Multi-joint robot with multiple degrees of freedom

Abstract

The multi-joint robot with the multiple degrees of freedom relates to the technical field of intelligent manufacturing equipment, and comprises a lower shell, an upper shell is arranged on the top of the lower shell, and a multi-joint mechanism is arranged on the upper shell; the multi-joint mechanism is composed of a six-axis mechanical arm fixed to the center of the top of the upper shell and an inner driving motor fixed to the bottom of the six-axis mechanical arm, the inner driving motor is located in the upper shell, and self-tensioning crawler belt mechanisms are symmetrically arranged on the two sides of the lower shell. The output shaft drives the rotating disc and the driving frame to move, rotary motion is converted into reciprocating swing of the swing frame, then the mounting frame and the supporting roller are driven to do synchronous reciprocating motion, the supporting roller pulls the connecting belt to move, and the cleaning brushes evenly arranged on the connecting belt synchronously act along with the connecting belt and are tightly attached to the surface and gaps of a walking crawler belt. Through brushing, sweeping and scraping actions, impurities such as metal chippings and cutting dust attached to the gaps of the crawler belts are effectively stripped, and dynamic brushing of the gaps of the crawler belts in the walking process is achieved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent manufacturing equipment technology, specifically relating to a multi-joint robot with multiple degrees of freedom. Background Technology

[0002] Multi-degree-of-freedom joint robots, as core automated equipment in the field of intelligent manufacturing, have been deeply integrated into key production links such as precision machining of parts, automated assembly of electronic components, material transfer in intelligent production lines, flexible equipment maintenance, and intelligent sorting in warehousing, thanks to their flexible multi-dimensional motion capabilities and high-precision execution characteristics. In intelligent manufacturing scenarios, these robots, especially self-propelled robots equipped with tracks, need to complete various precision grasping, assembly, and handling actions under harsh working conditions of high-speed and continuous operation. Their motion smoothness, operational stability, and operational continuity directly determine the overall production efficiency, product qualification rate, and comprehensive utilization rate of intelligent production lines.

[0003] Existing multi-degree-of-freedom joint robots can basically meet daily usage needs. However, impurities such as metal shavings and cutting dust in the production line environment are prone to adhering to the surface of the track and the joint gaps. Long-term accumulation will lead to a decrease in track meshing accuracy and movement jamming, which in turn will affect the positioning accuracy of the robot's end effector and restrict its application in precision manufacturing scenarios. Moreover, the continuous operation mode of intelligent manufacturing production lines makes the track under high load friction for a long time, which is prone to plastic elongation and loosening. Traditional track tensioning requires manual adjustment by stopping the machine, which not only interrupts the production process and reduces the kinetic energy of the production line, but also increases the manual maintenance cost. Therefore, it is necessary to design multi-degree-of-freedom joint robots. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-joint robot with a simple structure and reasonable design that has multiple degrees of freedom in order to solve the above problems.

[0005] The present invention achieves the above objectives through the following technical solutions: A multi-degree-of-freedom, multi-joint robot includes a lower housing, with an upper housing on top of the lower housing. The upper housing has a multi-joint mechanism, consisting of a six-axis robotic arm fixed at the center of the top of the upper housing and an internal drive motor fixed at the bottom of the six-axis robotic arm. The internal drive motor is located inside the upper housing. Self-tensioning track mechanisms are symmetrically arranged on both sides of the lower housing. Each self-tensioning track mechanism includes a drive wheel and a support wheel rotatably connected to the lower housing. Support plates are fixed on both sides of the lower housing. An adjusting support is slidably connected to a groove at one end of each support plate. An adjusting wheel is rotatably connected to the adjusting support. Tracks are tensioned on the adjusting wheel, drive wheel, and support wheel. The adjusting support is connected to the output end of the internal drive motor via an adjusting mechanism. A track cleaning mechanism is located on the top of the lower housing.

[0006] As a further optimization of the present invention, the track cleaning mechanism includes support rails symmetrically arranged on the top of the lower housing, with sliders slidably connected on the support rails, and swing frames fixed between the sliders.

[0007] As a further optimization of the present invention, a drive frame is slidably connected in the slide rail opened on the swing frame, and the drive frame is fixed on one side of the bottom of the rotating disk.

[0008] As a further optimization of the present invention, mounting frames are symmetrically arranged at both ends of the swing frame, and two support rollers are rotatably connected to the mounting frames, with connecting belts tensioned on the support rollers.

[0009] As a further optimization of the present invention, cleaning brushes are evenly arranged on the connecting belt, and the top of the connecting belt is fixed to the limiting frame by a support plate, and the limiting frame is fixed to the top of the lower housing.

[0010] As a further optimization of the present invention, the adjustment mechanism includes an adjustment seat rotatably connected to the adjustment wheel, an adjustment rod threadedly connected to the adjustment seat, the adjustment rod rotatably connected to the lower housing, and one end of the adjustment rod is fixed to the bottom of the first roller via a worm gear.

[0011] As a further optimization of the present invention, the first roller is connected to the second roller via a first transmission belt, and the first roller and the second roller are respectively fixedly sleeved on the first support shaft and the second support shaft, and both the first support shaft and the second support shaft are rotatably connected to the lower housing.

[0012] As a further optimization of the present invention, a third roller is fixedly sleeved on the top end of the second support shaft, an output shaft is fixedly connected to the output end of the internal drive motor, a rotating disk is fixedly connected to the output shaft, a ratchet is rotatably connected to the output shaft, the ratchet is fixedly sleeved on the fourth roller, a second transmission belt is tensioned on the fourth roller and the third roller, a pawl is rotatably connected to the output shaft, and a spring is provided between the pawl and the output shaft.

[0013] As a further optimization of the present invention, a walking motor is embedded in the lower housing, the output end of the walking motor is fixedly connected to the drive wheel, and the drive wheel is rotatably connected to the support plate.

[0014] As a further optimization of the present invention, a display screen is fixed to one side of the top of the upper housing by a bracket, and an operation knob is provided on the upper housing. The walking motor, the display screen and the operation knob are connected to a control drive module embedded in the upper housing.

[0015] The beneficial effects of this invention are as follows: 1. During the robot's movement, the control drive module can activate the track cleaning function, driving the internal drive motor to rotate. The ratchet and pawl disengage and idle, transmitting the motion to the track cleaning mechanism. The output shaft drives the rotating disk and drive frame to move, converting the rotational motion into the reciprocating oscillation of the swing frame. This, in turn, drives the mounting frame and support roller to move synchronously back and forth. The support roller pulls the connecting belt, and the cleaning brushes evenly arranged on the connecting belt move synchronously with the connecting belt, closely adhering to the surface and gaps of the walking track. Through brushing and scraping actions, metal shavings, cutting dust, and other impurities attached to the track gaps are effectively removed, achieving dynamic cleaning of the track gaps during movement. The cleaning function driven by the drive motor is intermittent. In the non-cleaning state, the cleaning brushes can be retracted into the bottom of the upper housing, and the cleaning brushes are detached from the track, reducing the wear and tear of the cleaning brushes. Moreover, in the cleaning state, the running direction of the cleaning brushes is perpendicular to the running direction of the walking track, making it easier for the cleaning brushes to clean the gaps between the walking tracks and preventing impurities from accumulating in the track gaps.

[0016] 2. During the track cleaning process of this invention, the top of the connecting belt is fixed to the limiting frame by the support plate. The limiting frame is fixed to the lower housing, so that the upper connecting belt always remains fixed. When the support roller moves back and forth with the mounting frame, the lower connecting belt rotates around the support roller under the traction of the support roller. The reciprocating movement of the support roller and the rotation of the connecting belt around the roller form a motion superposition effect, which significantly improves the relative movement speed of the cleaning brush on the lower side of the connecting belt. The high-speed moving cleaning brush can generate stronger friction and penetration, effectively improving cleaning efficiency and cleaning effect.

[0017] 3. When the track of this invention becomes loose due to wear or elongation, the pressure sensor on the adjusting wheel triggers a self-tensioning program. The internal drive motor rotates forward, and the output shaft transmits power sequentially to the fourth roller, third roller, second support shaft, second roller, and first roller through a one-way transmission structure of pawl and ratchet. The power is then driven to rotate the adjusting rod via a worm gear transmission. The adjusting rod, through a threaded connection, pushes the adjusting seat and adjusting support to move. The adjusting wheel synchronously displaces, applying tension to the track to achieve track pre-tensioning. Once the track is tensioned to the correct position, the internal drive motor stops rotating. The one-way locking action of the ratchet and pawl prevents the adjusting mechanism from moving in the opposite direction. Even if the track generates reverse tension, it cannot cause the adjusting rod to retract, thus firmly locking the track tension and effectively preventing loosening. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the self-tensioning track mechanism in this invention; Figure 3 This is a partial three-dimensional structural diagram of the present invention; Figure 4This is a schematic diagram of the track cleaning mechanism in this invention; Figure 5 This is a schematic diagram of the adjustment mechanism in this invention; Figure 6 yes Figure 5 A magnified view of a portion of region A in the middle; Figure 7 This is a schematic diagram showing the connection relationship between the adjustment mechanism and the track cleaning mechanism in this invention; Figure 8 This is an assembly diagram of the track cleaning mechanism in this invention; Figure 9 yes Figure 8 A magnified view of a portion of region B in the middle.

[0019] In the diagram: 1. Lower housing; 2. Upper housing; 3. Multi-joint mechanism; 4. Self-tensioning track mechanism; 5. Track cleaning mechanism; 6. Display screen; 31. Six-axis robotic arm; 32. Internal drive motor; 41. Drive wheel; 42. Support wheel; 43. Support plate; 44. Adjustable support; 45. Adjustable wheel; 46. Walking track; 47. Adjustment mechanism; 51. Support rail; 52. Slider; 53. Swing frame; 54. Drive frame; 55. Rotary disk; 56. Mounting frame; 57. Support roller; 58. Connecting belt; 59. Cleaning brush; 60. Limiting frame; 471. Adjusting seat; 472. Adjusting rod; 473. First roller; 474. Second roller; 475. Second support shaft; 476. Third roller; 477. Output shaft; 478. Ratchet; 479. Fourth roller; 480. Pawl. Detailed Implementation

[0020] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0021] Example: Please refer to Figures 1-9A multi-degree-of-freedom, multi-joint robot includes a lower housing 1, with an upper housing 2 fixedly mounted on top of the lower housing 1. A control and drive module is embedded within the upper housing 2. A multi-joint mechanism 3 is mounted on the upper housing 2, comprising a six-axis robotic arm 31 and an internal drive motor 32 fixed to the bottom of the six-axis robotic arm 31. The six-axis robotic arm 31 is mounted at the top center of the upper housing 2. (The six-axis robotic arm 31 consists of multiple joint arms and motors that drive the joint arms to rotate; the six-axis robotic arm 31 is existing technology and will not be elaborated upon here.) The end effector of the six-axis robotic arm 31 can be fitted with grippers or other tools required for intelligent manufacturing production lines, enabling it to perform swinging and rotating movements within space, in conjunction with the grippers mounted at its end effector. The robot uses tools and equipment such as claws to complete corresponding operations. The internal drive motor 32 is located inside the upper housing 2. The lower housing 1 has self-tensioning track mechanisms 4 symmetrically arranged on both sides to form a complete walking chassis. The self-tensioning track mechanism 4 can compensate for the track elongation and maintain constant track tension to ensure stable and reliable walking. The lower housing 1 is embedded with a walking motor that drives the robot to move. The top side of the upper housing 2 is fixed with a display screen 6 by a bracket. The display screen 6 is used to display the robot's working status, operating parameters and fault information in real time to realize human-machine interaction. The upper housing 2 is equipped with an operation knob, which is electrically connected to the control drive module to input manual operation commands to realize manual control and parameter adjustment of the robot.

[0022] Please see Figures 4-6 and Figure 9The self-tensioning track mechanism 4 includes a drive wheel 41 and multiple support wheels 42 rotatably connected to the lower housing 1. The drive wheel 41 is connected to the output end of the walking motor and can generate active driving torque under the command of the control drive module to drive the walking track 46 to rotate cyclically, realizing the robot's forward, backward, and turning movements. Support plates 43 are fixed on both sides of the lower housing 1. An adjusting support 44 is slidably connected in a groove at one end of the support plate 43. An adjusting wheel 45 is rotatably connected to the adjusting support 44 through a bearing. Tensioning mechanisms are installed on the adjusting wheel 45, the drive wheel 41, and the support wheels 42. Pressure sensors for detecting the tension of the walking track 46 are installed on the sidewalls of the adjusting wheel 45. The support wheel 42 increases the contact area between the walking track 46 and the ground, improving the robot's walking stability and passability, and reducing vibration and sway. Multiple drive wheels 41 are rotatably connected to the support plate 43. The adjusting support 44 is connected to the output end of the internal drive motor 32 through the adjusting mechanism 47. The adjusting mechanism 47 includes an adjusting seat 471 rotatably connected to the adjusting wheel 45. The adjusting seat 471 is threadedly connected to the adjusting rod 472. When the adjusting rod 472 rotates, it can push... The adjusting seat 471 and the adjusting support 44 move linearly to achieve tension adjustment. The adjusting rod 472 is rotatably connected to the lower housing 1 via a bearing, and a worm gear is provided at the end of the adjusting rod 472 away from the adjusting seat 471. The worm gear is connected to a worm wheel, and the worm wheel is fixed to the bottom of the first roller 473. A first support shaft and a second support shaft 475 are rotatably connected to the lower housing 1. The first roller 473 and the second roller 474 are respectively fixedly sleeved on the first support shaft and the second support shaft 475. A first transmission belt is tensioned on the first roller 473 and the second roller 474. The top end of the second support shaft 475 is fixedly sleeved. A third roller 476 is provided. The output end of the internal drive motor 32 is fixedly connected to an output shaft 477. A ratchet 478 is rotatably connected to the output shaft 477. The ratchet 478 is fixedly sleeved on a fourth roller 479. A second transmission belt is tensioned on the fourth roller 479 and the third roller 476. A pawl 480 is rotatably connected to the output shaft 477. A spring is provided between the pawl 480 and the output shaft 477. Under the action of the spring, the ratchet 478 and the pawl 480 form a one-way transmission structure, which only allows the output shaft 477 to transmit power in one direction. If the reverse direction is reversed, it will idle to prevent loosening after tensioning. When the robot moves, the control drive module sends a walking command to the walking motor. After the walking motor starts, it outputs power, driving the drive wheel 41 connected to it to rotate. The drive wheel 41, through meshing with the walking track 46, drives the walking track 46 to rotate cyclically around the drive wheel 41, multiple support wheels 42, and adjusting wheels 45. The support wheels 42 rotate synchronously under the drive of the walking track 46, while also supporting the walking track 46, increasing its contact area with the ground, ensuring that the robot moves forward, backward, or turns smoothly on the production line, and reducing vibration and sway during the walking process; when the walking track 46... When the wheel stretches or loosens due to long-term use, wear, or temperature changes, the force data of the pressure sensor on the adjusting wheel 45 remains at the set threshold. At this time, the control drive module triggers the internal drive motor 32 to start rotating in the forward direction. The pawl 480 on the output shaft 477 is always pressed against the ratchet 478 under the action of the spring force. Since the ratchet 478 and the pawl 480 form a one-way transmission structure, the rotational power of the output shaft 477 is transmitted unidirectionally to the fourth roller 479 fixed to the ratchet 478. The fourth roller 479 drives the third roller 476 to rotate through the tensioned second transmission belt. The third roller 476 is fixedly sleeved. At the top of the second support shaft 475, the second support shaft 475 is driven to rotate synchronously. The second roller 474 on the second support shaft 475 rotates with the second support shaft 475, driving the first roller 473 to rotate via the first transmission belt. The worm gear fixed at the bottom of the first roller 473 rotates synchronously with the first roller 473. The worm gear meshes with the worm at the end of the adjusting rod 472, transmitting rotational power to the adjusting rod 472, causing the adjusting rod 472 to rotate around its own axis. When the adjusting rod 472 rotates, the rotational motion is converted into the linear feed motion of the adjusting seat 471. The linear movement of the adjusting seat 471 will drive the adjusting support. 44 slides away from the drive wheel 41 along the groove. The adjusting wheel 45 moves synchronously with the adjusting support 44, generating outward tension on the track 46, gradually offsetting the track elongation until the track 46 reaches the preset tension. When the track 46 is tensioned, the control drive module controls the internal drive motor 32 to stop rotating in this direction. Due to the one-way locking effect of the ratchet 478 and the pawl 480, even if the track 46 generates a reverse pull on the adjusting wheel 45, it cannot drive the fourth roller 479 to rotate in the opposite direction. The tension state of the track 46 is locked, and there will be no loosening.

[0023] Please see Figures 4-8The top of the lower housing 1 is provided with a track cleaning mechanism 5. The track cleaning mechanism 5 includes support rails 51 symmetrically arranged on the top of the lower housing 1. Slider 52 is slidably connected to the support rails 51. A swing frame 53 is fixed between the sliders 52. A drive frame 54 is slidably connected in a long strip-shaped slide on the swing frame 53. The drive frame 54 is fixed to one side of the bottom of the rotating disk 55. The rotating disk 55 is fixedly connected to the output shaft 477. Mounting frames 56 are symmetrically arranged at both ends of the swing frame 53. Two bearings are rotatably connected to the mounting frames 56. Each support roller 57 has a connecting belt 58 tensioned on it. Cleaning brushes 59 are evenly arranged on the connecting belt 58. The top of the connecting belt 58 is fixed to the limiting frame 60 by a support plate. The limiting frame 60 is fixed to the top of the lower housing 1. During the robot's movement, the internal drive motor 32 can drive the output shaft 477 to rotate in the opposite direction. During the reverse rotation, the ratchet 478 disengages from the pawl 480 and spins freely. The tensioning action is not performed. All the power is used to drive the track cleaning mechanism 5 to complete the cleaning action. The rotating disk 55 drives the drive frame 54 to perform a reverse circular motion. In the circular motion, the drive frame 54 slides within the elongated slide rail of the swing frame 53, converting the reverse circular motion into the reciprocating oscillation of the swing frame 53. The swing frame 53 drives the slider 52 to slide stably back and forth along the support rail 51. The mounting brackets 56 at both ends of the swing frame 53 drive the support rollers 57 to move back and forth synchronously. The support rollers 57 pull the connecting belt 58 to move back and forth. During the process, the upper part of the connecting belt 58 is fixed and limited by the limit frame 60. Under the movement of the support rollers 57, the upper connecting belt 58 does not move, while the lower connecting belt 58 will rotate around the support rollers 57. The reciprocating movement of the support roller 57 and the rotation of the connecting belt 58 around the roller create a superimposed effect, significantly increasing the relative movement speed of the cleaning brush 59 on the lower side of the connecting belt 58. The high-speed moving cleaning brush 59 closely adheres to the surface and gaps of the track 46, and through rapid brushing and scraping actions, efficiently removes impurities such as metal shavings and cutting dust attached to the track surface, thereby preventing impurities from accumulating in the gaps on the track surface, preventing faults such as poor meshing, track wear, and jamming, and ensuring the transmission reliability and service life of the track 46.

[0024] It should be noted that, when this multi-degree-of-freedom joint robot is in use, after the control drive module receives the walking command, it sends a drive signal to the walking motor embedded in the lower housing 1. The walking motor starts and outputs power, which is transmitted to the drive wheel 41 of the self-tensioning track mechanism 4, causing the drive wheel 41 to rotate around the support plate 43. The drive wheel 41, through its meshing with the walking track 46, drives the walking track 46 to rotate around the drive wheel 41, multiple support wheels 42 and adjusting wheels 45 in a cycle. The multiple support wheels 42 rotate synchronously under the drive of the walking track 46, and at the same time, they support the walking track 46, significantly increasing the contact area between the walking track 46 and the ground, effectively offsetting the influence of uneven road surface at the filter belt operation site, ensuring that the robot can smoothly achieve forward, backward or turning movements, and reducing vibration and sway during the walking process. During long-term operation of the robot, when the walking track 46 becomes loose due to wear, plastic elongation, or temperature changes, the pressure sensor installed on the side wall of the adjusting wheel 45 detects that the force data is consistently lower than a set threshold. This signal is fed back to the control drive module in real time, triggering the track self-tensioning program. The control drive module then starts the internal drive motor 32 of the multi-joint mechanism 3, driving it to rotate forward. The output shaft 477, which is fixedly connected to the output end of the internal drive motor 32, rotates synchronously. The pawl 480, which is uniformly rotated on the output shaft 477, is always pressed against the ratchet 478 under the action of spring force. Because the ratchet 478 and the pawl 480 are in close contact, the ratchet 478 and the pawl 480 are in close contact. The structure consists of a unidirectional transmission mechanism. The rotational power of the output shaft 477 is transmitted unidirectionally to the fourth roller 479, which is fixedly sleeved with the ratchet 478. The fourth roller 479 drives the third roller 476 to rotate via a tensioned second transmission belt. The third roller 476 is fixedly sleeved on the top of the second support shaft 475, thereby driving the second support shaft 475 to rotate around the lower housing 1. The second roller 474, which is fixedly sleeved on the second support shaft 475, rotates synchronously with the shaft, driving the first roller 473 on the first support shaft to rotate via the first transmission belt. The worm gear fixed at the bottom of the first roller 473 rotates synchronously with the roller. The worm gear and the end of the adjusting rod 472 The worm gear engages, transmitting horizontal rotational power to the adjusting rod 472, causing it to rotate around its own axis. The adjusting rod 472 is rotatably connected to the lower housing 1 via a bearing and threadedly connected to the adjusting seat 471. The rotation of the adjusting rod 472 converts the rotational motion into linear feed motion of the adjusting seat 471. The adjusting seat 471 is rotatably connected to the adjusting wheel 45, which is mounted on the adjusting support 44 via a bearing. The adjusting support 44 is slidably connected to a groove at one end of the support plate 43. Therefore, the linear movement of the adjusting seat 471 causes the adjusting support 44 to move away from the driving wheel 41 along the groove. As the track slides in the direction of adjustment, the adjusting wheel 45 moves synchronously with the adjusting support 44, generating a continuous outward tension on the track 46, gradually offsetting the track elongation until the force data detected by the pressure sensor reaches a preset threshold. The control drive module then controls the internal drive motor 32 to stop rotating in the forward direction. Due to the one-way locking effect of the ratchet 478 and the pawl 480, even if the track 46 generates a reverse pulling force on the adjusting wheel 45, it cannot drive the fourth roller 479, the third roller 476, and the adjusting rod 472 to rotate in the reverse direction. The position of the adjusting wheel 45 is fixed, and the tension state of the track 46 is locked to prevent loosening. During robot movement or according to a preset program, the control drive module activates the track cleaning function, driving the internal drive motor 32 to rotate in the reverse direction. When the internal drive motor 32 rotates in the reverse direction, the output shaft 477 drives the pawl 480 to rotate in the reverse direction. At this time, the ratchet 478 disengages from the pawl 480 and spins freely. The adjustment mechanism 47 stops power transmission, and the walking track 46 remains in its current tension state. The output shaft 477 synchronously drives the fixed rotating disk 55 to perform a reverse circular motion. The drive frame 54, fixed on one side of the bottom of the rotating disk 55, performs a reverse circular motion with the rotating disk 55. The drive frame 54 is slidably connected in the long strip-shaped slide of the swing frame 53. Through sliding cooperation, the rotary motion is converted into the reciprocating swing of the swing frame 53. During the reciprocating swing, the swing frame 53 slides stably along the support rail 51 through the slider 52 to avoid swaying or jamming. The mounting frames 56, symmetrically arranged at both ends of the swing frame 53, move synchronously back and forth with the swing frame 53. The mounting frames 56 are connected by shafts The two support rollers 57, which are rotatably connected, move synchronously. The top of the connecting belt 58, which is tensioned on the support roller 57, is fixed to the limiting frame 60 by a support plate. The limiting frame 60 is fixed to the top of the lower housing 1, so the upper connecting belt 58 always remains fixed. When the support roller 57 moves back and forth with the mounting frame 56, the lower connecting belt 58 rotates around the support roller 57 under the traction of the support roller 57. The reciprocating movement of the support roller 57 and the rotation of the connecting belt 58 around the roller form a motion superposition effect, which significantly improves the relative movement speed of the cleaning brushes 59 evenly arranged on the lower side of the connecting belt 58. The high-speed moving cleaning brushes 59 closely adhere to the surface and gaps of the track 46. Through rapid brushing and scraping actions, they efficiently remove metal shavings, cutting dust and other impurities attached to the track surface, so as to prevent impurities from accumulating in the gaps of the track surface, prevent poor meshing, track wear, jamming and other faults, and ensure the transmission reliability and service life of the track 46.

[0025] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom jointed robot, comprising a lower shell (1), characterized in that: The lower housing (1) is topped with an upper housing (2), and the upper housing (2) is provided with a multi-joint mechanism (3). The multi-joint mechanism (3) consists of a six-axis robotic arm (31) fixed at the center of the top of the upper housing (2) and an internal drive motor (32) fixed at the bottom of the six-axis robotic arm (31). The internal drive motor (32) is located inside the upper housing (2). Self-tensioning track mechanisms (4) are symmetrically arranged on both sides of the lower housing (1). The self-tensioning track mechanism (4) includes a main drive motor rotatably connected to the lower housing (1). The lower housing (1) has a drive wheel (41) and a support wheel (42). Support plates (43) are fixed on both sides of the lower housing (1). An adjusting support (44) is slidably connected in a groove at one end of the support plate (43). An adjusting wheel (45) is rotatably connected on the adjusting support (44). A walking track (46) is tensioned on the adjusting wheel (45), the drive wheel (41), and the support wheel (42). The adjusting support (44) is connected to the output end of the internal drive motor (32) through the adjusting mechanism (47). A track cleaning mechanism (5) is provided on the top of the lower housing (1).

2. The multi-degree-of-freedom multi-joint robot according to claim 1, characterized in that: The track cleaning mechanism (5) includes a support rail (51) symmetrically arranged on the top of the lower housing (1), a slider (52) slidably connected on the support rail (51), and a swing frame (53) fixed between the sliders (52).

3. The multi-joint robot with multiple degrees of freedom according to claim 2, characterized in that: A drive frame (54) is slidably connected in the slide rail opened on the swing frame (53), and the drive frame (54) is fixed on the bottom side of the rotating disk (55).

4. The multi-joint robot with multiple degrees of freedom according to claim 3, characterized in that: The swing frame (53) has mounting frames (56) symmetrically arranged at both ends. Two support rollers (57) are rotatably connected to the mounting frames (56), and a connecting belt (58) is tensioned on the support rollers (57).

5. The multi-degree-of-freedom multi-joint robot according to claim 4, characterized in that: Cleaning brushes (59) are evenly arranged on the connecting belt (58). The top of the connecting belt (58) is fixed to the limiting frame (60) by the support plate. The limiting frame (60) is fixed to the top of the lower housing (1).

6. The multi-degree-of-freedom multi-joint robot according to claim 5, characterized in that: The adjustment mechanism (47) includes an adjustment seat (471) rotatably connected to the adjustment wheel (45), an adjustment rod (472) threadedly connected to the adjustment seat (471), the adjustment rod (472) rotatably connected to the lower housing (1), and one end of the adjustment rod (472) is fixed to the bottom of the first roller (473) via a worm gear.

7. The multi-degree-of-freedom multi-joint robot according to claim 6, characterized in that: The first roller (473) is connected to the second roller (474) via the first transmission belt. The first roller (473) and the second roller (474) are respectively fixedly sleeved on the first support shaft and the second support shaft (475). The first support shaft and the second support shaft (475) are rotatably connected to the lower housing (1).

8. The multi-degree-of-freedom multi-joint robot according to claim 7, characterized in that: The top end of the second support shaft (475) is fixedly fitted with a third roller (476), the output end of the internal drive motor (32) is fixedly connected to an output shaft (477), the output shaft (477) is fixedly connected to a rotating disk (55), a ratchet (478) is rotatably connected to the output shaft (477), the ratchet (478) is fixedly fitted on a fourth roller (479), a second transmission belt is tensioned on the fourth roller (479) and the third roller (476), a pawl (480) is rotatably connected to the output shaft (477), and a spring is provided between the pawl (480) and the output shaft (477).

9. The multi-degree-of-freedom multi-joint robot according to claim 1, characterized in that: The lower housing (1) is embedded with a walking motor, the output end of which is fixedly connected to the drive wheel (41), and the drive wheel (41) is rotatably connected to the support plate (43).

10. The multi-joint robot with multiple degrees of freedom according to claim 9, characterized in that: The top side of the upper housing (2) is fixed with a display screen (6) by a bracket. An operation knob is provided on the upper housing (2). The walking motor, the display screen (6) and the operation knob are connected to the control drive module embedded in the upper housing (2).

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