Multi-joint mechanical arm pipeline and air cooling island multi-medium pulse cleaning system

Abstract

The invention provides a multi-joint mechanical arm pipeline and an air cooling island multi-medium pulse cleaning system.The air cooling island multi-medium pulse cleaning system comprises a spraying trolley and a vertical rack, the multi-joint mechanical arm pipeline comprises a mechanical arm body and a mechanical arm track, and the mechanical arm body is used for conveying media between the two ends of the mechanical arm body; a plurality of rotating joints with rotating shafts parallel to each other are installed on the mechanical arm body in series, and every two spaced rotating joints can rotate around the rotating joint between the two spaced rotating joints to the angle where the two spaced rotating joints abut against each other to be stacked or unfolded to be pulled when generating relative movement. A rail sliding block is arranged on the mechanical arm rail, and the rotary joints are stacked or pulled in the length direction of the mechanical arm rail; the spraying trolley is arranged on the vertical rack in a lifting mode, and an outlet of the mechanical arm body ascends and descends along with the spraying trolley. By adopting the mechanical arm body which is folded or unfolded along the mechanical arm track, the problem of pipeline winding of a hose in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of air-cooled island radiator cleaning device, specifically, it relates to a kind of multi-joint mechanical arm pipeline and air-cooled island multi-medium pulse cleaning system. BACKGROUND

[0002] In conventional design, the air-cooled machine set of air-cooled island triangular fin must be equipped with cleaning device and can be regularly washed with water to clean the dust on the surface of triangular fin, improve the heat exchange efficiency of triangular fin, so as to reduce the back pressure of unit, improve the economic efficiency of unit operation.

[0003] With the continuous progress of society and the continuous development of science and technology, the cleaning medium commonly used in current cleaning technology includes water medium or gas medium, and the commonly used cleaning device includes vertical rack, spraying trolley and supporting medium pipeline. In order to solve the adverse effects of dust accumulation, the existing widely used countermeasures are to use water medium (salt water) to flush, which is described in the article "Tower In-situ Shaped Replaceable Position Cleaning Device for Air-cooled Unit of Power Plant" published in "Cleaning World" in February 2016; but on the one hand, there is lack of water in the north, and on the other hand, the dust will become hard scale after being washed by water, which seriously affects the heat exchange effect. In view of the water medium flushing, gas cleaning technology is not limited by water resources, which is described in the article "Field Experimental Research on Dry Blowing System for Air-cooled Condenser Dust Accumulation" published in "China Electrical Engineering Academy" in December 2013; but on the one hand, the gas flow rate is limited, and the cleaning effect is far less than that of water flushing, and on the other hand, in the area with high wind pressure, the dust blown down will be scraped back to the original position.

[0004] Based on the above, using only water flushing technology or gas cleaning technology has certain advantages and disadvantages, and in view of using only water flushing technology or gas cleaning technology, air energy pulse mixed cleaning technology has good application prospect.

[0005] Air energy pulse mixed cleaning technology refers to the combination of water medium and gas medium, the water pipeline does not need too much flow and pressure, the gas is pulsed through the pulse generator, the flow rate and impact force of a small amount of water are instantaneously increased, the water flow is instantaneously changed into small water beads, the flushing area is expanded, it becomes a strong agent, breaks and removes the impurities on the surface of heat exchange pipe, efficiently flushes the dirt on the triangular fin, saves water while having strong cleaning effect, can prevent dust from being scoured back to the original position, and has the advantages of water flushing technology and gas cleaning technology while avoiding the disadvantages of the two.

[0006] However, based on the existing technology, air pulse mixed cleaning technology has not been widely used. Based on the commonly used cleaning device mentioned above, i.e. vertical rack, spraying trolley and supporting medium pipeline, the main reason why air pulse mixed cleaning technology is difficult to implement is the winding problem of pipeline. When water and gas are used at the same time, the solution to the winding problem of medium pipeline and power supply line when using water flushing technology or gas cleaning technology alone cannot be applied to air pulse mixed cleaning technology. The use of water and gas at the same time doubles the difficulty of managing the pipeline and line, making it even more difficult to solve the winding problem of pipeline and line.

[0007] Based on the analysis of the existing technology, the winding problem of the pipeline of the air pulse mixed cleaning technology mainly reflects the management problem of the pipeline on the vertical rack. The pipeline on the vertical rack uses high-pressure hoses, power cables, etc. When the spraying trolley is lifted up and down on the vertical rack, it is dragged up and down at a long distance at will. The hoses and cables sway in the wind, which on the one hand easily causes fatigue and breakage, increasing the cost of use and maintenance, and on the other hand easily gets hooked on a certain shelf, causing the trolley to stop running and the water spraying to be interrupted, which is easy to cause safety accidents. In the existing solution, such as the high-pressure hose follow-up winding and unwinding device of the intercooling cleaning device disclosed in Chinese Utility Model Patent CN202120422974.4, a drag chain is arranged in the vertical rack, and a water inlet pipe and a cable are arranged in the drag chain. However, when water and gas hoses are arranged in the hose at the same time, the two hoses will generate a significant axial force when passing through high-pressure medium, which will drive the drag chain to deform or sway or pull the end joint of the drag chain, still having a certain risk. In the arrangement structure of the intercooling cleaning cable and rubber pipe disclosed in Chinese Utility Model Patent CN201220336555.X, a lifting slide is arranged on the vertical support, and a high-pressure hose is wound on the rotating disc. In addition, in the automatic cleaning and cooling device disclosed in Chinese Invention Patent CN202411927250.X, a water pipe storage box is installed on the bottom plate of the vertical rack, and the water supply pipe for providing medium for the spraying trolley is a hose and is stored in the water pipe storage box. The medium pipeline in the two disclosed solutions is still a suspended hose, still having a high risk of pipeline winding. Moreover, when two independent pipelines of water and gas hoses are needed, the management difficulty of the pipeline in these two solutions is doubled.

[0008] Therefore, when cleaning the cooling triangular fins of the air cooling system, how to completely solve the winding problem of the pipeline and realize the orderly management of the pipeline on the vertical rack is a key factor for realizing the air pulse mixed cleaning technology.

[0009] In order to solve the above problems, people have been seeking an ideal technical solution. SUMMARY

[0010] The purpose of the present application is to overcome the shortcomings of the prior art, and to provide a multi-joint mechanical arm pipeline and air cooling island multi-medium pulse cleaning system, which solves the pipeline winding problem of the existing soft pipe by adopting a mechanical arm body that is folded or unfolded along the mechanical arm track.

[0011] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is: a multi-joint mechanical arm pipeline, comprising a mechanical arm body and a mechanical arm track, the mechanical arm body is used to transmit medium between its two ends, a plurality of rotation joints with parallel rotation axes are installed in series on the mechanical arm body, when two adjacent rotation joints are spaced apart and relatively moved, the rotation joints can be rotated around the rotation joint between them to an angle of mutual interference stacking or mutual unfolding pulling; the mechanical arm track is provided with a track slider, at least one rotation joint moves along the mechanical arm track through the track slider, so that the rotation joints are stacked or pulled along the length direction of the mechanical arm track.

[0012] Based on the above, the adjacent rotation joints are connected by a rigid pipe, and the length directions of the two rotation joints connected at both ends of the rigid pipe extend in the same direction.

[0013] Based on the above, the rotation joint comprises an inlet end and an outlet end that rotate coaxially, when a limiting piece is arranged between the inlet end and the outlet end of the rotation joint, the unfolding angle of the two rotation joints adjacent to the rotation joint is less than 180 degrees.

[0014] Based on the above, the mechanical arm track is arranged in double rows in parallel, the inlet end and the outlet end connected at both ends of at least one rigid pipe slide along the two mechanical arm tracks through the track sliders respectively, so that the rigid pipe forms a transversely arranged connecting rod, and the mechanical arm track and the transversely arranged connecting rod form a boundary for limiting the movement range of the rotation joint.

[0015] Based on the above, the transversely arranged connecting rod is perpendicular to the mechanical arm track, the rigid pipes are arranged in long and short intervals on the mechanical arm body to form long connecting rods and short connecting rods, the transversely arranged connecting rod belongs to the short connecting rod, and the long connecting rod serves as a hypotenuse to make the two short connecting rods on both sides thereof stacked and parallel.

[0016] Based on the above, the mechanical arm track is arranged in a single row, one track slider is arranged on every other rotation joint on the mechanical arm body, a bearing seat is arranged on the track slider, the bearing seat is sleeved on the rotation joint, and the rotation joint can rotate relative to the track slider when the rotation joint moves along the mechanical arm track.

[0017] Based on the above, the inlet end and the outlet end adopt a shaft cylinder matching structure, the shaft cylinder matching structure comprises a joint shaft and a joint cylinder, the joint cylinder is sleeved on the side wall of the joint shaft, two parallel shaft inner medium passages are arranged in the joint shaft, two independent cylinder inner medium chambers are arranged in the inner cavity of the joint cylinder along the axial direction, and the joint shaft is provided with ports of the two shaft inner medium passages on the side wall in the joint cylinder.

[0018] Based on the above, the limiting piece comprises a first stopper and a second stopper, the joint cylinder is provided with an end cover, the first stopper is arranged on the end cover, the second stopper is arranged at one end of the joint shaft inserted into the joint cylinder, and the first stopper and the second stopper can abut after rotation.

[0019] Based on the above, the rigid pipeline adopts a double-channel pipeline or two parallel single-channel pipelines, the joint shaft is provided with ports of the two shaft inner medium passages on the side wall outside the joint cylinder, the rigid pipeline is arranged on the outer wall of the joint shaft, and the double-channel ports of the rigid pipeline are respectively communicated with the ports of the two shaft inner medium passages; the joint cylinder is provided with two through holes as ports of the cylinder inner medium chambers, the rigid pipeline is arranged on the outer wall of the joint cylinder, and the double-channel ports of the rigid pipeline are respectively communicated with the ports of the two cylinder inner medium chambers.

[0020] The air-cooled island multi-medium pulse cleaning system comprises a vertical rack, a spraying trolley and the multi-joint mechanical arm pipeline.

[0021] Compared with the prior art, the present application has substantial characteristics and progress, specifically: the mechanical arm body is rotated through the parallel rotation joints of the series-connected rotation shafts, the mutual abutting stacking or mutual unfolding pulling between the rotation joints is realized, the stacking folding or pulling unfolding of the mechanical arm body is realized, the medium conveying to the mobile device is realized, the spraying trolley is suitable for cleaning the air-cooled island radiator during movement on the vertical rack, the mechanical arm body is folded or unfolded along the mechanical arm track through the track slider, the movement path and movement range of the mechanical arm body are limited, and the pipeline winding problem is completely solved.

[0022] Meanwhile, the length directions of the two rotary joints connected at the two ends of the rigid pipeline extend in the same direction, and the length of the rigid pipeline and the sliding path of the rotary joints are limited, so that the overall folding space of the mechanical arm body is reduced; the limiting piece is used to prevent the rotary joints from being folded in the reverse direction; and through the joint shaft and the joint cylinder of the rotary joints, the double-channel mechanical arm body simultaneously transports the water path and the gas path. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a schematic diagram of the overall structure of the present application; Figure 2 is a schematic diagram of the stacked state of the mechanical arm body of the present application; Figure 3 is a schematic diagram of the stacked state of another embodiment of the mechanical arm body of the present application; Figure 4 is a schematic diagram of the structure of the mechanical arm body of the present application; Figure 5 is a schematic diagram of the structure of the mechanical arm body of Figure 4 ; Figure 6 is a schematic diagram of the structure of the mechanical arm body of Figure 2 ; Figure 7 is a schematic diagram of the structure of the limiting piece of the mechanical arm body of the present application; In the figure, the reference signs are: mechanical arm body 10, rotary joint 11, joint shaft 111, joint cylinder 112, rigid pipeline 12, shaft inner medium passage 101, cylinder inner medium chamber 102, bearing 103, bearing cover 104, end cover 105, first stop block 106, second stop block 107; vertical rack 20, mechanical arm track 21, track slider 22; spraying trolley 30. DETAILED DESCRIPTION

[0024] The technical solutions of the present application will be described in further detail below through specific embodiments.

[0025] Example 1 As shown in Figures 1-7 , the multi-joint mechanical arm pipeline of the present embodiment includes a mechanical arm body 10, which serves as a medium pipeline for transmitting medium from the mechanical arm inlet to the mechanical arm outlet to realize end-to-end medium transmission in a single pipeline.

[0026] The mechanical arm body 10 includes rotary joints 11 and a rigid pipeline 12, a plurality of rotary joints 11 are installed in series on the mechanical arm body 10, the rotation shafts of the plurality of rotary joints 11 are parallel to each other, and two adjacent rotary joints 11 are connected by the rigid pipeline 12, and the rotary joints 11 and the rigid pipeline 12 realize rigid folding or rigid unfolding of the mechanical arm body 10.

[0027] Due to the rigid folding or rigid unfolding characteristics of the robot arm body 10, compared with the hose pipe, the number of passages in the robot arm body 10 and the pressure of the medium in the passage are difficult to affect the folding or unfolding process of the robot arm body 10, so a single passage can be arranged in the single pipe of the robot arm body 10, or two parallel passages can be arranged, or three or more parallel passages can be arranged according to the needs.

[0028] In the three rotating joints 11 arranged in series on the robot arm body 10, when two rotating joints 11 spaced apart at both ends move relative to each other (for example, by applying an external force to the three rotating joints 11 through a fourth rotating joint 11 connected to the three rotating joints 11, or directly driving any one rotating joint 11 at both ends to move), the two rotating joints 11 spaced apart at both ends can rotate around the rotating joint 11 therebetween until the two rotating joints 11 spaced apart at both ends are folded to an angle of mutual interference and stacked together, or until the two rotating joints 11 spaced apart at both ends are unfolded to an angle that can be pulled relative to each other (for example, unfolded to 180 degrees), which completes the folding or unfolding of the three rotating joints 11; next, the three rotating joints 11 are stopped from moving relative to each other (i.e., relatively stationary) because they have been stacked together or unfolded to a pulling angle, and move together under the action of an external force, or remain stationary as a whole; by analogy, the folding or unfolding process of the three rotating joints 11 is extended to more rotating joints 11 on the robot arm body 10, so that the robot arm body 10 can be folded or unfolded step by step.

[0029] The lengths of the two rigid pipes 12 between the three rotating joints 11 arranged in series on the robot arm body 10 are equal or similar, so that when the middle rotating joint 11 rotates, its two adjacent rotating joints 11 can interfere with each other, thereby achieving folding of the robot arm body 10, so that the rotating joints 11 can save space when stacked and have a longer distance when unfolded. Of course, in other embodiments, one of the rigid pipes 12 interferes with the rotating joint 11 when the middle rotating joint 11 rotates, which can stop the rotating joint 11 from rotating, or the middle rotating joint 11 rotates to a stop rotating angle (the two rotating joints 11 do not interfere with each other) due to its limiting structure, which can also achieve folding of the robot arm body 10, but if the rotating joints 11 do not interfere with each other, the length of the pipe of the robot arm body 10 will be reduced when unfolded, which cannot maximize the use of folding space.

[0030] In order to realize the folding or unfolding of the whole mechanical arm body 10 in a specific area along a specific route under the driving of external force, the multi-joint mechanical arm pipe of the present application further comprises a mechanical arm track 21 matched with the mechanical arm body 10, the mechanical arm track 21 is provided with a track slider 22 sliding along the mechanical arm track 21, by installing one or more track sliders 22 on the rotary joint 11 or the rigid pipe 12, one or more rotary joints 11 can be moved along the mechanical arm track 21; when the rotary joint 11 moves along the mechanical arm track 21, on the one hand, the rotary joint 11 moves along the mechanical arm track 21 and relative motion with other rotary joints 11 is generated, on the other hand, the rotary joint 11 moves along the mechanical arm track 21 and more rotary joints 11 are driven to move along the mechanical arm track 21 due to stacking together or pulling each other, combined with the guiding and limiting effects of the mechanical arm track 21 and the track slider 22, the rotary joints 11 can be stacked or unfolded along the length direction of the mechanical arm track 21.

[0031] The folding or unfolding of the three rotary joints 11 reflects the correlation between the rotary joints 11 on the mechanical arm body 10, the mechanical arm track 21 and the track slider 22 utilize this correlation to limit the movement range and movement route of the rotary joint 11, so that the whole mechanical arm body 10 can be folded or unfolded smoothly. Specifically, in this process, the mechanical arm track 21 and the track slider 22 play a guiding role, or a guiding role and a role of limiting the movement range of the rotary joint 11 (limiting role), wherein the guiding role is realized by the rotary joint 11 sliding along the mechanical arm track 21, and the limiting role is realized by the mechanical arm track 21 blocking the rotary joint 11 from moving to the range outside the mechanical arm track 21. In the present application, the folding or unfolding of the whole mechanical arm body 10 in a specific area along a specific route under the driving of external force can be realized by only using the guiding role, or by using the combination of the guiding role and the limiting role.

[0032] For example, assuming that the mechanical arm track 21 is vertically arranged, the mechanical arm body 10 outlet is arranged above the inlet, when the mechanical arm body 10 outlet moves along the mechanical arm track 21 in the direction away from the mechanical arm body 10 inlet, the rotary joint 11 near the mechanical arm body 10 outlet will be pulled to be unfolded if it is not in the unfolded state, or will be pulled to move together with the mechanical arm body 10 outlet if it is already in the unfolded state, the rotary joint 11 in the stacked state below is pulled to be unfolded, so as to complete the unfolding of the mechanical arm body 10; for example, assuming that the mechanical arm track 21 is vertically arranged, when the mechanical arm body 10 outlet moves along the mechanical arm track 21 in the direction close to the mechanical arm body 10 inlet, if the rotary resistance of the rotary joint 11 itself can offset the gravity of the mechanical arm body 10 itself, the rotary joint 11 near the mechanical arm body 10 outlet will be stacked in the stacked state in advance due to the movement, and the rotary joint in the unfolded state will be stacked in the stacked state one by one in the process of moving to the mechanical arm body 10 inlet, so as to complete the folding of the mechanical arm body 10; for example, power can also be applied to a certain rotary joint 11 on the mechanical arm body 10 to make it move along the mechanical arm track 21.

[0033] The mechanical arm body 10 is used instead of the hose, the rigid mechanical arm body 10 can withstand the pressure of the high-pressure medium in the pipe, has little deformation when the pressure in the pipe is high, can ensure the stability of the medium flow path, the pressure loss is predictable, is not easy to be affected by external interference, and multiple passages can also be arranged in the mechanical arm body 10; the mechanical arm body 10 has high movement precision, can be arranged along the mechanical arm track 21, and can be folded or unfolded along the mechanical arm track 21 through the track slider 22, has high regularity in overall layout and movement form, can realize automatic intelligent cleaning operation, is not easy to be entangled, knotted or hooked with external objects, and is particularly suitable for working in a complex air cooling island environment; the mechanical arm body 10 has good wear resistance, fatigue resistance, corrosion resistance and other performances, and has a long service life.

[0034] In the embodiment, the mechanical arm body 10 realizes mutual interference stacking or mutual unfolding pulling between the rotary joints 11 through the rotary joints 11 with parallel rotation shafts arranged in series, so as to realize the stacked folding or the pulling unfolding of the mechanical arm body 10, and thus the medium conveying to the mobile device can be realized; the mechanical arm body 10 is folded or unfolded along the mechanical arm track 21 through the track slider 22, so as to limit the movement path and movement range of the mechanical arm body 10, and completely solve the winding problem of the pipeline.

[0035] Embodiment 2 Based on embodiment 1, as Figure 4As shown, the length direction of the two rotary joints 11 connected at both ends of the rigid pipe 12 extends in the same direction, so that the rigid pipe and the two rotary joints 11 form a whole in the shape of a "U", so that the mechanical arm body 10 forms a whole in the shape of a snake-like spiral pipe, so that the mechanical arm body 10 is similar to an expanded spring when it is fully expanded, and is similar to a compressed spring when it is fully folded. Of course, this analogy only refers to the state when it is fully expanded or fully folded, and the folding or expanding process is different. In this way, the coincidence degree of the rotary joints 11 when they are in contact and stacked is increased, and the space occupation of the whole mechanical arm body 10 is reduced.

[0036] Embodiment 3 Based on embodiment 2, the rotary joint 11 includes an inlet end and an outlet end coaxially rotating, and a limiting piece is arranged between the inlet end and the outlet end, so that the unfolding angle of the two adjacent rotary joints 11 is less than 180 degrees; in this way, when it is necessary to fold and stack the unfolded rotary joints 11 again, one of the rotary joints 11 is forced to be close to the rotary joint 11 spaced therefrom, and the reverse rotation of the rotary joint 11 between them is avoided, so that reverse folding and stacking of the rotary joints 11 is avoided. The limiting piece can be arranged only on the rotary joint 11 without the track slider, or can be arranged on all the rotary joints 11. The limiting piece limits the angle according to the actual working condition of the rotary joint 11.

[0037] Embodiment 4 Based on embodiment 3, the rotary resistance between the inlet end and the outlet end of the rotary joint 11 makes the rotary joint 11 remain stationary (not rotate and not move relative to the mechanical arm track 21) when it is not pushed (i.e. the external force in the stacking direction is continuously applied after stacking) or pulled. The external force in the present application refers to the force that drives the rotary joint 11 to move along the mechanical arm track 21, such as the outlet of the mechanical arm body 10 being driven by a moving device to move along the mechanical arm track 21, i.e. the rotary joint 11 at the outlet of the mechanical arm body 10 is affected by the external force, and then more rotary joints 11 are affected, and finally more or even all rotary joints 11 are affected by the external force and move.

[0038] Further, for example, the rotary resistance between the inlet end and the outlet end, and the size of the external force, can be set according to the following standards: when no external force is applied, the rotary resistance makes the rotary joint 11 remain stationary (not rotate and not move relative to the mechanical arm track 21); when the external force is applied, the external force can overcome the rotary resistance of at least one rotary joint 11 to make the rotary joint 11 rotate.

[0039] As a rotating component of the robot body 10 , the inlet and outlet ends of the rotary joint 11 inevitably require seals, bearings or other parts, which are the main source of rotational resistance between the inlet and outlet ends.

[0040] In other embodiments, the rotational resistance of the rotary joint 11 can also be set to be unable to offset the influence of the deadweight of the robot body 10, then the rotary joints 11 will be stacked or unfolded with each other under the influence of their own weight; for example, when the robot rail 21 is set vertically, if there is no external force, a portion of the robot body 10 will be stacked at the bottom of the robot rail 21 (assuming that the sliding resistance of the track slider 22 cannot offset the influence of the deadweight of the robot body 10 stacked above it), and the rotary joint 11 at the bottom will be stacked downward under gravity, which will cause the rotary joint 11 at the top to unfold.

[0041] Example 5 Based on Example 3 or Example 4, Figure 2 As shown, the robot rails 21 are arranged in two rows in parallel, and the inlet end and the outlet end connected at both ends of the rigid pipe 12 slide along the two robot rails 21 respectively through the track sliders 22, so that the rigid pipe 12 forms a transverse connecting rod. A plurality of transverse connecting rods are provided on the robot body 10. The robot rails 21 and the transverse connecting rods form a boundary for limiting the moving range of the rotary joint 11, so that the rotary joint 11 can move within this boundary and fold or unfold, thereby enabling the rotary joint 11 to stack against each other or unfold and pull each other along the length direction of the robot rail 21.

[0042] Example 6 Based on Example 5, Figure 2 As shown, the horizontal connecting rod is perpendicular to the robot rail 21. The rigid pipe 12 is arranged on the robot body 10, with a long and a short interval to form a long connecting rod and a short connecting rod. The horizontal connecting rod is a short connecting rod, and the long connecting rod serves as the hypotenuse, so that the two short connecting rods at its ends are parallel when stacked. In this way, the two spaced rotating joints 11 are stacked together, and the rotating joints 11 between them form a right triangle. The short straight side of the right triangle is parallel to the robot rail 21. This not only reduces the space occupied by the robot body 10 when stacked, but also allows for a longer unfolded length without sacrificing space.

[0043] It is worth mentioning that the long-short setting of the rigid pipe 12 is the setting of the relative length between the rigid pipes 12. The arrangement of the three adjacent rotary joints in a right triangle is determined by the shaft spacing between the three rotary joints. The shaft spacing is calculated by adding the radius of the two rotary joints 11 and the length of the rigid pipe 12. Therefore, according to the shaft spacing and the radius of the rotary joint 11, the specific length of the rigid pipe 12 is determined, and finally the long connecting rod as the hypotenuse can make the two short connecting rods at both ends parallel after stacking.

[0044] Embodiment 7 Based on Embodiment 3 or Embodiment 4, as shown in Figure 3 , the mechanical arm track 21 is arranged in a single row, and the track slider 22 is arranged on every other rotary joint 11 on the mechanical arm body 10. The bearing seat is arranged on the track slider 22, and the bearing seat is sleeved on the rotary joint 11, so that the rotary joint 11 can rotate relative to the track slider 22 when the rotary joint 11 moves along the mechanical arm track 21. In this way, when the rotary joints 11 at intervals are moved along the mechanical arm track 21 through the track sliders, and the unfolding angle of the rotary joint 11 is limited to be less than 180 degrees by the limiting piece, the folding or unfolding of the mechanical arm body 10 along one mechanical arm track 21 can be realized.

[0045] Based on the above, the shaft spacing between the adjacent rotary joints 11 on the mechanical arm body 10 is equal, or the long-short interval setting of the rigid pipe 12 on the mechanical arm body 10 according to Embodiment 6 can reduce the space occupied when the mechanical arm body 10 is stacked.

[0046] Embodiment 8 Based on the above embodiments, as shown in Figure 4 , Figure 5 , Figure 6 , the inlet end and the outlet end of the rotary joint 11 adopt the shaft cylinder matching structure. The shaft cylinder matching structure includes the joint shaft 111 and the joint cylinder 112. The joint cylinder 112 is sleeved on the side wall of the joint shaft 111. The inside of the joint shaft 111 is provided with double channels. The inner wall of the joint cylinder 112 is provided with independent double chambers communicating with the double channels of the joint shaft 111. Therefore, the double-channel conveying function of the rotary joint 11 can be realized.

[0047] In this embodiment, the outlet end can adopt the joint shaft 111 or the joint cylinder 112, and the inlet end can also adopt the joint shaft 111 or the joint cylinder 112. However, a pair of joint shaft 111 and joint cylinder 112 are required for the same rotary joint 11. That is to say, the two ends of the rigid pipe 12 can be connected with two joint shafts 111, or connected with two joint cylinders 112, or connected with one joint shaft 111 and one joint cylinder 112. It is preferred that the two ends of the rigid pipe 12 are connected with one joint shaft 111 and one joint cylinder 112.

[0048] Specifically, the joint shaft 111 is provided with two parallel shaft internal medium passages 101, the joint cylinder 112 is provided with two independent cylinder internal medium chambers 102 along the axial direction of the internal cavity of the joint cylinder 112, the joint shaft 111 is provided with the ports of the two shaft internal medium passages 101 on the side wall inside the joint cylinder 112, and the ports of the two shaft internal medium passages 101 are communicated with the two cylinder internal medium chambers 102 respectively.

[0049] Part of the side wall of the joint shaft 111 is inserted into the joint cylinder 112, and one end of the two shaft internal medium passages 101 is arranged on the part of the side wall, and the part of the side wall is inside the joint cylinder 112; the other part of the side wall of the joint shaft 111 is outside the joint cylinder 112, and the other end of the two shaft internal medium passages 101 is arranged on the part of the side wall, and the part of the side wall is provided with the rigid pipe 12.

[0050] Meanwhile, the rigid pipe 12 adopts a double-channel pipe or two parallel single-channel pipes, the joint cylinder 112 is provided with two through holes as the ports of the cylinder internal medium chambers 102; therefore, one rigid pipe 12 is arranged on the joint shaft 111 and the joint cylinder 112, and the rigid pipe 12 is arranged on the outer wall of the joint shaft 111, so that the double-channel ports of the rigid pipe 12 are communicated with the ports of the two shaft internal medium passages 101 respectively, and the rigid pipe 12 is arranged on the outer wall of the joint cylinder 112, so that the double-channel ports of the rigid pipe 12 are communicated with the ports of the two cylinder internal medium chambers 102 respectively.

[0051] Based on the above, two bearings 103 can be arranged at the two ends of the joint cylinder 112, the inner rings of the two bearings 103 are arranged on the outer wall of the joint shaft 111, the two bearings 103 are fixed on the fixed positions of the outer wall of the joint shaft 111 through the clamping rings, and the two bearings 103 are fixed on the fixed positions of the inner wall of the joint cylinder 112 through the bearing covers 104 and the end covers 105 at the two ends of the joint cylinder 112; the bearing cover 104 penetrates the joint shaft 111, and the end cover 105 blocks one end of the joint cylinder 112 and is adjacent to the end of the joint shaft 111; the two sides of the two cylinder internal medium chambers 102 in the joint cylinder 112 are provided with the sealing rings between the side wall of the joint shaft 111, and the sealing rings can also be arranged between the bearing cover 104 and the end cover 105 and the joint shaft 111.

[0052] Embodiment 9 Based on Embodiment 8, as shown in Figure 5 , Figure 7 the limiting member includes a first stopper 106 and a second stopper 107, the first stopper 106 is arranged on the end cover 105 of the joint cylinder 112, the second stopper 107 is arranged on the end of the joint shaft 111 inserted into the joint cylinder 112, and the first stopper 106 and the second stopper 107 can abut after rotation.

[0053] Further, as shown in Figure 7As shown, the first stop 106 adopts a triangular stopper, which is an isosceles triangle. The two first stops 106 are symmetrically arranged with the axis center of the rotary joint 11, the base of the triangle is arranged outward, and the waist lines are arranged in pairs; the second stop 107 adopts a strip stopper, the second stop 107 is arranged between the two first stops 106, and rotates between the two first stops 106, the axis of the rotary joint 11 passes through the second stop 107, and the second stop 107 is arranged with the axis center of the rotary joint 11; after the first stop 107 rotates, the side walls at both ends thereof will conflict with the waist lines of the two first stops 106, and thus the rotation will be stopped. At this time, when the overall rotation angle of the second stop 107 is less than 180 degrees, the other side wall at both ends thereof will conflict with the other waist lines of the two first stops 106, and thus the rotation will also be stopped; this can limit the expansion angle of the rotary joint 11, and also limit the angle when the rotary joint 11 is stacked, so that the rotary joint 11 is prevented from excessive rotation when it is rotated to the angle that should conflict but does not conflict.

[0054] Example 10 like Figure 1 As shown, the air-cooling island multi-media pulse cleaning system of this embodiment includes a vertical frame 20, a spray trolley 30 and the multi-joint robotic arm pipeline described in the above embodiment. The spray trolley 30 is raised and lowered on the vertical frame 20, the inlet of the robotic arm body 10 is installed at the bottom of the vertical frame 20, and the outlet of the robotic arm body 10 is raised and lowered with the spray trolley 30 to provide cleaning medium for the spray trolley 30. The robotic arm track 21 is installed on the vertical frame 20, and the spray trolley 30 is provided with a pulse generator.

[0055] The pulse transmitter of the jet cart 30 requires the use of two pathways, a water path and an air path. A dual-pathway robotic arm body 10 or two single-pathway robotic arm bodies 10 can be used to simultaneously provide the required water path and air path for the pulse generator of the jet cart 30 .

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solutions of the present invention. They should all be included in the scope of the technical solutions claimed for protection by the present invention.

Claims

1. A multi-joint robot arm pipe, characterized by, The mechanical arm body (10) is used for transmitting medium between its two ends, a plurality of rotation joints (11) with parallel rotation axes are installed in series on the mechanical arm body (10), when two rotation joints (11) are spaced apart and relative movement is generated, the two rotation joints (11) can be rotated around the rotation joint (11) between the two rotation joints to an angle of mutual interference stacking or mutual expansion pulling; the track slider (22) is arranged on the mechanical arm track (21), at least one rotation joint (11) moves along the mechanical arm track (21) through the track slider (22), so that the rotation joint (11) is stacked or pulled along the length direction of the mechanical arm track (21).

2. The multi-joint robotic arm tube of claim 1, wherein, The adjacent rotation joints (11) are connected by rigid pipes (12), and the length directions of the two rotation joints (11) connected at both ends of the rigid pipe (12) extend in the same direction.

3. The multi-joint robotic arm tube of claim 2, wherein, The rotation joint (11) includes coaxially rotating inlet end and outlet end, when the rotation joint (11) is provided with a limiting piece between the inlet end and the outlet end, the expansion angle of the two rotation joints (11) adjacent to the rotation joint (11) is less than 180 degrees.

4. The multi-joint robotic arm tube of claim 3, wherein, The mechanical arm track (21) is arranged in double rows in parallel, the inlet end and the outlet end connected at both ends of at least one rigid pipe (12) slide along the two mechanical arm tracks (21) through the track slider (22) respectively, so that the rigid pipe (12) forms a transverse connecting rod, and the mechanical arm track (21) and the transverse connecting rod form a boundary for limiting the movement range of the rotation joint (11).

5. The multi-joint robotic arm tube of claim 4, wherein, The transverse connecting rod is perpendicular to the mechanical arm track (21), the rigid pipes (12) are arranged in long and short intervals on the mechanical arm body (10) to form long connecting rods and short connecting rods, the transverse connecting rod belongs to the short connecting rod, and the long connecting rod is used as a hypotenuse to make two short connecting rods on both sides of the long connecting rod parallel after stacking.

6. The multi-joint robotic arm tube of claim 3, wherein, The mechanical arm track (21) is arranged in a single row, and the track slider (22) is arranged on every other rotation joint (11) on the mechanical arm body (10), a bearing seat is arranged on the track slider (22), the bearing seat is sleeved on the rotation joint (11), so that the rotation joint (11) can rotate relative to the track slider (22) when the rotation joint (11) moves along the mechanical arm track (21).

7. The multi-joint robotic arm tube of claim 3, wherein, The import end and the export end adopt a shaft cylinder matching structure, the shaft cylinder matching structure comprises a joint shaft (111) and a joint cylinder (112), the joint cylinder (112) is sleeved on the side wall of the joint shaft (111), two parallel shaft inner medium passages (101) are arranged in the joint shaft (111), two independent cylinder inner medium chambers (102) are arranged in the inner cavity of the joint cylinder (112) along the axial direction, the joint shaft (111) is provided with the ports of the two shaft inner medium passages (101) on the side wall in the joint cylinder (112), and the ports of the two shaft inner medium passages (101) are communicated with the two cylinder inner medium chambers (102) respectively.

8. The multi-joint robotic arm pipe of claim 7, wherein, The limiting piece comprises a first stopper and a second stopper, the joint cylinder (112) is provided with an end cover, the first stopper is arranged on the end cover, the second stopper is arranged on the end of the joint shaft (111) inserted into the joint cylinder (112), and the first stopper and the second stopper can abut after rotation.

9. The multi-joint robotic arm pipe of claim 7, wherein, The rigid pipeline adopts a double-channel pipeline or two parallel single-channel pipelines, the joint shaft (111) is provided with the ports of the two shaft inner medium passages (101) on the side wall outside the joint cylinder (112), the rigid pipeline (12) is arranged on the outer wall of the joint shaft (111), the double-channel ports of the rigid pipeline (12) are communicated with the ports of the two shaft inner medium passages (101) respectively, the side wall of the joint cylinder (112) is provided with two through holes as the ports of the cylinder inner medium chambers (102), and the rigid pipeline (12) is arranged on the outer wall of the joint cylinder (112). The double-channel ports of the rigid pipeline (12) are communicated with the ports of the two cylinder inner medium chambers (102) respectively.

10. An air-cooled island multi-medium pulse cleaning system, characterized in that, The vertical rack (20), the spraying trolley (30) and the multi-joint mechanical arm pipeline as claimed in any one of claims 1-9 are comprised, the spraying trolley (30) is arranged on the vertical rack (20) in a lifting mode, the import of the mechanical arm body (10) is arranged at the bottom of the vertical rack (20), the export of the mechanical arm body (10) is lifted along with the spraying trolley (30) to provide cleaning medium for the spraying trolley (30), the mechanical arm track (21) is arranged on the vertical rack (20), and the pulse generator is arranged on the spraying trolley (30).

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