Cleaning robot and cleaning equipment

Abstract

The present application provides a cleaning robot arm and a cleaning device, the cleaning robot arm comprises: a fixed arm, a first flow channel is provided inside the fixed arm; a rotating shaft, the rotating shaft is mounted on the fixed arm, a second flow channel is provided inside the rotating shaft, the first flow channel is connected to the second flow channel; a rotating arm, the rotating arm is mounted on the rotating shaft, the rotating arm has a third flow channel, the third flow channel is connected to the second flow channel; the rotating shaft is rotatable relative to one of the fixed arm and the rotating arm, and is fixed relative to the other of the fixed arm and the rotating arm; wherein, during the rotation of the rotating arm, the first flow channel remains connected to the second flow channel, and the third flow channel remains connected to the second flow channel. The present application can avoid the phenomenon that the hose is easily damaged by friction with the joint of the robot arm during the rotation of the robot arm, which is conducive to avoiding dangerous accidents caused by leakage of high-pressure water.

Description

Technical Field

[0001] The present application relates to the technical field of parts cleaning, and in particular to a cleaning robot arm and a cleaning device. Background Art

[0002] Currently, processed workpieces (such as automotive parts) need to be cleaned and then packaged into products. For workpieces with complex surfaces, such as parts with deep holes or grooves inside, high-pressure cleaning equipment is usually required for flushing and cleaning.

[0003] The robotic arm of existing robotic high-pressure cleaning equipment needs to rotate to achieve a cleaning process at different angles. Since the current water supply pipeline is usually a hose installed on the outer surface of the robotic arm, the hose is very likely to rub against the joints of the robotic arm during the rotation of the robotic arm, causing damage, which leads to the risk of high-pressure water leakage accidents. Summary of the invention

[0004] The present application provides a cleaning robot arm and a cleaning device, aiming to solve the current technical problem that the hose is very likely to rub against the joints of the robot arm and thus become damaged.

[0005] In a first aspect, the present application provides a cleaning robot arm, comprising:

[0006] A fixed arm, wherein a first flow channel is provided inside the fixed arm;

[0007] A rotating shaft, the rotating shaft is mounted on the fixed arm, a second flow channel is arranged inside the rotating shaft, and the first flow channel is connected to the second flow channel;

[0008] A rotating arm, the rotating arm is mounted on the rotating shaft, the rotating arm has a third flow channel, and the third flow channel is connected to the second flow channel;

[0009] The rotating shaft is rotatable relative to one of the fixed arm and the rotating arm, and is fixed relative to the other of the fixed arm and the rotating arm;

[0010] Wherein, during the rotation of the rotating arm, the first flow channel remains in a connected state with the second flow channel, and the third flow channel remains in a connected state with the second flow channel.

[0011] In some embodiments, the rotating arm has a first axial hole, and the first axial hole is connected to the third flow channel;

[0012] One end of the rotating shaft is fixed on the fixed arm, and the other end is matched with the first shaft hole.

[0013] In some embodiments, a first annular groove is formed at one end of the rotating shaft embedded in the first shaft hole;

[0014] At least one first communicating hole is formed on the bottom wall of the first annular groove, the first communicating hole is connected to the second flow channel, and the entrance of the third flow channel located at the first axial hole faces the first annular groove.

[0015] In some embodiments, the rotating shaft is respectively sleeved with a first sealing ring and a second sealing ring on both sides of the first annular groove;

[0016] The inner wall surface of the first axial hole is provided with a first annular groove corresponding to the first sealing ring and a second annular groove corresponding to the second sealing ring. The first sealing ring is at least partially embedded in the first annular groove, and the second sealing ring is at least partially embedded in the second annular groove.

[0017] In some embodiments, the first sealing ring has a first sealing portion and a second sealing portion, and the second sealing ring has a third sealing portion and a fourth sealing portion;

[0018] The first sealing portion and the second sealing portion are respectively located on opposite sides of the rotating shaft, and the thickness of the first sealing portion along the diameter direction of the rotating shaft is greater than the thickness of the second sealing portion along the diameter direction of the rotating shaft;

[0019] The third sealing part is on the same side of the rotation axis as the first sealing part, and the fourth sealing part is on the same side of the rotation axis as the second sealing part, and the thickness of the third sealing part along the rotation axis diameter direction is smaller than the thickness of the fourth sealing part along the rotation axis diameter direction.

[0020] In some embodiments, the fixed arm has a second shaft hole, and an end of the rotating shaft away from the rotating arm is matched with the second shaft hole;

[0021] A second annular groove is formed at one end of the rotating shaft embedded in the second shaft hole, and at least one second connecting hole is formed on the bottom wall of the second annular groove. The second connecting hole connects to the second flow channel, and the entrance of the first flow channel at the second shaft hole faces the second annular groove.

[0022] In some embodiments, the rotating shaft is respectively sleeved with a third sealing ring and a fourth sealing ring on both sides of the second annular groove;

[0023] The inner wall surface of the second axial hole is provided with a third annular groove corresponding to the third sealing ring and a fourth annular groove corresponding to the fourth sealing ring. The third sealing ring is at least partially embedded in the third annular groove, and the fourth sealing ring is at least partially embedded in the fourth annular groove.

[0024] In some embodiments, one end of the rotating arm passes through the first shaft hole and is fixed with a driven gear;

[0025] A first driving motor is fixed on the rotating arm, a driving gear is installed on the rotating shaft of the first driving motor, and the driving gear is meshed with the driven gear.

[0026] In some embodiments, the first axial hole is located at one end of the rotating arm, and the nozzle head is installed at the other end of the rotating arm;

[0027] The nozzle head has a fourth flow channel, and the fourth flow channel is communicated with the third flow channel.

[0028] In some embodiments, the end of the rotating arm away from the first axial hole has a third axial hole, and the nozzle head passes through the third axial hole and is transmission-connected to the second driving motor;

[0029] A third annular groove is formed in the portion of the nozzle head embedded in the third axial hole, and at least one third connecting hole is formed on the bottom wall of the third annular groove. The third connecting hole is connected to the fourth flow channel, and the entrance of the third flow channel at the third axial hole faces the third annular groove.

[0030] In some embodiments, the nozzle head is provided with a fifth sealing ring and a sixth sealing ring on both sides of the third annular groove respectively;

[0031] The inner wall surface of the third axial hole is provided with a fifth annular groove corresponding to the fifth sealing ring and a sixth annular groove corresponding to the sixth sealing ring. The fifth sealing ring is at least partially embedded in the fifth annular groove, and the sixth sealing ring is at least partially embedded in the sixth annular groove.

[0032] In a second aspect, the present application provides a cleaning device, comprising the cleaning robot arm as described in the first aspect.

[0033] The present application arranges a first flow channel inside the fixed arm and a third flow channel inside the rotating arm. The first flow channel and the third flow channel are connected via the second flow channel in the rotating shaft. During the rotation of the rotating arm, the first flow channel remains connected with the second flow channel, and the third flow channel remains connected with the second flow channel, thereby forming a water flow path for cleaning the robotic arm. Since there is no need to use a hose, it can be avoided that the hose is easily damaged by friction with the joints of the robotic arm during the rotation of the robotic arm, which is beneficial to avoid dangerous accidents caused by high-pressure water leakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 It is a structural schematic diagram of a cleaning robot arm provided in an embodiment of the present application;

[0036] Figure 2 is an exploded schematic diagram of a cleaning robot arm provided in an embodiment of the present application;

[0037] Figure 3 is a top view of a fixed arm provided in an embodiment of the present application;

[0038] Figure 4 This application Figure 3 A schematic cross-sectional view at AA in the middle;

[0039] Figure 5 This application Figure 3 A schematic cross-sectional view of the middle BB;

[0040] Figure 6 is a structural schematic diagram of a rotating shaft provided in an embodiment of the present application;

[0041] Figure 7 is a cross-sectional schematic diagram of a rotating shaft provided in an embodiment of the present application;

[0042] Figure 8 is a top view of a rotating arm provided in an embodiment of the present application;

[0043] Fig. 9 This application Figure 8 A schematic cross-section diagram at CC in the middle;

[0044] Fig.10 This application Figure 8 A schematic cross-sectional view at DD in the middle;

[0045] Fig.11 This is a structural schematic diagram of a first sealing ring and a second sealing ring provided at a rotating shaft in an embodiment of the present application;

[0046] Fig.12 It is a structural schematic diagram of a nozzle head provided in an embodiment of the present application;

[0047] Fig.13 It is a cross-sectional schematic diagram of the nozzle head provided in the embodiment of the present application.

[0048] Among them, 10 is a fixed arm, 11 is a first flow channel, 12 is a second axial hole, 121 is a third annular groove, and 122 is a fourth annular groove;

[0049] 20 rotating shaft, 21 second flow channel, 22 first annular groove, 23 first communicating hole, 24 second annular groove, 25 second communicating hole, 26 driven gear, 201 first sealing ring, 2011 first sealing part, 2012 second sealing part, 202 second sealing ring, 2021 third sealing part, 2022 fourth sealing part, 203 third sealing ring, 204 fourth sealing ring;

[0050] 30 rotating arm, 31 third flow channel, 32 first shaft hole, 321 first annular groove, 322 second annular groove, 33 third shaft hole, 331 fifth annular groove, 332 sixth annular groove;

[0051] 40 nozzle head, 41 fourth flow channel, 42 third annular groove, 43 third communicating hole, 401 fifth sealing ring, 402 sixth sealing ring;

[0052] 50 is a first driving motor, 51 is a driving gear, and 60 is a second driving motor. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0055] In this application, the word "exemplary" is used to mean "serving as an example, illustration, or illustration." Any embodiment described in this application as "exemplary" is not necessarily to be construed as being preferred or advantageous over other embodiments. The following description is given to enable any person skilled in the art to implement and use the invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the invention can be implemented without using these specific details. In other instances, well-known structures and processes are not elaborated in detail to avoid obscuring the description of the invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in this application.

[0056] The embodiments of the present application provide a cleaning robot arm and a cleaning device, which are described in detail below.

[0057] First, see Figure 1 as well as Figure 2 , Figure 1 A schematic diagram of the structure of a cleaning robot arm in an embodiment of the present application is shown. Figure 2 An exploded schematic diagram of a cleaning robot arm in an embodiment of the present application is shown, wherein the cleaning robot arm includes a fixed arm 10, a rotating shaft 20 and a rotating arm 30, the rotating shaft 20 is mounted on the fixed arm 10, and the rotating arm 30 is mounted on the rotating shaft 20, the rotating shaft 20 is rotatable relative to one of the fixed arm 10 and the rotating arm 30, and is fixed relative to the other of the fixed arm 10 and the rotating arm 30, so that the rotating arm 30 can rotate relative to the fixed arm 10, and finally change the position of the rotating arm 30 to clean different parts of the parts.

[0058] Specifically, see Figure 3 , Figure 4 as well as Figure 5 , Figure 3 A top view of the fixed arm 10 in the embodiment of the present application is shown. Figure 4 Shows Figure 3 A cross-sectional diagram at AA in the figure. Figure 5 Shows Figure 3 A cross-sectional schematic diagram at BB in the middle, wherein a first flow channel 11 is provided inside the fixed arm 10, so that the fixed arm 10 can introduce cleaning water from the outside into the first flow channel 11 and deliver it to the rotating shaft 20 and the rotating arm 30. For example, Figure 4 As shown, the fixed arm 10 is approximately Z-shaped, and the Z-shaped first flow channel 11 can be formed by external hole rotation, and finally the redundant holes are blocked by plugging or soldering. It can be understood that the shape of the fixed arm 10 can also be other shapes, such as straight line, serpentine, etc.

[0059] Continue reading Figure 6 as well as Figure 7 , Figure 6 A schematic diagram of the structure of the rotating shaft 20 in the embodiment of the present application is shown. Figure 7 A cross-sectional schematic diagram of the rotating shaft 20 in an embodiment of the present application is shown, wherein a second flow channel 21 is provided inside the rotating shaft 20, and the second flow channel 21 can be communicated with the first flow channel 11 of the fixed arm 10, so as to deliver the cleaning water flowing through the fixed arm 10 to the rotating arm 30. In some embodiments of the present application, the rotating shaft 20 can be directly fixed to the fixed arm 10, for example, by welding or bonding. In some other embodiments of the present application, the rotating arm 30 is fixed to the fixed arm 10 by a detachable connection, such as a bolt connection.

[0060] Continue reading Figure 8 , Fig. 9 as well as Fig.10 , Figure 8 A top view of the rotating arm 30 in the embodiment of the present application is shown. Fig. 9 Shows Figure 8 A cross-sectional diagram at CC in the middle, Fig.10 Shows Figure 8 A cross-sectional schematic diagram at DD in the figure, wherein the rotating arm 30 has a third flow channel 31, and the third flow channel 31 is connected to the second flow channel 21 of the rotating shaft 20, so that the first flow channel 11, the second flow channel 21 and the third flow channel 31 form a complete water passage inside the cleaning robot arm. Fig. 9 As shown, the rotating arm 30 is approximately Z-shaped, and the Z-shaped third flow channel 31 can be formed by external hole rotation, and finally the redundant holes are blocked by plugging or soldering. It can be understood that the shape of the fixed arm 10 can also be other shapes, such as straight line, serpentine, etc.

[0061] In the embodiment of the present application, the present application sets a first flow channel 11 inside the fixed arm 10 and a third flow channel 31 inside the rotating arm 30. The first flow channel 11 and the third flow channel 31 are connected via the second flow channel 21 in the rotating shaft 20. During the rotation of the rotating arm 30, the first flow channel 11 remains connected with the second flow channel 21, and the third flow channel 31 remains connected with the second flow channel 21, thereby forming a water flow path for cleaning the robotic arm. Since there is no need to use a hose, it is possible to avoid damage caused by friction between the hose and the joints of the robotic arm during the rotation of the robotic arm, which is beneficial to avoiding dangerous accidents caused by leakage of high-pressure water.

[0062] In some embodiments of the present application, for example, for an embodiment in which the rotating shaft 20 is fixed on the fixed arm 10, continue to refer to 3, Figure 6 as well as Figure 8, wherein the rotating arm 30 has a first shaft hole 32, and the first shaft hole 32 is connected to the third flow channel 31. One end of the rotating shaft 20 is fixed to the fixed arm 10, and the other end is matched with the first shaft hole 32. Since the rotating shaft 20 is fixed to the fixed arm 10, the rotating arm 30 rotates around the rotating shaft 20 by using the cooperation between the first shaft hole 32 and the rotating shaft 20, thereby realizing the movement process of the rotating arm 30.

[0063] It is understandable that the rotating shaft 20 may also be fixed on the rotating arm 30 so that the rotating shaft 20 can rotate relative to the fixed arm 10 , thereby realizing the rotation process of the rotating arm 30 .

[0064] Further, in some embodiments of the present application, for example, for an embodiment in which one end of the rotating shaft 20 is matched with the first shaft hole 32, please continue to refer to Figure 6 , Figure 7 as well as Fig.10 , wherein a first annular groove 22 is provided at one end of the rotating shaft 20 embedded in the first shaft hole 32. At least one first connecting hole 23 is provided on the bottom wall of the first annular groove 22, and the first connecting hole 23 is connected to the second flow channel 21, and the entrance of the third flow channel 31 located at the first shaft hole 32 is directly opposite to the first annular groove 22. Specifically, the first annular groove 22 and the inner wall surface of the first shaft hole 32 enclose an annular flow channel. During the rotation of the rotating arm 30, no matter where the rotating arm 30 rotates to, the entrance of the third flow channel 31 located at the first shaft hole 32 is connected to the annular flow channel, and the cleaning water can flow into the third flow channel 31 through the annular flow channel and the first connecting hole 23, thereby ensuring that the third flow channel 31 inside the rotating arm 30 is connected with the second flow channel 21 during the rotation of the rotating arm 30.

[0065] Further, in some embodiments of the present application, for example, in an embodiment in which the first annular groove 22 is formed at one end of the rotating shaft 20 embedded in the first shaft hole 32, please refer to Figure 6 , Figure 7 as well as Fig.10 , wherein the rotating shaft 20 is sleeved with a first sealing ring 201 and a second sealing ring 202 on both sides of the first annular groove 22. The inner wall surface of the first shaft hole 32 is provided with a first annular groove 321 corresponding to the first sealing ring 201, and a second annular groove 322 corresponding to the second sealing ring 202. The first sealing ring 201 is at least partially embedded in the first annular groove 321, and the second sealing ring 202 is at least partially embedded in the second annular groove 322. Specifically, the first sealing ring 201 and the second sealing ring 202 ensure the sealing above and below the first annular groove 321, thereby ensuring the sealing of the annular flow channel formed by the first annular groove 22 and the inner wall surface of the first shaft hole 32, and avoiding the leakage of high-pressure water.

[0066] For example, Figure 6As shown, there are two first sealing rings 201 and two second sealing rings 202. It is understandable that there may be more first sealing rings 201 and second sealing rings 202 to further improve the sealing performance between the inner wall surface of the first shaft hole 32 and the rotating shaft 20.

[0067] Further, in some embodiments of the present application, for example, in an embodiment in which the rotating shaft 20 is respectively provided with a first sealing ring 201 and a second sealing ring 202 on both sides of the first annular groove 22, please continue to refer to Fig.11 , Fig.11 A schematic diagram of a structure where the first sealing ring 201 and the second sealing ring 202 are arranged on the rotating shaft 20 in an embodiment of the present application is shown, wherein the first sealing ring 201 has a first sealing portion 2011 and a second sealing portion 2012, and the second sealing ring 202 has a third sealing portion 2021 and a fourth sealing portion 2022. The first sealing portion 2011 and the second sealing portion 2012 are respectively located on opposite sides of the rotating shaft 20, and the thickness D1 of the first sealing portion 2011 along the diameter direction of the rotating shaft 20 is greater than the thickness D2 of the second sealing portion 2012 along the diameter direction of the rotating shaft 20. The third sealing portion 2021 is located on the same side of the rotating shaft 20 as the first sealing portion 2011, and the fourth sealing portion 2022 is located on the same side of the rotating shaft 20 as the second sealing portion 2012, and the thickness D3 of the third sealing portion 2021 along the diameter direction of the rotating shaft 20 is less than the thickness D4 of the fourth sealing portion 2022 along the diameter direction of the rotating shaft 20.

[0068] It should be noted that since the rotating arm 30 usually sets the first axial hole 32 at one end and cooperates with the rotating shaft 20, so that the other end can rotate within the maximum range, this causes the rotating arm 30 to be easily tilted due to the action of gravity, and this tilting phenomenon causes the inner wall of the first axial hole 32 to be unevenly squeezed against the first sealing ring 201 and the second sealing ring 202, that is, the first sealing part 2011 of the first sealing ring 201 is squeezed less, and the fourth sealing part 2022 of the second sealing ring 202 is squeezed less, which is not conducive to ensuring the sealing of the rotating shaft 20 and the rotating arm 30.

[0069] In the above embodiment, since the thickness D1 of the first sealing portion 2011 along the diameter direction of the rotating shaft 20 is greater than the thickness D2 of the second sealing portion 2012 along the diameter direction of the rotating shaft 20, and the thickness D3 of the third sealing portion 2021 along the diameter direction of the rotating shaft 20 is less than the thickness D4 of the fourth sealing portion 2022 along the diameter direction of the rotating shaft 20, by changing the thickness of the first sealing portion 2011 and the fourth sealing portion 2022, the extrusion unevenness problem caused by the inclination of the rotating arm 30 is compensated, thereby ensuring the rotational sealing between the rotating shaft 20 and the rotating arm 30.

[0070] It can be understood that, since the rotation angle of the rotating arm 30 is usually less than 180°, the central angles corresponding to the first sealing portion 2011 and the fourth sealing portion 2022 can be equal to 180°.

[0071] In order to facilitate the assembly of the rotating shaft 20, in some embodiments of the present application, continue to refer to Figure 5 , Figure 6 as well as Figure 7 , wherein the fixed arm 10 has a second shaft hole 12, and one end of the rotating shaft 20 away from the rotating arm 30 cooperates with the second shaft hole 12. A second annular groove 24 is provided at one end of the rotating shaft 20 embedded in the second shaft hole 12, and at least one second connecting hole 25 is provided on the bottom wall of the second annular groove 24. The second connecting hole 25 is connected to the second flow channel 21, and the entrance of the first flow channel 11 located at the second shaft hole 12 faces the second annular groove 24. During the operation of the cleaning robot arm, the cleaning water in the first channel of the fixed arm 10 first flows into the second annular groove 24, then flows into the second flow channel 21 through the second connecting hole 25 on the bottom wall of the second annular groove 24, and finally flows into the third flow channel 31 through the second flow channel 21, thereby forming a water flow path for the entire cleaning robot arm.

[0072] It can be understood that the above-mentioned arrangement is mainly for facilitating assembly while ensuring the connectivity of the entire cleaning robot arm after assembly. In fact, only the second connecting hole 25 can be provided on the rotating shaft 20 without providing the second annular groove 24. The second connecting hole 25 can be aligned with the entrance of the first flow channel 11 at the second shaft hole 12.

[0073] Similarly, in order to ensure the sealing between the rotating shaft 20 and the fixed arm 10, continue to refer to Figure 5 , Figure 6 as well as Figure 7 , wherein the rotating shaft 20 is sleeved with a third sealing ring 203 and a fourth sealing ring 204 on both sides of the second annular groove 24, respectively. The inner wall surface of the second shaft hole 12 is provided with a third annular groove 121 corresponding to the third sealing ring 203, and a fourth annular groove 122 corresponding to the fourth sealing ring 204, the third sealing ring 203 is at least partially embedded in the third annular groove 121, and the fourth sealing ring 204 is at least partially embedded in the fourth annular groove 122. Specifically, the third sealing ring 203 and the fourth sealing ring 204 ensure the sealing of the second annular groove 322 above and below, thereby ensuring the sealing of the annular flow channel formed by the second annular groove 24 and the inner wall surface of the second shaft hole 12, and avoiding the leakage of high-pressure water at the second shaft hole 12.

[0074] In some embodiments of the present application, see Figure 1 as well as Figure 2, one end of the rotating arm 30 passes through the first shaft hole 32 and is fixed with the driven gear 26. The rotating arm 30 is fixed with the first driving motor 50, and the driving gear 51 is installed on the rotating shaft of the first driving motor 50, and the driving gear 51 is meshed with the driven gear 26. When the first driving motor 50 drives the driving gear 51 to rotate, since the driven gear 26 is fixed, the driving gear 51 will revolve around the driven gear 26, thereby causing the rotating arm 30 fixed with the first driving motor 50 to rotate relative to the fixed arm 10.

[0075] It can be understood that the rotation of the rotating arm 30 can also be achieved by other means, for example, by using a hydraulic telescopic rod with two ends respectively hinged on the fixed arm 10 and the rotating arm 30, and as the hydraulic telescopic rod is extended and retracted, the distance between the rotating arm 30 and the fixed arm 10 is expanded, thereby causing the rotating arm 30 to rotate; or, a reducer can be installed on the rotating shaft of the first drive motor 50 to reduce the rotation speed of the rotating arm 30.

[0076] Further, in order to facilitate the cleaning of the robot arm by spraying high pressure water, continue to refer to Figure 1 , Figure 2 , Fig.12 as well as Fig.13 , Fig.12 A schematic diagram of the structure of the nozzle head 40 in the embodiment of the present application is shown. Fig.13 A cross-sectional schematic diagram of the nozzle head 40 in the embodiment of the present application is shown, the first shaft hole 32 is located at one end of the rotating arm 30, and the nozzle head 40 is installed at the other end of the rotating arm 30. The nozzle head 40 has a fourth flow channel 41, and the fourth flow channel 41 is connected to the third flow channel 31. During the operation of the cleaning robot arm, the cleaning water in the third flow channel 31 in the rotating arm 30 will flow into the fourth flow channel 41 of the nozzle head 40, and finally be sprayed out through the nozzle head 40 to clean the parts.

[0077] In some embodiments of the present application, for example, for an embodiment in which the cleaning robot arm further includes a nozzle head 40, continue to refer to 10, Fig.12 as well as Fig.13, the end of the rotating arm 30 away from the first shaft hole 32 has a third shaft hole 33, and the nozzle head 40 passes through the third shaft hole 33 and is connected to the second driving motor 60. The part of the nozzle head 40 embedded in the third shaft hole 33 is provided with a third annular groove 42, and the bottom wall of the third annular groove 42 is provided with at least one third connecting hole 43, the third connecting hole 43 is connected to the fourth flow channel 41, and the entrance of the third flow channel 31 at the third shaft hole 33 is opposite to the third annular groove 42. Among them, the second driving motor 60 can drive the nozzle head 40 to rotate in the third shaft hole 33, so that the spray angle of the nozzle head 40 can be changed to better clean the automobile parts. At the same time, since the entrance of the third flow channel 31 at the third shaft hole 33 is opposite to the third annular groove 42, no matter where the nozzle head 40 rotates, it will not affect the connectivity between the third flow channel 31 and the fourth flow channel 41.

[0078] Further, in some embodiments of the present application, continue to refer to 10, Fig.12 as well as Fig.13 , wherein the nozzle head 40 is respectively provided with a fifth sealing ring 401 and a sixth sealing ring 402 on both sides of the third annular groove 42; the inner wall surface of the third shaft hole 33 is provided with a fifth annular groove 331 corresponding to the fifth sealing ring 401, and a sixth annular groove 332 corresponding to the sixth sealing ring 402, the fifth sealing ring 401 is at least partially embedded in the fifth annular groove 331, and the sixth sealing ring 402 is at least partially embedded in the sixth annular groove 332. Specifically, the fifth sealing ring 401 and the sixth sealing ring 402 ensure the sealing of the third annular groove 121 above and below, thereby ensuring the sealing of the annular flow channel formed by the third annular groove 42 and the inner wall surface of the third shaft hole 33, and avoiding the leakage of high-pressure water at the third shaft hole 33.

[0079] It is worth noting that the above content about the cleaning robot arm is intended to clearly illustrate the implementation verification process of the present application. Under the guidance of the present application, those skilled in the art can make equivalent modified designs, for example, setting a larger number of sealing rings on the nozzle head 40; or dividing the nozzle head 40 into two parts for docking, one part of which is used to be driven and connected to the second drive motor 60 and cooperate with the third shaft hole 33, and the other part is located outside the rotating arm 30 for easy maintenance and replacement.

[0080] Furthermore, in order to better implement the cleaning robot arm in the embodiment of the present application, on the basis of the cleaning robot arm, the present application also provides a cleaning device, including a cleaning robot arm as in any of the above embodiments. Since the cleaning device in the embodiment of the present application includes the cleaning robot arm manufactured in the above embodiment, it has all the beneficial effects of the cleaning robot arm in the above embodiment, which will not be repeated here.

[0081] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the detailed description of other embodiments above, and will not be repeated here.

[0082] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the exemplary embodiments of the present application.

[0083] At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0084] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this application, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0085] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0086] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, etc., cited in this application is hereby incorporated by reference in its entirety, except for application history documents that are inconsistent with or conflicting with the content of this application, and documents that limit the broadest scope of the claims of this application (currently or later attached to this application). It should be noted that if the descriptions, definitions, and / or use of terms in the accompanying materials of this application are inconsistent or conflicting with the content described in this application, the descriptions, definitions, and / or use of terms in this application shall prevail.

[0087] The above is a detailed introduction to a cleaning robot arm and a cleaning device provided in an embodiment of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A cleaning robot arm, characterized in that: include: A fixed arm, wherein a first flow channel is provided inside the fixed arm; A rotating shaft, the rotating shaft is mounted on the fixed arm, a second flow channel is provided inside the rotating shaft, and the first flow channel is communicated with the second flow channel; A rotating arm, the rotating arm is mounted on the rotating shaft, the rotating arm has a third flow channel, and the third flow channel is connected to the second flow channel; The rotating shaft is rotatable relative to one of the fixed arm and the rotating arm, and is fixed relative to the other of the fixed arm and the rotating arm; Wherein, during the rotation of the rotating arm, the first flow channel remains in communication with the second flow channel, and the third flow channel remains in communication with the second flow channel; The rotating arm has a first shaft hole, the first shaft hole is communicated with the third flow channel, one end of the rotating shaft is fixed to the fixed arm, and the other end is matched with the first shaft hole; A first annular groove is formed at one end of the rotating shaft embedded in the first shaft hole, and at least one first connecting hole is formed on the bottom wall of the first annular groove, the first connecting hole is connected to the second flow channel, and the entrance of the third flow channel located at the first shaft hole faces the first annular groove; The rotating shaft is sleeved with a first sealing ring and a second sealing ring on both sides of the first annular groove, respectively; the inner wall surface of the first shaft hole is provided with a first annular groove corresponding to the first sealing ring, and a second annular groove corresponding to the second sealing ring; the first sealing ring is at least partially embedded in the first annular groove, and the second sealing ring is at least partially embedded in the second annular groove; The first sealing ring has a first sealing portion and a second sealing portion, and the second sealing ring has a third sealing portion and a fourth sealing portion; The first sealing portion and the second sealing portion are respectively located on opposite sides of the rotating shaft, and the thickness of the first sealing portion along the diameter direction of the rotating shaft is greater than the thickness of the second sealing portion along the diameter direction of the rotating shaft; The third sealing portion is on the same side of the rotating shaft as the first sealing portion, the fourth sealing portion is on the same side of the rotating shaft as the second sealing portion, and the thickness of the third sealing portion along the diameter direction of the rotating shaft is smaller than the thickness of the fourth sealing portion along the diameter direction of the rotating shaft.

2. The cleaning robot arm according to claim 1, characterized in that: The fixed arm has a second shaft hole, and one end of the rotating shaft away from the rotating arm is matched with the second shaft hole; A second annular groove is formed at one end of the rotating shaft embedded in the second axial hole, and at least one second connecting hole is formed on the bottom wall of the second annular groove. The second connecting hole is connected to the second flow channel, and the entrance of the first flow channel located at the second axial hole faces the second annular groove.

3. The cleaning robot arm according to claim 2, characterized in that: The rotating shaft is sleeved with a third sealing ring and a fourth sealing ring on both sides of the second annular groove respectively; The inner wall surface of the second axial hole is provided with a third annular groove corresponding to the third sealing ring, and a fourth annular groove corresponding to the fourth sealing ring, the third sealing ring is at least partially embedded in the third annular groove, and the fourth sealing ring is at least partially embedded in the fourth annular groove.

4. The cleaning robot arm according to claim 1, characterized in that: One end of the rotating arm passes through the first shaft hole and is fixed with a driven gear; A first driving motor is fixed on the rotating arm, a driving gear is installed on the rotating shaft of the first driving motor, and the driving gear is meshed with the driven gear.

5. The cleaning robot arm according to claim 4, characterized in that: The first shaft hole is located at one end of the rotating arm, and the other end of the rotating arm is equipped with a nozzle head; The nozzle head has a fourth flow channel, and the fourth flow channel is communicated with the third flow channel.

6. The cleaning robot arm according to claim 5, characterized in that: The rotating arm has a third axial hole at one end away from the first axial hole, and the nozzle head passes through the third axial hole and is transmission-connected to the second driving motor; A third annular groove is formed in the portion of the nozzle head embedded in the third axial hole, and at least one third connecting hole is formed on the bottom wall of the third annular groove. The third connecting hole is connected to the fourth flow channel, and the entrance of the third flow channel located at the third axial hole faces the third annular groove.

7. The cleaning robot arm according to claim 6, characterized in that: The nozzle head is respectively provided with a fifth sealing ring and a sixth sealing ring on both sides of the third annular groove; The inner wall surface of the third axial hole is provided with a fifth annular groove corresponding to the fifth sealing ring, and a sixth annular groove corresponding to the sixth sealing ring, the fifth sealing ring is at least partially embedded in the fifth annular groove, and the sixth sealing ring is at least partially embedded in the sixth annular groove.

8. A cleaning device, characterized in that: Comprising a cleaning robot arm as described in any one of claims 1 to 7.

Images