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CN-121973149-A - Multi-joint robot with multiple degrees of freedom

CN121973149ACN 121973149 ACN121973149 ACN 121973149ACN-121973149-A

Abstract

The invention relates to the technical field of intelligent manufacturing equipment, in particular to a multi-degree-of-freedom multi-joint robot which comprises a lower shell, wherein an upper shell is arranged at the top of the lower shell, a multi-joint mechanism is arranged on the upper shell and consists of a six-axis mechanical arm fixed at the center of the top of the upper shell and an inner driving motor fixed at the bottom of the six-axis mechanical arm, the inner driving motor is positioned in the upper shell, self-tensioning crawler mechanisms are symmetrically arranged on two sides of the lower shell, an output shaft drives a rotating disc and a driving frame to move, the rotating motion is converted into reciprocating motion of a swinging frame, the mounting frame and a supporting roller are driven to synchronously reciprocate, the supporting roller pulls a connecting belt to move, a cleaning brush uniformly arranged on the connecting belt synchronously moves along with the connecting belt, the surface and a gap of a walking crawler are closely attached, and impurities such as metal chips and cutting dust attached in the crawler gap are effectively stripped through brushing and scraping actions, so that dynamic cleaning of the crawler gap is realized in the walking process.

Inventors

  • SHEN YUYUAN
  • SHEN XIAOPENG
  • ZENG DAN
  • YU JING
  • SHEN JIANXUN

Assignees

  • 上海工博士装备集团有限公司
  • 工博士机器人技术有限公司
  • 上海工博士人工智能科技有限公司
  • 工博士科技股份有限公司
  • 湖南工博士工业股份有限公司

Dates

Publication Date
20260505
Application Date
20260403

Claims (10)

  1. 1. The multi-joint robot with the multiple degrees of freedom comprises a lower shell (1) and is characterized in that an upper shell (2) is arranged at the top of the lower shell (1), a multi-joint mechanism (3) is arranged on the upper shell (2), the multi-joint mechanism (3) is composed of a six-axis mechanical arm (31) fixed at the center of the top of the upper shell (2) and an inner driving motor (32) fixed at the bottom of the six-axis mechanical arm (31), the inner driving motor (32) is located in the upper shell (2), self-tensioning crawler mechanisms (4) are symmetrically arranged on two sides of the lower shell (1), each self-tensioning crawler mechanism (4) comprises a driving wheel (41) and a supporting wheel (42) which are rotatably connected to the lower shell (1), supporting plates (43) are fixed on two sides of the lower shell (1), an adjusting support (44) is slidably connected to a sliding groove formed in one end of each supporting plate (43), an adjusting wheel (45) is rotatably connected to each adjusting support (44), each adjusting wheel (45), each driving wheel (41) and each supporting wheel (42) is tightly provided with a walking (46) through one adjusting support (44), and the corresponding adjusting motor (47) is connected to the output end of the inner driving mechanism (32), which is connected to the upper shell (1).
  2. 2. The multi-degree-of-freedom articulated robot of claim 1 wherein said track cleaning mechanism (5) comprises support rails (51) symmetrically disposed on the top of the lower housing (1), wherein sliding blocks (52) are slidably coupled to said support rails (51), and wherein a swing frame (53) is secured between said sliding blocks (52).
  3. 3. The multi-degree-of-freedom articulated robot according to claim 2, wherein a driving frame (54) is slidably connected to a slide way provided on the swing frame (53), and the driving frame (54) is fixed to a bottom side of the rotating disc (55).
  4. 4. The multi-degree-of-freedom articulated robot according to claim 3, wherein the two ends of the swing frame (53) are symmetrically provided with mounting frames (56), two supporting rollers (57) are rotatably connected to the mounting frames (56), and connecting belts (58) are tensioned on the supporting rollers (57).
  5. 5. The multi-degree-of-freedom articulated robot according to claim 4, wherein the cleaning brushes (59) are uniformly arranged on the connecting belt (58), the top of the connecting belt (58) is fixed on the limiting frame (60) through a support plate, and the limiting frame (60) is fixed on the top of the lower shell (1).
  6. 6. The multi-degree of freedom articulated robot according to claim 5 wherein the adjustment mechanism (47) comprises an adjustment seat (471) rotatably connected to the adjustment wheel (45), an adjustment rod (472) is screwed to the adjustment seat (471), the adjustment rod (472) is rotatably connected to the lower housing (1), and one end of the adjustment rod (472) is fixed to the worm wheel by a worm connected to the bottom of the first roller (473).
  7. 7. The multi-degree of freedom articulated robot according to claim 6, wherein the first roller (473) is connected to the second roller (474) via a first 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), and the first support shaft and the second support shaft (475) are both rotatably connected to the lower housing (1).
  8. 8. The multi-degree-of-freedom articulated robot according to claim 7, wherein a third roller (476) is fixedly sleeved at the top end of the second support shaft (475), an output shaft (477) is fixedly connected to the output end of the inner driving motor (32), the output shaft (477) is fixedly connected with a rotating disc (55), a ratchet wheel (478) is rotatably connected to the output shaft (477), the ratchet wheel (478) is fixedly sleeved on the fourth roller (479), a second transmission belt is tensioned on the fourth roller (479) and the third roller (476), a pawl (480) is uniformly rotatably connected to the output shaft (477), and a spring is arranged between the pawl (480) and the output shaft (477).
  9. 9. The multi-degree-of-freedom articulated robot of claim 1 wherein the lower housing (1) is internally embedded with a traveling motor, the output end of the traveling motor is fixedly connected with a driving wheel (41), and the driving wheel (41) is rotatably connected with a supporting plate (43).
  10. 10. The multi-degree-of-freedom articulated robot of claim 9 wherein the top side of the upper housing (2) is fixed with a display screen (6) via a bracket, the upper housing (2) is provided with an operating knob, and the travel motor, the display screen (6) and the operating knob are connected with a control drive module embedded in the upper housing (2).

Description

Multi-joint robot with multiple degrees of freedom Technical Field The invention belongs to the technical field of intelligent manufacturing equipment, and particularly relates to a multi-degree-of-freedom multi-joint robot. Background The multi-degree-of-freedom multi-joint robot is used as core automation equipment in the intelligent manufacturing field, and by virtue of flexible multi-dimensional movement capability and high-precision execution characteristics, key production links such as precision machining of parts, automatic assembly of electronic elements, material transfer of an intelligent production line, flexible maintenance of equipment, intelligent storage and sorting and the like are deeply integrated. The existing multi-freedom multi-joint robot basically can meet daily use requirements, but impurities such as metal chips and cutting dust existing in the production line environment are easy to adhere to the surface of a track and joint gaps, long-term accumulation can lead to the reduction of the meshing precision of the track and the movement blocking, further the positioning precision of an end effector of the robot is affected, the application of the end effector in a precise manufacturing scene is restricted, the continuous operation mode of the intelligent manufacturing production line is adopted, the track is in a high-load friction state for a long time, plastic elongation and loosening are easy to occur, the traditional track tensioning is required to be adjusted manually by stopping, the production flow is interrupted, the kinetic energy of the production line is reduced, and the manual maintenance cost is increased, so that the multi-freedom multi-joint robot is required to be designed. Disclosure of Invention The invention aims to solve the problems and provide the multi-joint robot with multiple degrees of freedom, which has a simple structure and reasonable design. The invention realizes the above purpose through the following technical scheme: The multi-joint robot with the multiple degrees of freedom comprises a lower shell, an upper shell is arranged at the top of the lower shell, a multi-joint mechanism is arranged on the upper shell and consists of a six-axis mechanical arm fixed at the center of the top of the upper shell and an inner driving motor fixed at the bottom of the six-axis mechanical arm, the inner driving motor is located inside the upper shell, self-tensioning crawler mechanisms are symmetrically arranged on two sides of the lower shell and comprise a driving wheel and supporting wheels which are rotationally connected to the lower shell, supporting plates are fixed on two sides of the lower shell, an adjusting support is connected to one end of each supporting plate in a sliding groove in a sliding mode, an adjusting wheel is rotationally connected to each adjusting support, traveling crawler belts are tensioned on the adjusting wheels, the adjusting support is connected with the output end of the inner driving motor through the adjusting mechanism, and crawler cleaning mechanisms are arranged on the top of the lower shell. As a further optimization scheme of the invention, the crawler cleaning mechanism comprises supporting rails symmetrically arranged at the top of the lower shell, sliding blocks are connected to the supporting rails in a sliding manner, and swing frames are fixed between the sliding blocks. As a further optimization scheme of the invention, a driving frame is connected in a sliding way arranged on the swinging frame, and the driving frame is fixed on one side of the bottom of the rotating disc. As a further optimization scheme of the invention, mounting frames are symmetrically arranged at two ends of the swinging frame, two supporting rollers are rotatably connected to the mounting frames, and connecting belts are tensioned on the supporting rollers. As a further optimization scheme of the invention, the cleaning brushes are uniformly arranged on the connecting belt, the top of the connecting belt is fixed on the limiting frame through the support plate, and the limiting frame is fixed on the top of the lower shell. As a further optimization scheme of the invention, the adjusting mechanism comprises an adjusting seat which is rotatably connected to the adjusting wheel, an adjusting rod is connected to the adjusting seat through threads, the adjusting rod is rotatably connected to the lower shell, and one end of the adjusting rod is connected with the bottom of the first roller through a worm and is fixed to the worm wheel. As a further optimization scheme of the invention, the first roller is connected with the second roller through the first driving belt, the first roller and the second roller are respectively fixedly sleeved on the first support shaft and the second support shaft, and the first support shaft and the second support shaft are both rotatably connected on the lower shell. As a further optimization scheme of the invention, a