Multifunctional cleaning mechanical arm for chemical equipment

Abstract

The application discloses a kind of multifunctional cleaning mechanical arm structures for chemical equipment, and the cleaning mechanical arm includes base rotary joint, two-stage lifting joint, horizontal rotary joint, two-stage horizontal moving joint, terminal telescopic joint, terminal rotary joint and counterweight part. Servo motor driven mode is used to realize the movement of rotary joint part;Hydraulic telescopic rod driven mode is used to realize the movement of moving joint part. In addition, the counterweight part is connected to the two-stage horizontal moving joint by means of connecting rod, and the force balance of the cleaning mechanical arm during operation is realized. The cleaning mechanical arm reaches the working position of the end execution part through the mutual action between the base rotary joint, two-stage lifting joint, horizontal rotary joint and two-stage horizontal moving joint. The cleaning of the working process path is realized through the terminal telescopic joint and the terminal rotary joint. The application has simple structure, novel design, safe and stable use range, and is beneficial to popularization and dissemination.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, and in particular relates to a cleaning robotic arm for chemical equipment. Background Technology

[0002] After chemical equipment has finished operating, the equipment housing and agitator should be cleaned promptly. For example, after a kneader or reaction vessel has finished operating, the inner wall of the feed pot and the agitator will be covered with viscous material. If not cleaned in time, it will lead to problems such as reduced product quality, low production efficiency, and accelerated corrosion. Currently available cleaning methods include manual cleaning, chemical cleaning, and jet cleaning. Manual cleaning or chemical cleaning can be labor-intensive, have a harsh working environment, be difficult to clean, and cause metal corrosion. Jet cleaning can avoid these problems and has the advantages of good cleaning effect, high cleaning efficiency, no metal corrosion, and no environmental pollution.

[0003] Existing jet cleaning methods, if manually operated, suffer from high labor intensity, low safety, and low cleaning efficiency. Robotic arm jet cleaning offers advantages such as program control, accurate cleaning, safety, reliability, and the ability to operate in flammable and explosive environments, saving labor and reducing workload. Therefore, it is necessary to combine robotic arms with jet cleaning to complete equipment cleaning. Robots can achieve accurate cleaning, especially in hazardous environments such as cleaning residues of flammable and explosive materials, where their use is crucial and plays a vital role in actual production. The cleaning process for chemical equipment requires robotic arms to carry cleaning devices along a continuous path, such as for kneading machine pots, agitators, and the inner walls of reaction vessels. However, research has been conducted on commonly available articulated robotic arms and injection molding robots, both of which have drawbacks. Articulated robotic arms have complex movement processes and trajectories, making them prone to collisions and interference during cleaning operations; injection molding robots have a small working range, and their extension length cannot be automatically controlled, requiring manual adjustment. Therefore, considering the structural characteristics of chemical equipment and the requirements of cleaning operations, a robotic arm that can be combined with jet cleaning is needed to achieve simple, fast, safe, and reliable cleaning. Summary of the Invention

[0004] The purpose of this invention is to provide a multifunctional cleaning robotic arm for chemical equipment, which achieves precise, rapid and safe cleaning of material pots through the rotation and extension functions of the robotic arm.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A multifunctional cleaning robotic arm for chemical equipment, characterized in that: it comprises: a walking wheel (1), a primary lifting bottom frame (2), a vertical cylindrical guide rail (3), a bottom rotary servo motor (4), a transmission box (5), a primary lifting frame (6), a secondary lifting frame (7), a counterweight (8), a curved connecting rod (9), a rotary bearing component (10), a linear connecting rod (11), a counterweight support frame (12), a horizontal hydraulic telescopic rod (13), a gear transmission component (14), a reducer (15), a horizontal rotary servo motor (16), a horizontal rotary housing (17), and a horizontal... It consists of a rotating shaft (18), an end telescopic hydraulic rod (19), an end telescopic rod (20), a first-level horizontal telescopic support frame (21), an end servo motor (22), a hollow rotating platform (23), a second-level lifting hydraulic telescopic rod (24), a first-level lifting hydraulic telescopic rod (25), a first-level horizontal hydraulic telescopic rod (26), a horizontal moving platform (27), a second-level horizontal hydraulic telescopic rod extension rod (28), a second-level horizontal telescopic support frame (29), a bottom linear slide rail slider group (30), a side linear slide rail slider group (31), and an inner linear slide rail slider group (32). The multifunctional cleaning robot arm for chemical equipment consists of a base rotating joint, a second-stage lifting joint, a horizontal rotating joint, a second-stage horizontal moving joint, an end telescopic joint, an end rotating joint, and a counterweight. The base rotating joint consists of a bottom rotating servo motor (4) and a transmission box (5). The bottom rotating servo motor (4) is located on the side of the transmission box (5) and directly connected to it. The transmission box (5) is located above the first-stage lifting frame (6). The second-stage lifting joint consists of a first-stage lifting bottom frame (2), vertical cylindrical guide rails (3), a first-stage lifting frame (6), a second-stage lifting frame (7), a horizontal rotating box (17), a second-stage lifting hydraulic telescopic rod (24), and a first-stage lifting hydraulic telescopic rod (25). The first-stage lifting bottom frame (2) is located above the walking wheels (1), and four sets of vertical cylindrical guide rails (3) are located on the first-stage lifting bottom frame (25). At the four corners above the bottom lifting frame (2), two first-stage lifting hydraulic telescopic rods (25) are symmetrically arranged in the middle of the vertical cylindrical guide rail (3). The first-stage lifting hydraulic telescopic rods (25) are connected to the first-stage lifting frame (6). The second-stage lifting frame (7) is located above the transmission box (5) and connected to the transmission shaft. The horizontal rotating box (17) is located above the second-stage lifting hydraulic telescopic rod (24). The horizontal rotating joint is composed of a gear transmission component (14), a reducer (15), a horizontal rotating servo motor (16), a horizontal rotating box (17), and a horizontal rotating shaft (18). The horizontal rotating shaft (18) is located inside the horizontal rotating box (17). The gear (14), reducer (15), and horizontal rotating servo motor (16) are located above the horizontal rotating box (17). The gear (14) is connected to the right side of the horizontal rotating shaft (18).The second-order horizontal moving joint consists of a horizontal hydraulic telescopic rod one (26), a horizontal hydraulic telescopic rod two (13), a first-level horizontal telescopic support frame (21), a horizontal moving platform (27), an extension rod of the second horizontal hydraulic telescopic rod (28), a second-level horizontal telescopic support frame (29), a bottom linear slide rail slider group (30), a side linear slide rail slider group (31), and an inner linear slide rail slider group (32). The horizontal hydraulic telescopic rod one (26) and the horizontal hydraulic telescopic rod two (13) are located inside the center hole of the horizontal rotation shaft (18). The second-level horizontal telescopic support frame (29) is located inside the first-level horizontal telescopic support frame (21) and is connected and moves relative to it through the bottom linear slide rail slider group (30) and the side linear slide rail slider group (31). The horizontal hydraulic telescopic rod one (26) and the second-level horizontal telescopic support frame... The support frame (29) is connected, and the horizontal moving platform (27) is located inside the secondary horizontal telescopic support frame (29). The connection and relative movement between them are achieved through the inner linear slide rail slider group (32). The horizontal hydraulic telescopic rod II (13) is connected to the horizontal moving platform (27). The end telescopic joint is composed of the end telescopic hydraulic rod (19) and the end telescopic rod (20). The cylinder of the end telescopic hydraulic rod (19) is fixed on the horizontal moving platform (27), and the extended part of the end telescopic hydraulic rod (19) is connected to the end telescopic rod (20). The end rotary joint is composed of the end servo motor (22) and the hollow rotary platform (23). The hollow rotary platform (23) is connected to the end flange of the end telescopic rod (20), and the end servo motor (22) is connected to the motor interface of the hollow rotary platform (23). The counterweight consists of a counterweight block (8), a curved connecting rod (9), a rotary bearing component (10), a linear connecting rod (11), and a counterweight support frame (12). The curved connecting rod (9) is connected to the counterweight support frame (12) in the middle, one end is connected to the counterweight block (8), and the other end is connected to the linear connecting rod (11). The linear connecting rod (11) is connected to the rotary bearing component (10). The position change of the horizontal hydraulic telescopic rod (13) causes the position of the counterweight block (8) to change through the linkage mechanism, thus realizing the adjustable counterweight of the robotic arm.

[0007] The horizontal hydraulic telescopic rod one (26) and the horizontal hydraulic telescopic rod two (13) are located inside the central hole of the horizontal rotating shaft (18). The horizontal hydraulic telescopic rod two (13) is located on the axis of the horizontal rotating shaft (18). When the horizontal rotating joint moves, the horizontal hydraulic telescopic rod two (13) moves around its own axis, and the horizontal hydraulic telescopic rod one (26) moves around the horizontal hydraulic telescopic rod two (13) in planetary motion. The two will not interfere with each other during operation.

[0008] The secondary horizontal telescopic support frame (29) of the second-order horizontal moving joint is located inside the primary horizontal telescopic support frame (21), and is connected to it through the bottom linear slide rail slider group (30) and the side linear slide rail slider group (31). The telescopic rod part of the first horizontal hydraulic telescopic rod (26) is connected to the secondary horizontal telescopic support frame (29), and the hydraulic cylinder part of the first horizontal hydraulic telescopic rod (26) is connected to the horizontal rotating shaft (18) by bolts. The horizontal moving platform (27) is located inside the secondary horizontal telescopic support frame (29), and is connected to it through the inner linear slide rail slider group (32). The telescopic rod part of the second horizontal hydraulic telescopic rod (13) is connected to the horizontal moving platform (28), and the hydraulic cylinder part of the second horizontal hydraulic telescopic rod (13) is connected to the secondary horizontal telescopic support frame (29) by bolts. When the second-order horizontal moving joint is working, the horizontal moving platform (27) is first moved on the second-order horizontal telescopic support frame (29) by the second horizontal hydraulic telescopic rod (13). If the movable distance cannot reach the working position, the second-order horizontal telescopic support frame (29) is moved relative to the first-order horizontal telescopic support frame (21) by the extension and retraction of the first horizontal hydraulic telescopic rod (26) to achieve a longer working distance. The second-order moving structure reduces the overall size of the robotic arm and increases the working range.

[0009] The tail end of the second horizontal hydraulic telescopic rod (13) extends through a rod, and the rotary bearing component (10) is fixed on the tail end rod to restrict its left and right movement. The relative movement between the counterweight component and the second horizontal hydraulic telescopic rod (13) is realized through the rotary bearing component (10). The inner ring of the rotary bearing component (10) rotates with the second horizontal hydraulic telescopic rod (13), and the outer ring of the rotary bearing component (10) is connected to the linear connecting rod (11). Through the change of the horizontal position of the second horizontal hydraulic telescopic rod (13), the position of the counterweight block (8) changes by using the linkage mechanism composed of the linear connecting rod (11) and the curved connecting rod (9). As the extended part of the secondary horizontal telescopic support frame (29) becomes longer, the position of the counterweight block (8) will move backward under the action of the connecting rod, so that the counterweight of the robotic arm can be adjusted.

[0010] To address the issue that using hydraulic telescopic rods to achieve lifting functions in robotic arms would result in excessively high robotic arm height, this robotic arm employs a two-stage lifting joint and designs the primary lifting frame (6) as a concave structure to achieve negative growth in height and reduce the height of the robotic arm body. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0012] Figure 2 Cross-sectional view of a second-order horizontal translating joint

[0013] Figure 3 Top view of a second-order horizontal translation joint

[0014] Figure 4 Cross-sectional view of a horizontally rotating joint

[0015] Figure 5 Diagram showing the connection between the horizontal locating joint and the counterweight.

[0016] Figure 6 Structural diagram of the counterweight section

[0017] Figure 7 Working relationship diagram of the counterweight section

[0018] Figure 8 Diagram of the first-stage lifting component

[0019] In the diagram: 1. Walking wheel; 2. First-stage lifting bottom frame; 3. Vertical cylindrical guide rail; 4. Bottom rotary servo motor; 5. Transmission box; 6. First-stage lifting frame; 7. Second-stage lifting frame; 8. Counterweight; 9. Curved connecting rod; 10. Rotary bearing assembly; 11. Linear connecting rod; 12. Counterweight support frame; 13. Horizontal hydraulic telescopic rod II; 14. Gear transmission assembly; 15. Reducer; 16. Horizontal rotary servo motor; 17. Horizontal rotary housing; 18. Horizontal rotary shaft; 19. End telescopic hydraulic rod; 20. End telescopic rod; 21. First-stage horizontal telescopic support frame; 22. End servo motor; 23. Hollow rotating platform; 24. Second-stage lifting hydraulic telescopic rod; 25. First-stage lifting hydraulic telescopic rod; 26. Horizontal hydraulic telescopic rod I; 27. Horizontal moving platform; 28. Extension rod of horizontal hydraulic telescopic rod II; 29. ​​Second-stage horizontal telescopic support frame; 30. Bottom linear slide rail slider assembly; 31. Side linear slide rail slider assembly; 32. Inner linear slide rail slider assembly. Detailed Implementation

[0020] 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. The specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention. 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.

[0021] This invention provides, for example Figure 1-5The multifunctional cleaning robotic arm mechanism for chemical equipment shown includes a primary lifting bottom frame (2), with four sets of traveling wheels (1) symmetrically mounted at the bottom corner of the primary lifting bottom frame (2), four sets of vertical cylindrical guide rails symmetrically mounted at the upper corner of the primary lifting bottom frame (2), and two primary lifting hydraulic telescopic rods (25) symmetrically installed on both sides. The transmission box (5) is located above the primary lifting frame (6), and the bottom rotary servo motor (4) is located on the side of the transmission box (5) and directly connected to the transmission box. The secondary lifting frame (7) is located above the transmission box (5). The horizontal rotating housing (17) is located above the secondary lifting hydraulic telescopic rod (24), and the horizontal rotating shaft (18) is located inside the horizontal rotating housing (17). The gear transmission component (14), the reducer (15), and the horizontal rotating servo motor (16) are located above the horizontal rotating housing (17). The gear transmission component (14) is connected to the right side of the horizontal rotating shaft (18). The first horizontal hydraulic telescopic rod (26) and the second horizontal hydraulic telescopic rod (13) are located inside the center hole of the horizontal rotating shaft (18). The secondary horizontal telescopic support frame (2) is connected to the drive shaft. 9) Located above the first-level horizontal telescopic support frame (21) and connected and relatively moved by the bottom linear slide rail slider group (30) and the side linear slide rail slider group (31), the first horizontal hydraulic telescopic rod (26) is connected to the second-level horizontal telescopic support frame (29), the horizontal moving platform (27) is located inside the second-level horizontal telescopic support frame (29), the second horizontal hydraulic telescopic rod (13) is connected to the horizontal moving platform (27), the cylinder of the end telescopic hydraulic rod (19) is fixed on the horizontal moving platform (27), and the extended part of the end telescopic hydraulic rod (19) is connected to the end The end telescopic rod (20) is connected, the hollow rotating platform (23) is connected to the end flange of the end telescopic rod (20), the end servo motor (22) is connected to the motor interface of the hollow rotating platform (23), the curved connecting rod (9) is connected to the counterweight support frame (12) in the middle, one end is connected to the counterweight block (8), and the other end is connected to the linear connecting rod (11). The linear connecting rod (11) is connected to the rotary bearing component (10). The position change of the horizontal hydraulic telescopic rod (13) causes the position of the counterweight block (8) to change through the linkage mechanism, so as to realize the adjustable counterweight of the robotic arm.

[0022] Cleaning the material pot of the kneader is one embodiment of the present invention. First, the cleaning method and the action parameters of each joint are determined according to the position and size of the material pot.

[0023] First, the robotic arm is raised, prioritizing the second-stage lifting section of the second-stage lifting joint. The extension and retraction of the second-stage lifting hydraulic telescopic rod (24) on the horizontal rotating box (17) raises the overall height of the end-effector. If the second-stage lifting section does not reach the required lifting height, the first-stage lifting section of the second-stage lifting joint is adjusted. The extension and retraction of the first-stage lifting hydraulic telescopic rod (25) on the first-stage lifting frame (6) raises and lowers the end-effector on the vertical cylindrical guide rail (3) to reach the required working height.

[0024] Subsequently, the base rotation joint is adjusted, and the bottom rotation servo motor (4) is connected to the transmission box (5) to achieve the required angle of bottom rotation, so that the end effector reaches the required angle.

[0025] Secondly, adjust the horizontal rotation joint. The horizontal rotation servo motor (16) is connected to the reducer (15) and drives the horizontal rotation shaft (18) through the gear (14) transmission to achieve the required angle for horizontal rotation. By adjusting the angle of the end telescopic rod (20) and the hollow rotating platform (23) through horizontal rotation, the tilt angle of the end actuator and the material pot is consistent, so as to achieve the effect of precise cleaning.

[0026] Secondly, adjust the second-order horizontal movement joint, prioritizing the second-order horizontal movement part. Through the extension and retraction of the second horizontal hydraulic telescopic rod (13) on the horizontal movement platform (28), the end working part is moved to the working position of the material pot. If the second-order horizontal movement part cannot reach the required movement distance, adjust the first-order horizontal movement part of the second-order horizontal movement joint. Through the extension and retraction of the first horizontal hydraulic telescopic rod (26) on the second-order horizontal telescopic support frame (29), adjust the distance in the horizontal direction between the end telescopic rod (20) and the hollow rotating platform (23) and the material pot, so that the end actuator reaches the horizontal position required for operation. When adjusting the first-order horizontal movement part, the second horizontal hydraulic telescopic rod (13) will move under the action of the first horizontal hydraulic telescopic rod (26), and under the action of the connecting rod, the counterweight (8) will rotate, realizing the counterweight adjustment.

[0027] Secondly, adjust the end telescopic joint and the end rotation joint. The telescopic action of the end telescopic hydraulic rod (19) is applied to the end telescopic rod (20). The end servo motor (22) drives the hollow rotating platform (23) to rotate its end. During operation, the hollow rotating platform (23) is connected to the end execution part through the flange, so that it rotates at the same time during the reciprocating telescopic process, thereby achieving full coverage of the material pot cleaning and achieving the effect of precise, fast and safe cleaning.

Claims

1. A multi-functional cleaning robotic arm for chemical equipment, characterized in that: It includes a base rotating joint, a second-stage lifting joint, a horizontal rotating joint, a second-stage horizontal moving joint, an end telescopic joint, an end rotating joint, and a counterweight. The base rotating joint consists of a bottom rotating servo motor (4) and a transmission box (5). The bottom rotating servo motor (4) is located on the side of the transmission box (5) and directly connected to it. The transmission box (5) is located above the first-stage lifting frame (6). The second-stage lifting joint consists of a first-stage lifting bottom frame (2), a vertical cylindrical guide rail (3), a first-stage lifting frame (6), a second-stage lifting frame (7), a horizontal rotating box (17), a second-stage lifting hydraulic telescopic rod (24), and a first-stage lifting hydraulic telescopic rod (25). The first-stage lifting bottom frame (2) is located on the side of the walking wheel (1). Above, four sets of vertical cylindrical guide rails (3) are located at the four corners above the first-stage lifting bottom frame (2). Two first-stage lifting hydraulic telescopic rods (25) are symmetrically arranged in the middle of the vertical cylindrical guide rails (3). The first-stage lifting hydraulic telescopic rods (25) are connected to the first-stage lifting frame (6). The second-stage lifting frame (7) is located above the transmission box (5) and connected to the transmission shaft. The horizontal rotating box (17) is located above the second-stage lifting hydraulic telescopic rod (24). The horizontal rotating joint is composed of a gear transmission component (14), a reducer (15), a horizontal rotating servo motor (16), a horizontal rotating box (17), and a horizontal rotating shaft (18). The horizontal rotating shaft (18) is located inside the horizontal rotating box (17). The gear transmission component (14) The reducer (15) and the horizontal rotation servo motor (16) are located above the horizontal rotation housing (17), and the gear transmission component (14) is connected to the right side of the horizontal rotation shaft (18). The second-order horizontal moving joint is composed of a horizontal hydraulic telescopic rod one (26), a horizontal hydraulic telescopic rod two (13), a first-level horizontal telescopic support frame (21), a horizontal moving platform (27), a second-level horizontal telescopic support frame (29), a bottom linear slide rail slider group (30), a side linear slide rail slider group (31), and an inner linear slide rail slider group (32). The horizontal hydraulic telescopic rod one (26) and the horizontal hydraulic telescopic rod two (13) are located inside the center hole of the horizontal rotation shaft (18), and the second-level horizontal telescopic support frame (29) is located on the first-level horizontal telescopic support. The frame (21) is connected and moves relative to each other through the bottom linear slide rail slider group (30) and the side linear slide rail slider group (31). The first horizontal hydraulic telescopic rod (26) is connected to the second-level horizontal telescopic support frame (29). The horizontal moving platform (27) is located inside the second-level horizontal telescopic support frame (29) and is connected and moves relative to each other through the inner linear slide rail slider group (32). The second horizontal hydraulic telescopic rod (13) is connected to the horizontal moving platform (27). The end telescopic joint is composed of the end telescopic hydraulic rod (19) and the end telescopic rod (20). The cylinder of the end telescopic hydraulic rod (19) is fixed on the horizontal moving platform (27), and the extended part of the end telescopic hydraulic rod (19) is connected to the end telescopic rod (20).The end-effector joint consists of an end-effector servo motor (22) and a hollow rotating platform (23). The hollow rotating platform (23) is connected to the end flange of the end telescopic rod (20), and the end-effector servo motor (22) is connected to the motor interface of the hollow rotating platform (23). The counterweight consists of a counterweight block (8), a curved connecting rod (9), a rotary bearing component (10), a linear connecting rod (11), and a counterweight support frame (12). The counterweight block (8) is connected to the counterweight support frame (12) in the middle. One end of the curved connecting rod (9) is connected to the counterweight block (8), and the other end is connected to the linear connecting rod (11). The linear connecting rod (11) is connected to the rotary bearing component (10). The position change of the horizontal hydraulic telescopic rod (13) causes the position of the counterweight block (8) to change through the linkage mechanism, thus realizing the adjustable counterweight of the robotic arm.

2. The multifunctional cleaning robotic arm for chemical equipment according to claim 1, characterized in that: A second-order horizontal moving joint is adopted. The second-order horizontal telescopic support frame (29) is located inside the first-order horizontal telescopic support frame (21) and is connected to it through the bottom linear slide rail slider group (30) and the side linear slide rail slider group (31). The telescopic rod part of the first horizontal hydraulic telescopic rod (26) is connected to the second-order horizontal telescopic support frame (29). The hydraulic cylinder part of the first horizontal hydraulic telescopic rod (26) is fixedly connected to the horizontal rotating shaft (18) by bolts. The second-order horizontal telescopic support frame (29) is moved from the first-order horizontal telescopic support frame (21) through the first horizontal hydraulic telescopic rod (26). Movement on the horizontal telescopic support frame (21); The horizontal moving platform (27) is located inside the secondary horizontal telescopic support frame and is connected to it through the inner linear slide rail slider group (32); The telescopic rod part of the second horizontal hydraulic telescopic rod (13) is connected to the horizontal moving platform (27), and the hydraulic cylinder part of the second horizontal hydraulic telescopic rod (13) is fixedly connected to the secondary horizontal telescopic support frame (29) by bolts, so that the horizontal moving platform (27) can move on the secondary horizontal telescopic support frame (29) through the second horizontal hydraulic telescopic rod (13).

3. The multifunctional cleaning robotic arm for chemical equipment according to claim 1, characterized in that: The horizontal rotation axis is designed as a hollow structure. The two hydraulic telescopic rods of the second-order horizontal moving joint pass through the inside, and the second horizontal hydraulic telescopic rod (13) is located on the axis of the horizontal rotation axis (18). When the horizontal rotation axis (18) rotates, the second horizontal hydraulic telescopic rod (13) will rotate accordingly. The first horizontal hydraulic telescopic rod (26) performs planetary motion around the second horizontal hydraulic telescopic rod (13).

4. The multifunctional cleaning robotic arm for chemical equipment according to claim 1, characterized in that: The horizontal hydraulic telescopic rod 2 (13) is connected to the counterweight component by a rotary bearing component (10), so that the rotation of the horizontal hydraulic telescopic rod 2 (13) will not affect the movement of the counterweight component. When the horizontal hydraulic telescopic rod 2 (13) moves axially, the counterweight component rotates around the fixed center of the counterweight block under the action of the rotary bearing component (10) and the connecting rod component.

5. The multifunctional cleaning robotic arm for chemical equipment according to claim 1, characterized in that: The counterweight part achieves adjustable counterweight torque under the action of the second horizontal hydraulic telescopic rod (13); the counterweight block (8) has a fan-shaped structure, and its rotation center point M is located on the axis of the second horizontal hydraulic telescopic rod (13). One end of the curved connecting rod (9) is connected to the counterweight block (8), and the other end is connected to the straight connecting rod (11). The rotation center of the curved connecting rod (9) is also point M. Through the horizontal movement of the second horizontal hydraulic telescopic rod (13), under the action of the rotating bearing component (10) and the connecting rod component, the counterweight part rotates around the center, so that the counterweight can be adjusted during operation. The center of gravity of the counterweight (8) The weight of the counterweight (8) The distance between the center of gravity of the counterweight (8) and the fixed center. The rotation angle of the counterweight (8) is such that the torque changes as follows: .

6. The multifunctional cleaning robotic arm for chemical equipment according to claim 1, characterized in that: The system employs a two-stage lifting joint, with the primary lifting component arranged diagonally using four sets of vertical cylindrical guide rails (3). Two primary lifting hydraulic telescopic rods (25) are located between the two sets of cylindrical guide rails. The hydraulic cylinders of the two primary lifting hydraulic telescopic rods (25) are bolted to the bottom frame (2) of the primary lifting system, and the telescopic rods are fixed to the highest point of the primary lifting frame (6). The lifting of the primary lifting frame (6) is achieved by the extension and retraction of the primary lifting hydraulic telescopic rods (25). The primary lifting frame (6) adopts a concave structure with a concave length of [missing information]. .

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