. A deflection arm is rotatably disposed on the mounting seat. A connecting seat is disposed on the deflection arm. A connecting arm is disposed on the connecting seat. One end of the connecting arm is rotatably connected to the connecting sleeve. A positioning plate is disposed at one end of the deflection arm. The positioning plate can contact the annular opening shell on the top of the cleaning robot.

[0011] Preferably, the fixing assembly further includes four sliding rails disposed at one end of the rotating disk, a sliding plate slidably disposed within the sliding rails, and a contact plate disposed at one end of the sliding plate, the contact plate being able to contact the inner wall of the cleaning robot housing.

[0012] Preferably, a movable rod is provided at one end of the fixed ring, the movable rod passes through the connecting sleeve, a buffer spring is sleeved on the movable rod, one end of the buffer spring is disposed inside the connecting sleeve, and the other end of the buffer spring is disposed on the movable plate.

[0013] Preferably, a set of contact grooves are formed on the inner wall of the connecting pipe, and the contact grooves are formed in a curved shape.

[0014] Preferably, the fixing ring is provided with a set of contact heads, one end of the fixing ring extends into the connecting pipe, one end of the fixing ring contacts the limiting plate, and the contact heads contact the contact groove.

[0015] Preferably, the contact plate has multiple sets of friction grooves, and the surface of the contact plate is made of rubber.

[0016] Preferably, the rotating disc has multiple sets of guide grooves, the guide grooves are arc-shaped and curved to one side, the sliding plate is provided with guide rods, the guide rods are in contact with the guide grooves, and a fixed cylinder is provided on one side of the multiple sets of sliding rails, the fixed cylinder can contact the bottom of the inner wall of the cleaning robot.

[0017] Preferably, the four sets of sliding plates are arranged in a rectangular shape, wherein the moving length of two sets of sliding plates is greater than the moving length of the other two sets of sliding plates.

[0018] Preferably, one end of the operating arm is provided with a connecting rod, one side of the connecting rod is provided with a first driving source, the output end of the first driving source is provided with a driving gear, a set of synchronous gears are rotatably connected to the connecting rod, the synchronous gears mesh with each other, and one end of one of the synchronous gears meshes with the driving gear, the other end of the synchronous gear is provided with a toggle arm, and one end of the toggle arm contacts the moving plate.

[0019] The beneficial effects of this application are as follows: This application provides a multi-degree-of-freedom robotic arm for industrial processing. The robotic arms are mounted on a support base by rotation. The angle between adjacent robotic arms is adjusted by a drive source, thereby achieving multi-degree-of-freedom spatial movement. The operating arm is installed at one end of the end robotic arm for precision operation. The positioning component is fixed at the end of the operating arm and can fit with the specific position of the cleaning robot shell according to its shape characteristics to achieve initial positioning. The fixing component is set at one end of the positioning component and can clamp or limit the shell to ensure that the shell remains stable and does not shift during processing. By controlling the angle between multiple robotic arms through the drive source, the operating arms can be adjusted with high degrees of freedom in space, which can quickly adapt to the processing requirements of different positions and angles. The positioning component can accurately fit the specific structure of the cleaning robot shell to achieve rapid positioning of the robotic arm and improve work efficiency. The fixing component ensures stability during processing and avoids errors caused by shell movement.

[0020] In addition to the purposes, features, and advantages described above, this application has other purposes, features, and advantages. These will be further described in detail below with reference to figures. Attached Figure Description

[0021] Figure 1This is a first-view structural diagram of the present invention;

[0022] Figure 2 This is a schematic diagram of the second perspective structure of the present invention;

[0023] Figure 3 This is a schematic diagram of the drive gear structure of the present invention;

[0024] Figure 4 This is a schematic diagram of the positioning component structure of the present invention;

[0025] Figure 5 This is a schematic diagram of the deflection arm structure of the present invention;

[0026] Figure 6 This is a schematic diagram of the movable plate structure of the present invention;

[0027] Figure 7 This is a schematic diagram of the front structure of the fixing component of the present invention;

[0028] Figure 8 This is a schematic diagram of the rear structure of the fixing component of the present invention;

[0029] Figure 9 This is a schematic diagram of the contact plate movement direction according to the present invention;

[0030] Figure 10 This is a schematic diagram of a partial cross-section of the rotating disk structure of the present invention.

[0031] In the diagram: 1. Support base; 2. Robotic arm; 3. Operating arm; 4. Connecting cylinder; 5. Connecting rod; 6. First drive source; 7. Drive gear; 8. Synchronizing gear; 9. Actuating arm; 10. Connecting plate; 11. Support arm; 12. Fixing ring; 13. Moving rod; 14. Buffer spring; 15. Moving plate; 16. Fixed seat; 17. Mounting seat; 18. Deflection arm; 19. Positioning plate; 20. Connecting sleeve; 21. Connecting arm; 22. Connecting seat; 23. Connecting pipe; 24. Limiting plate; 25. Rotating disk; 26. Guide groove; 27. Sliding rail; 28. Sliding plate; 29. ​​Contact plate; 30. Friction groove; 31. Guide rod; 32. Fixing cylinder; 33. Contact head; 34. Contact groove; 35. Second drive source. Detailed Implementation

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application.

[0034] Reference Figures 1-10 A multi-degree-of-freedom robotic arm for industrial processing includes: a support base 1;

[0035] A robotic arm 2 is rotatably mounted on a support base 1, and a first drive source 6 is provided between adjacent robotic arms 2; an operating arm 3 is provided at one end of the robotic arm 2; a positioning component is fixedly provided at one end of the operating arm 3 and is used to position the shell of the cleaning robot during processing; a fixing component is provided at one end of the positioning component and is used to fix the shell of the cleaning robot during processing.

[0036] The robotic arm 2 is mounted on the support base 1 by rotation. The angle between adjacent robotic arms 2 is adjusted by the first drive source 6, thereby achieving multi-degree-of-freedom spatial movement. The operating arm 3 is installed at one end of the end robotic arm 2 for precision operation. The positioning component is fixed at the end of the operating arm 3 and can fit with the specific position of the cleaning robot shell according to its shape characteristics to achieve initial positioning. The fixing component is set at one end of the positioning component and can clamp or limit the shell to ensure that the shell remains stable and does not shift during processing. The angle between multiple robotic arms 2 is controlled by the first drive source 6 to achieve high degree of freedom adjustment of the operating arm 3 in space, which can quickly adapt to processing requirements of different positions and angles. The positioning component can accurately fit the specific structure of the cleaning robot shell to achieve rapid positioning of the robotic arm and improve work efficiency. The fixing component ensures stability during processing and avoids errors caused by shell movement.

[0037] Reference Figures 1-3 One end of the operating arm 3 is provided with a connecting rod 5, and a first drive source 6 is provided on one side of the connecting rod 5. A drive gear 7 is provided at the output end of the first drive source 6. A set of synchronous gears 8 are rotatably connected to the connecting rod 5. The synchronous gears 8 mesh with each other, and one end of one of the synchronous gears 8 meshes with the drive gear 7. The other end of the synchronous gear 8 is provided with a toggle arm 9, and one end of the toggle arm 9 contacts the moving plate 15.

[0038] A first drive source 6 is installed on one side of the connecting rod 5. The output end of the first drive source 6 is connected to a drive gear 7 to provide rotational power. A set of meshing synchronous gears 8 are rotatably mounted on the connecting rod 5 to form a power transmission link. One synchronous gear 8 meshes with the drive gear 7 to achieve power input; one end of the other synchronous gear 8 is connected to a toggle arm 9. The toggle arm 9 is driven to rotate when the synchronous gear 8 rotates, and its other end contacts the moving plate 15, thereby driving the moving plate 15 to move axially, realizing the linkage control of the subsequent structure and completing the driving of the fixing or fitting action; through The first drive source 6 drives the drive gear 7, which then transmits power to the actuating arm 9 through the synchronous gear 8, realizing the mechanical conversion from rotational motion to linear movement. The synchronous gear 8 meshing structure ensures synchronous and reliable power transmission and improves the consistency of the mechanism's response. The actuating arm 9 is driven to rotate when the synchronous gear 8 rotates, and its other end contacts the moving plate 15, thereby driving the moving plate 15 to move axially, realizing the linkage control of the subsequent structure and completing the drive for fixing or fitting actions. No additional electrical control system is required, making it suitable for use in industrial processing scenarios with high stability and low maintenance requirements.

[0039] Reference Figures 1-6 The positioning assembly includes a connecting cylinder 4 mounted on the operating arm 3. Multiple connecting plates 10 are mounted on the connecting cylinder 4. A support arm 11 is mounted at one end of each connecting plate 10. A fixing ring 12 is mounted at one end of each support arm 11. A connecting sleeve 20 is mounted at one end of each fixing ring 12. The connecting sleeve 20 is hollow. A fixing seat 16 is mounted at the other end of the support arm 11. Multiple mounting seats 17 are mounted on the fixing seat 16. A deflection arm 18 is rotatably mounted on each mounting seat 17. A connecting seat 22 is mounted on each deflection arm 18. A connecting arm 21 is mounted on each connecting seat 22. One end of the connecting arm 21 is rotatably connected to the connecting sleeve 20. One end of the 8 is provided with a positioning plate 19, which can contact the annular opening shell at the top of the cleaning robot; a set of contact heads 33 are provided on the fixing ring 12, one end of the fixing ring 12 extends into the connecting pipe 23, one end of the fixing ring 12 contacts the limiting plate 24, and the contact head 33 contacts the contact groove 34; multiple sets of guide grooves 26 are provided on the rotating disc 25, the guide grooves 26 are arc-shaped and bent to one side, a guide rod 31 is provided on the sliding plate 28, the guide rod 31 contacts the guide groove 26, and a fixing cylinder 32 is provided on one side of the multiple sets of sliding rails 27, which can contact the bottom of the inner wall of the cleaning robot;

[0040] By contacting the moving plate 15 with the bottom of the cleaning robot and simultaneously pressing the moving plate 15, the moving plate 15 can drive the moving rod 13 to move within the connecting sleeve 20 through the elastic force of the buffer spring 14. The elastic force of the buffer spring 14 avoids damage caused by excessive pressure. At the same time, as the moving rod 13 moves within the connecting sleeve 20, it can drive the fixing ring 12 to move synchronously, which can drive the support arm 11 to move. When the support arm 11 moves, it can cause the deflection arm 18 to deflect around the axis of the mounting base 17. When the deflection arm 18 deflects, it can drive the two ends of the connecting arm 21 to deflect on the connecting base 22 and the connecting sleeve 20 respectively, further ensuring the stability of the deflection arm 18 during deflection. At this time, the positioning plate 19 can fit with the annular opening shell on the top of the cleaning robot to achieve positioning of the upper surface of the shell, ensuring the stability and non-displacement of the cleaning robot shell throughout the entire processing process. The overall solution does not require electronic components, meeting the high reliability and low maintenance requirements of a purely mechanical structure.

[0041] Reference Figure 1 , Figure 2 , Figures 7-10 The fixing assembly includes a connecting pipe 23 sleeved on a fixing ring 12, a limiting plate 24 on the connecting pipe 23, a rotating disk 25 at one end of the connecting pipe 23, four sliding rails 27 at one end of the rotating disk 25, and sliding plates 28 slidably arranged inside the sliding rails 27. The four sets of sliding plates 28 are rectangular, with the moving length of two sets of sliding plates 28 being greater than that of the other two sets of sliding plates 28. A contact plate 29 is provided at one end of the sliding plate 28, which can contact the inner wall of the cleaning robot housing. A moving rod 13 is provided at one end of the fixing ring 12, which passes through the connecting sleeve 20. A buffer spring 14 is sleeved on the moving rod 13, with one end of the buffer spring 14 located inside the connecting sleeve 20 and the other end located on the moving plate 15. A set of contact grooves 34 are formed on the inner wall of the connecting pipe 23, and the contact grooves 34 are curved. Multiple sets of friction grooves 30 are formed on the contact plate 29, and the surface of the contact plate 29 is made of rubber.

[0042] By moving the sliding plate 28 within the sliding rail 27, expansion in different directions can be achieved, thereby uniformly clamping the inner wall of the cleaning robot housing within a rectangular area and adapting to variations in housing size tolerances. The contact head 33 slides within the connecting pipe 23, and guided by the contact groove 34, it enables the rotating disk 25 to rotate. At this time, guided by the guide groove 26, the sliding plate 28 is driven to slide within the sliding rail 27, which in turn causes the contact plate 29 to fit against the inner cavity of the cleaning robot housing. The four sets of sliding plates 28 are arranged in a rectangular pattern, with the moving length of two sets of sliding plates 28 being greater than that of the other two. The set of sliding plates 28 is adapted to the inner cavity of the cleaning robot housing of different shapes or sizes. Each sliding plate 28 has a contact plate 29 at one end. The contact plate 29 is used to fit against the inner wall of the cleaning robot housing. The surface of the contact plate 29 is made of rubber and has multiple sets of friction grooves 30 to enhance the contact friction, effectively improve the clamping friction, and avoid displacement and slippage during processing. The overall structure is compact, and positioning and clamping are completed simultaneously, which improves the overall stability, adaptability and reliability of the device. It is particularly suitable for the processing of cleaning robot housings with complex structures or easy deformation.

[0043] The specific solution of this scheme is as follows: The first driving source 6 drives the driving gear 7, and then the driving gear 7 transmits power to the拨动 arm9 through the synchronous gear 8, realizing the mechanical conversion from rotational motion to linear motion. The synchronous gear 8 meshing structure is adopted to ensure the synchronous and reliable power transmission, improve the consistency of the mechanism response. When the synchronous gear 8 rotates, the拨动 arm9 is driven to rotate, and the other end thereof contacts the moving plate 15, thereby driving the moving plate 15 to generate an axial movement, realizing the linkage control of the subsequent structure, and completing the driving of the fixing or fitting action; No additional electronic control system is required, which is suitable for industrial processing scenarios with high stability and low maintenance requirements; By contacting the moving plate 15 with the bottom of the cleaning robot and simultaneously squeezing the moving plate 15, at this time, the moving plate 15 can drive the moving rod 13 to move in the connecting sleeve 20 through the elastic force of the buffer spring 14. The elastic force of the buffer spring 14 avoids damage caused by excessive pressure. At the same time, when the moving rod 13 moves in the connecting sleeve 20, it can drive the fixed ring 12 to move synchronously. At this time, the support arm 11 can be driven to move. When the support arm 11 moves, the deflection arm 18 can be deflected around the axis of the mounting seat 17. When the deflection arm 18 deflects, the two ends of the connecting arm 21 can be deflected on the connecting seat 22 and the connecting sleeve 20 respectively, further ensuring the stability when the deflection arm 18 deflects. At this time, the positioning plate 19 can be fitted with the annular opening shell at the top of the cleaning robot of the cleaning robot, realizing the positioning of the upper surface of the shell, ensuring the stability and non-displacement of the cleaning robot shell during the whole processing process. The overall scheme does not require electronic components, meeting the high reliability and low maintenance requirements of the pure mechanical structure; By moving the sliding plate 28 in the sliding rail 27, expansion in different directions can be achieved, so as to uniformly clamp the inner wall of the cleaning robot shell in a rectangular area, adapting to the tolerance change of the shell size. The contact head 33 slides in the connecting pipe 23. Under the guidance of the contact groove 34, the rotating disc 25 can be rotated. At this time, the sliding plate 28 can be driven to slide in the sliding rail 27 under the guidance of the guiding groove 26. At this time, the contact plate 29 can be driven to fit with the inner cavity of the cleaning robot shell. The four groups of sliding plates 28 are arranged in a rectangle, and the moving lengths of two groups of sliding plates 28 are greater than those of the other two groups of sliding plates 28 to adapt to the inner cavity of the cleaning robot shell with different shapes or sizes. One end of each sliding plate 28 is provided with a contact plate 29, and the contact plate 29 is used to fit with the inner wall of the cleaning robot shell. The surface of the contact plate 29 is made of rubber material and provided with multiple groups of friction grooves 30 to enhance the fitting friction force, effectively improving the clamping friction force, avoiding displacement and slipping during the processing process. The overall structure is compact, the positioning and clamping are completed synchronously, improving the overall stability, adaptability and reliability of the device, and is particularly suitable for the processing process of the cleaning robot shell with complex structure or easy deformation.

[0044] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary. Under the framework of this invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.

[0045] This invention is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A multi-degree-of-freedom robotic arm for industrial processing, comprising: A support base (1); a robotic arm (2) is rotatably mounted on the support base (1), and a second drive source (35) is provided between adjacent robotic arms (2); an operating arm (3) is provided at one end of the robotic arm (2); characterized in that it further includes: Positioning component; The positioning component includes a connecting cylinder (4) disposed on the operating arm (3), the connecting cylinder (4) is provided with multiple sets of connecting plates (10), one end of the connecting plate (10) is provided with a support arm (11), one end of the support arm (11) is provided with a fixing ring (12), one end of the fixing ring (12) is provided with a connecting sleeve (20), the connecting sleeve (20) is a hollow structure, the positioning component is used to position the shell of the cleaning robot during processing; Fixing component; the fixing component includes a connecting tube (23) sleeved on the fixing ring (12), a limiting plate (24) is provided on the connecting tube (23), and a rotating disk (25) is provided at one end of the connecting tube (23). The fixing component is used to fix the shell of the cleaning robot during processing.

2. The multi-degree-of-freedom robotic arm for industrial processing according to claim 1, characterized in that, The positioning component also includes a fixed seat (16) disposed at the other end of the support arm (11). The fixed seat (16) is provided with multiple sets of mounting seats (17). A deflection arm (18) is rotatably disposed on the mounting seat (17). A connecting seat (22) is disposed on the deflection arm (18). A connecting arm (21) is disposed on the connecting seat (22). One end of the connecting arm (21) is rotatably connected to the connecting sleeve (20). A positioning plate (19) is disposed at one end of the deflection arm (18). The positioning plate (19) can contact the annular opening shell on the top of the cleaning robot.

3. The multi-degree-of-freedom robotic arm for industrial processing according to claim 2, characterized in that, The fixing assembly also includes four sliding rails (27) disposed at one end of the rotating disk (25), a sliding plate (28) is slidably disposed in the sliding rails (27), and a contact plate (29) is disposed at one end of the sliding plate (28), the contact plate (29) can contact the inner wall of the cleaning robot housing.

4. The multi-degree-of-freedom robotic arm for industrial processing according to claim 3, characterized in that, One end of the fixed ring (12) is provided with a movable rod (13), which passes through the connecting sleeve (20). A buffer spring (14) is sleeved on the movable rod (13), with one end of the buffer spring (14) located inside the connecting sleeve (20) and the other end of the buffer spring (14) located on the movable plate (15).

5. A multi-degree-of-freedom robotic arm for industrial processing according to claim 4, characterized in that, A set of contact grooves (34) are provided on the inner wall of the connecting pipe (23), and the contact grooves (34) are curved.

6. A multi-degree-of-freedom robotic arm for industrial processing according to claim 5, characterized in that, A set of contact heads (33) is provided on the fixing ring (12). One end of the fixing ring (12) extends into the connecting pipe (23). One end of the fixing ring (12) is in contact with the limiting plate (24). The contact head (33) is in contact with the contact groove (34).

7. A multi-degree-of-freedom robotic arm for industrial processing according to claim 6, characterized in that, Multiple sets of friction grooves (30) are provided on the contact plate (29), and the surface of the contact plate (29) is made of rubber.

8. A multi-degree-of-freedom robotic arm for industrial processing according to claim 3, characterized in that, The rotating disc (25) has multiple sets of guide grooves (26), the guide grooves (26) are arc-shaped and curved to one side, the sliding plate (28) is provided with guide rods (31), the guide rods (31) are in contact with the guide grooves (26), and a fixed cylinder (32) is provided on one side of the multiple sets of sliding rails (27), the fixed cylinder (32) can contact the bottom of the inner wall of the cleaning robot.

9. A multi-degree-of-freedom robotic arm for industrial processing according to claim 8, characterized in that, The four sets of sliding plates (28) are arranged in a rectangular shape, wherein the moving length of two sets of sliding plates (28) is greater than the moving length of the other two sets of sliding plates (28).

10. A multi-degree-of-freedom robotic arm for industrial processing according to claim 4, characterized in that, One end of the operating arm (3) is provided with a connecting rod (5), and a first driving source (6) is provided on one side of the connecting rod (5). A driving gear (7) is provided at the output end of the first driving source (6). A set of synchronous gears (8) is rotatably connected to the connecting rod (5). The synchronous gears (8) mesh with each other, and one end of one of the synchronous gears (8) meshes with the driving gear (7). The other end of the synchronous gear (8) is provided with a toggle arm (9), and one end of the toggle arm (9) is in contact with the moving plate (15).

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