Mechanical arm with cleaning function and cleaning robot

Abstract

The invention belongs to the technical field of cleaning robots, and discloses a mechanical arm with a cleaning function and a cleaning robot, and the tail end of the mechanical arm with multiple degrees of freedom is provided with a cleaning mechanism; the cleaning mechanism comprises a first liquid storage tank and a second liquid storage tank which are mutually independent, a liquid outlet pipe is communicated between the first liquid storage tank and the second liquid storage tank, a conversion assembly is rotationally connected to the liquid outlet pipe, a plurality of cleaning assemblies are arranged on the conversion assembly, and the cleaning assemblies are in transmission connection and communicated with the driving assembly; the cleaning assembly comprises a cleaning shaft rotationally connected to the conversion assembly, one end of the cleaning shaft is in transmission connection with the driving assembly, the cleaning shaft communicates with an inner cavity of the liquid outlet pipe, and a cleaning head used for cleaning is arranged at the end, away from the liquid outlet pipe, of the cleaning shaft. The cleaning position can be flexibly adjusted, dead corners are reduced, the cleaning range and flexibility are improved, various cleaning requirements can be met by switching the cleaning heads, the applicability to different cleaning targets is enhanced, and the cleaning efficiency and the cleaning effect are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning robots, in particular to a mechanical arm with cleaning function and a cleaning robot. BACKGROUND

[0002] The mechanical arm is an important component of automatic cleaning equipment, and its flexibility and application range directly affect the cleaning effect and efficiency. However, the traditional mechanical arm often has problems such as insufficient flexibility, many dead angles, and limited cleaning range during cleaning. In addition, the traditional cleaning equipment can usually only use a single cleaning liquid, which cannot meet the diversified cleaning needs, which not only limits the applicability of cleaning, but also affects the cleaning effect.

[0003] In order to solve the above problems, some improved mechanical arm cleaning equipment has appeared in the market. These devices increase the degrees of freedom of the mechanical arm to improve its flexibility, thereby reducing the dead angle and expanding the cleaning range to some extent. However, these devices still have certain limitations in the selection and use of cleaning liquid, and can usually only use one kind of cleaning liquid, which cannot meet the different needs of different cleaning targets for cleaning liquid. In addition, although some cleaning equipment tries to adapt to different cleaning needs by replacing the cleaning head, this way is cumbersome and inefficient, which is not conducive to practical application. At the same time, these devices also have some problems in the delivery and spraying of cleaning liquid, such as poor flow of cleaning liquid and uneven spraying, which will affect the cleaning effect.

[0004] Therefore, the present application designs a mechanical arm with cleaning function and a cleaning robot to solve the above technical problems. SUMMARY

[0005] The purpose of the present application is to provide a mechanical arm with cleaning function and a cleaning robot to solve the problems existing in the prior art, which can flexibly adjust the cleaning position, reduce the dead angle, improve the cleaning range and flexibility, and can adapt to diversified cleaning needs, enhance the applicability to different cleaning targets, improve the cleaning efficiency and cleaning effect.

[0006] To achieve the above purpose, the present application provides the following scheme: the present application provides a mechanical arm with cleaning function, which has multiple degrees of freedom, and the end of the mechanical arm is provided with a cleaning mechanism with cleaning function;

[0007] The cleaning mechanism includes a first liquid storage tank and a second liquid storage tank which are independently arranged at the end of the mechanical arm, a liquid outlet pipe is communicated between the first liquid storage tank and the second liquid storage tank, a conversion assembly is rotatably connected on the liquid outlet pipe, a plurality of cleaning assemblies are rotatably connected on the conversion assembly at equal intervals in the circumferential direction, and the cleaning assemblies are in transmission connection and communication with a driving assembly arranged at the end of the mechanical arm.

[0008] The cleaning assembly comprises a cleaning shaft rotatably connected to the conversion assembly, one end of the cleaning shaft is in transmission connection with the driving assembly, the cleaning shaft is in communication with the inner cavity of the liquid outlet pipe, and the end of the cleaning shaft away from the liquid outlet pipe is provided with a cleaning head for cleaning.

[0009] Preferably, the cleaning head comprises a cleaning plate fixedly connected to the cleaning shaft, a flexible cleaning layer is fixedly connected to the end of the cleaning plate away from the cleaning shaft, a cleaning cavity in communication with the cleaning shaft is formed in the cleaning plate, a plurality of liquid outlet holes are formed in the side of the cleaning cavity away from the cleaning shaft, and the liquid flowing out of the liquid outlet holes is soaked in the cleaning layer.

[0010] Preferably, the driving assembly comprises a driving motor, a driving shaft is in transmission connection with the output end of the driving motor, the driving shaft penetrates through the liquid outlet pipe and is rotatably connected to the liquid outlet pipe, and the end of the driving shaft away from the driving motor is correspondingly arranged and detachably in transmission connection with the cleaning shaft.

[0011] Preferably, the part of the driving shaft located in the liquid outlet pipe penetrates through and is provided with a plurality of liquid inlet holes, the liquid inlet holes are in communication with the cavity in the driving shaft, and the liquid in the liquid outlet pipe flows into the cleaning cavity.

[0012] Preferably, the end of the driving shaft away from the driving motor is sleeved with a transmission sleeve, the transmission sleeve exceeds the end of the driving shaft and is sealingly sleeved with the end of the cleaning shaft to realize liquid communication, and the driving shaft is in transmission connection with the cleaning shaft through the transmission sleeve.

[0013] Preferably, the conversion assembly comprises a driving ring rotatably connected to the liquid outlet pipe, a conversion ring is coaxially arranged outside the driving ring, and a plurality of transmission rods are fixedly connected between the outer wall of the driving ring and the inner wall of the conversion ring at equal intervals in the circumferential direction.

[0014] Preferably, the driving ring comprises a fixed ring sleeved and fixedly connected to the liquid outlet pipe, a movable ring is rotatably arranged on the fixed ring, the transmission rods are fixedly connected to the outer wall of the movable ring, a conversion motor is arranged on the liquid outlet pipe, and the output end of the conversion motor is in transmission connection with the movable ring.

[0015] Preferably, the first isolation plate and the second isolation plate are arranged in the liquid outlet pipe, the first isolation plate and the second isolation plate form a transfer cavity between the liquid outlet pipe, the driving shaft penetrates through the transfer cavity, and the transfer cavity is in communication with the cavity in the driving shaft through the liquid inlet hole.

[0016] Preferably, the first isolation plate and the second isolation plate are respectively provided with control valves, which control the opening and closing of the first liquid storage tank and the second liquid storage tank and the transfer cavity.

[0017] The application further discloses a cleaning robot, comprising a movable base, and the mechanical arm is installed on the base.

[0018] Compared with the prior art, the application has the following advantages and technical effects: the application discloses a mechanical arm and a cleaning robot with a cleaning function, the mechanical arm has multiple degrees of freedom and can be flexibly moved to a position that needs to be cleaned, so that the cleaning dead angle is reduced, and the cleaning flexibility and range are greatly improved; the end of the mechanical arm is provided with a cleaning mechanism with a cleaning function, which is used for cleaning a structure that needs to be cleaned without a dead angle; the cleaning mechanism comprises a first liquid storage tank and a second liquid storage tank that are independent of each other, so that different cleaning liquids can be stored according to different cleaning requirements, the cleaning diversity and applicability are increased, and the cleaning process can be conveniently completed by filling the cleaning liquid and the clean water respectively; the first liquid storage tank and the second liquid storage tank are connected in communication through a liquid outlet pipe, a conversion assembly is rotatably connected to the liquid outlet pipe, a plurality of cleaning assemblies are rotatably connected to the conversion assembly at equal intervals in the circumferential direction, the cleaning assemblies are in transmission connection with a power assembly arranged at the end of the mechanical arm and are in communication with the liquid outlet pipe at the same time, so that in a cleaning process, different cleaning assemblies can be selected to work by rotating the conversion assembly, or a plurality of cleaning assemblies can be started at the same time to clean a larger range, and the cleaning efficiency and effect are greatly improved; each cleaning assembly specifically comprises a cleaning shaft that is rotatably connected to the conversion assembly, one end of the cleaning shaft is in transmission connection with the power assembly to ensure that the cleaning shaft can normally rotate, and the inside of the cleaning shaft is in communication with the inner cavity of the liquid outlet pipe, so that the cleaning liquid can flow from the liquid storage tank to the cleaning shaft through the liquid outlet pipe, and the cleaning liquid can smoothly flow to the cleaning head and be sprayed onto the surface that needs to be cleaned through the cleaning head; a cleaning head is arranged at the end of the cleaning shaft that is away from the liquid outlet pipe, and is used for spraying the cleaning liquid onto the surface that needs to be cleaned and cleaning the surface, so that the cleaning is more targeted and effective, and the cleaning is more thorough and clean.

[0019] The application can flexibly adjust the cleaning position, reduce the dead angle, improve the cleaning range and flexibility, adapt to various cleaning requirements through the cleaning head switching, enhance the applicability to different cleaning targets, and improve the cleaning efficiency and cleaning effect. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which form a part of the present application, are used to provide further understanding of the present application, and serve as an explanation of the present application, and do not constitute improper limitations to the present application. In the drawings:

[0021] Figure 1This is an axial view of the cleaning robot of the present invention;

[0022] Figure 2 This is an axial view of the cleaning mechanism of the present invention;

[0023] Figure 3 This is a schematic cross-sectional view of the conversion component of the present invention;

[0024] Figure 4 This is a schematic diagram of the driving ring structure of the present invention;

[0025] Figure 5 This is a schematic cross-sectional view of the cleaning component of the present invention;

[0026] Figure 6 For the present invention Figure 5 A magnified view of part A in the image;

[0027] Figure 7 This is a schematic diagram of the switching component structure of the present invention;

[0028] Figure 8 For the present invention Figure 7 A magnified view of part B in the image;

[0029] Figure 9 For the present invention Figure 7 A magnified view of part C;

[0030] In the diagram: 1. Robotic arm; 2. First liquid storage tank; 3. Second liquid storage tank; 4. Discharge pipe; 5. Cleaning shaft; 6. Cleaning head; 7. Cleaning plate; 8. Cleaning layer; 9. Cleaning chamber; 10. Discharge hole; 11. Drive motor; 12. Drive shaft; 13. Inlet hole; 14. Transmission sleeve; 15. Elastic element; 16. Drive ring; 17. Conversion ring; 18. Transmission rod; 19. Fixed ring; 20. Movable ring; 21. Conversion motor; 22. Driven gear ring; 23. Drive gear; 24. First isolation plate; 25. Second isolation plate; 26. Transfer chamber; 27. Control valve; 28. Base; 29. ​​Fixed seat; 30. First movable arm; 31. Second movable arm; 32. Rotary telescopic arm; 33. Clearance groove; 34. Storage tank. Detailed Implementation

[0031] 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. 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.

[0032] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Referring to Figures 1 to 9 As shown in the drawings, the embodiment provides a mechanical arm with a cleaning function. The mechanical arm 1 has multiple degrees of freedom. The end of the mechanical arm 1 is provided with a cleaning mechanism with a cleaning function.

[0034] The cleaning mechanism comprises a first liquid storage tank 2 and a second liquid storage tank 3 which are independently arranged at the end of the mechanical arm 1. A liquid outlet pipe 4 is in communication between the first liquid storage tank 2 and the second liquid storage tank 3. A conversion assembly is rotatably connected to the liquid outlet pipe 4. A plurality of cleaning assemblies are rotatably connected to the conversion assembly at equal intervals in the circumferential direction. The cleaning assemblies are in transmission connection and communication with a driving assembly arranged at the end of the mechanical arm 1.

[0035] The cleaning assembly comprises a cleaning shaft 5 which is rotatably connected to the conversion assembly. One end of the cleaning shaft 5 is in transmission connection with the driving assembly. The cleaning shaft 5 is in communication with the inner cavity of the liquid outlet pipe 4. The end of the cleaning shaft 5 away from the liquid outlet pipe 4 is provided with a cleaning head 6 for cleaning.

[0036] The application discloses a mechanical arm 1 with a cleaning function and a cleaning robot, and belongs to the field of cleaning robots.

[0037] Further optimization scheme, the cleaning head 6 includes the cleaning plate 7 that is fixed with the cleaning shaft 5, and the flexible cleaning layer 8 is fixed with the cleaning plate 7 away from the cleaning shaft 5; the cleaning cavity 9 that communicates with the cleaning shaft 5 is formed in the cleaning plate 7, and a plurality of liquid outlet holes 10 are formed in the side of the cleaning cavity 9 away from the cleaning shaft 5; the liquid flowing out of the liquid outlet holes 10 is immersed in the cleaning layer 8. The cleaning plate 7 and the cleaning layer 8 are the main structures of the cleaning head 6, can rotate under the driving of the cleaning shaft 5, and the flexible cleaning layer 8 can better adapt to the shape of the surface to be cleaned, improve the cleaning effect and reduce the dead angle of cleaning; the design of the cleaning cavity 9 and the liquid outlet hole 10 ensures that the cleaning liquid can flow smoothly onto the cleaning layer 8, so that the cleaning liquid is evenly applied on the parts to be cleaned, and the cleaning effect is improved.

[0038] In one embodiment of the present application, the shape and size of the cleaning layer 8 can be prepared according to the requirements, and the cleaning process can be switched to meet different cleaning requirements, thereby improving the cleaning efficiency and cleaning effect.

[0039] Further optimization scheme, the drive assembly includes a drive motor 11, the output end of the drive motor 11 is drivingly connected with a drive shaft 12, the drive shaft 12 penetrates the liquid outlet pipe 4 and is rotatably connected with the liquid outlet pipe 4;The end of the drive shaft 12 away from the drive motor 11 corresponds to the setting of the cleaning shaft 5 and can be detachably driven. The drive motor 11 as a power source can drive the cleaning shaft 5 to rotate through the drive shaft 12, and then drive the cleaning head 6 to rotate and clean, meet the cleaning requirement;And the detachable transmission between the drive shaft 12 and the cleaning shaft 5 can facilitate the switching of the cleaning shaft 5, and then the corresponding cleaning shaft 5 can be driven to rotate by the drive shaft 12, which facilitates the replacement and maintenance of the cleaning assembly.

[0040] Further optimization scheme, the part of the drive shaft 12 located in the liquid outlet pipe 4 penetrates the beginning of a plurality of liquid inlet holes 13, the liquid inlet holes 13 are communicated with the cavity in the drive shaft 12, so that the liquid in the liquid outlet pipe 4 flows into the cleaning cavity 9. When the drive shaft 12 penetrates the liquid outlet pipe 4, the liquid in the liquid outlet pipe 4 enters the inner cavity of the drive shaft 12 through the liquid inlet hole 13, and then flows along the drive shaft 12 and the cleaning shaft 5 until it enters the cleaning cavity 9, which ensures that the cleaning liquid can flow smoothly on the cleaning head 6 and will not affect the rotation of the cleaning head 6, and improves the cleaning effect.

[0041] Further optimization scheme, the end of the drive shaft 12 away from the drive motor 11 is sleeved with a transmission sleeve 14, the transmission sleeve 14 exceeds the end of the drive shaft 12 and is sealingly sleeved with the end of the cleaning shaft 5, realizing liquid communication, and the drive shaft 12 is drivingly connected with the cleaning shaft 5 through the transmission sleeve 14. The transmission sleeve 14 can be controlled to slide on the drive shaft 12 by the elastic member 15;A gap is provided between the cleaning shaft 5 and the drive shaft 12, when the cleaning rod needs to be switched, the transmission sleeve 14 slides away from the cleaning shaft 5, so that the transmission sleeve 14 is separated from the cleaning shaft 5, and the drive shaft 12 is disconnected with the cleaning shaft 5;And after switching, the elastic member 15 pushes the sliding sleeve to slide towards the cleaning shaft 5, so that the cleaning shaft 5 and the drive shaft 12 complete transmission and communication, facilitating the flow of cleaning liquid and the rotation of the cleaning head 6.

[0042] In one embodiment of the present application, the inner hole of the transmission sleeve 14 is designed as a prism, and the moving position of the transmission sleeve 14 on the end of the drive shaft 12 and the cleaning shaft 5 is also designed as a matching prism, which facilitates the transmission during communication, ensures the smooth flow of cleaning liquid, and also ensures the stability of the transmission, and facilitates the switching.

[0043] The scheme is further optimized. The conversion component includes a drive ring 16 rotatably connected to the outlet pipe 4. A conversion ring 17 is coaxially arranged outside the drive ring 16. Several transmission rods 18 are circumferentially and equally spaced between the outer wall of the drive ring 16 and the inner wall of the conversion ring 17. The drive ring 16 drives the conversion ring 17 to rotate through the transmission rods 18, enabling the conversion component to rotate stably. When the conversion ring 17 rotates, it can drive the cleaning component and the drive component to achieve synchronous switching or group control. The structure is compact, the rotation is smooth, and the conversion efficiency is improved.

[0044] Further optimizing the design, the drive ring 16 includes a fixed ring 19 sleeved and fixed to the outlet pipe 4, a movable ring 20 rotatably mounted on the fixed ring 19, a transmission rod 18 fixed to the outer wall of the movable ring 20, and a conversion motor 21 mounted on the outlet pipe 4. The output end of the conversion motor 21 is connected to the movable ring 20 for transmission. The drive ring 16 is fixed to the outlet pipe 4 by the fixed ring 19, and the movable ring 20 rotates outside the fixed ring 19. A driven gear ring 22 is fixed to the top of the movable ring 20, and the driven gear ring 22 meshes with a drive gear 23 mounted on the drive end of the conversion motor 21. The conversion motor 21 drives the movable ring 20 to rotate, which in turn drives the conversion ring 17 to rotate, thereby achieving the switching of the cleaning components. This makes the rotation of the conversion components more stable and also facilitates the installation and transmission of the conversion motor 21.

[0045] The design is further optimized by installing a first isolation plate 24 and a second isolation plate 25 inside the outlet pipe 4. These two isolation plates form a transfer chamber 26 between the outlet pipe 4. The drive shaft 12 passes through the transfer chamber 26, which is connected to the inner cavity of the drive shaft 12 via an inlet hole 13. Control valves 27 are respectively installed on the first isolation plate 24 and the second isolation plate 25. These valves control the connection between the first and second storage tanks 2 and the transfer chamber 26. The transfer chamber 26, formed by the first and second isolation plates 24 and 25 in the outlet pipe 4, allows the control valves 27 to control the connection between the first and second storage tanks 2 and the transfer chamber 26, enabling the cleaning fluid to transfer and be distributed within it. This avoids direct impact on the drive shaft 12, reduces turbulence, and further ensures smooth flow of the cleaning fluid. Furthermore, the cleaning fluid from either the first or second storage chamber can be selected as needed, preventing cross-contamination, improving cleaning accuracy, and enhancing the versatility and flexibility of the cleaning process.

[0046] The present invention also discloses a cleaning robot, including a walkable base 28, on which a robotic arm 1 is mounted. The robotic arm 1 mounted on the walkable base 28 constitutes a flexibly movable cleaning robot, making it more flexible.

[0047] In one embodiment of the present application, the mechanical arm 1 comprises a fixed seat 29 fixed on the base 28, a first movable arm 30 and a second movable arm 31 are sequentially movably connected on the fixed seat 29, a rotating telescopic arm 32 with telescopic and rotating functions is arranged on the second movable arm 31, and the cleaning mechanism is installed on the free end of the rotating telescopic arm 32, so that the cleaning mechanism can move in multiple degrees of freedom, different angles of cleaning can be realized for different orientations, and the cleaning efficiency and cleaning effect are improved.

[0048] In one embodiment of the present application, the fixed seat 29 is provided with a storage box 34, a plurality of independent cavities are arranged in the storage box 34 and are in communication with the first liquid storage tank 2 and the second liquid storage tank 3, so that the first liquid storage tank 2 and the second liquid storage tank 3 can be conveniently supplemented with liquid.

[0049] In one embodiment of the present application, the storage box 34 is connected with the first liquid storage tank 2 and the second liquid storage tank 3 through a flexible pipe, and the flexible pipe is arranged along the mechanical arm 1 and can be kept connected when the mechanical arm 1 is adjusted in different degrees of freedom.

[0050] In one embodiment of the present application, the free end of the rotating telescopic arm 32 is fixedly connected with a connecting rod, the connecting rod is provided with a clearance groove 33, and the clearance groove 33 is arranged correspondingly with the cleaning assembly to avoid interference with the rotating telescopic arm 32 when the cleaning assembly is switched.

[0051] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0052] The above-described embodiments are only preferred modes of the present application and do not limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A mechanical arm with a cleaning function, characterized by: The mechanical arm (1) has multiple degrees of freedom, and the end of the mechanical arm (1) is provided with a cleaning mechanism with a cleaning function; The cleaning mechanism comprises a first liquid storage tank (2) and a second liquid storage tank (3) which are independently arranged at the end of the mechanical arm (1), and a liquid outlet pipe (4) is arranged in communication between the first liquid storage tank (2) and the second liquid storage tank (3), a conversion assembly is rotatably connected to the liquid outlet pipe (4), a plurality of cleaning assemblies are rotatably connected to the conversion assembly in a circumferential direction at equal intervals, and the cleaning assemblies are in transmission connection and communication with a driving assembly arranged at the end of the mechanical arm (1). The cleaning assembly comprises a cleaning shaft (5) rotatably connected to the conversion assembly, one end of the cleaning shaft (5) is in transmission connection with the driving assembly, the cleaning shaft (5) is in communication with the inner cavity of the liquid outlet pipe (4), and a cleaning head (6) for cleaning is arranged at the end of the cleaning shaft (5) away from the liquid outlet pipe (4).

2. The mechanical arm with a cleaning function according to claim 1, characterized in that: The cleaning head (6) comprises a cleaning plate (7) fixedly connected to the cleaning shaft (5), a flexible cleaning layer (8) is fixedly connected to one end of the cleaning plate (7) away from the cleaning shaft (5); a cleaning cavity (9) in communication with the cleaning shaft (5) is formed in the cleaning plate (7), a plurality of liquid outlet holes (10) are formed in the side of the cleaning cavity (9) away from the cleaning shaft (5), and the liquid flowing out of the liquid outlet holes (10) is impregnated in the cleaning layer (8).

3. The mechanical arm with cleaning function according to claim 2, characterized in that: The driving assembly comprises a driving motor (11), an output end of the driving motor (11) is in transmission connection with a driving shaft (12), the driving shaft (12) penetrates through and is rotatably connected to the liquid outlet pipe (4), and the end of the driving shaft (12) away from the driving motor (11) is correspondingly arranged in detachable transmission with the cleaning shaft (5).

4. The mechanical arm with cleaning function according to claim 3, characterized in that: The part of the driving shaft (12) located in the liquid outlet pipe (4) penetrates through and is provided with a plurality of liquid inlet holes (13), the liquid inlet holes (13) are in communication with the cavity in the driving shaft (12), so that the liquid in the liquid outlet pipe (4) flows into the cleaning cavity (9).

5. The mechanical arm with cleaning function according to claim 3, characterized in that: The end of the driving shaft (12) away from the driving motor (11) is sleeved with a transmission sleeve (14), the transmission sleeve (14) exceeds the end of the driving shaft (12) and is sealingly sleeved with the end of the cleaning shaft (5) to realize liquid communication, and the driving shaft (12) is in transmission connection with the cleaning shaft (5) through the transmission sleeve (14). 6.The mechanical arm with a cleaning function according to claim 1, wherein: The conversion assembly comprises a driving ring (16) rotatably connected to the liquid outlet pipe (4), a conversion ring (17) is coaxially arranged outside the driving ring (16), and a plurality of transmission rods (18) are fixedly connected between the outer wall of the driving ring (16) and the inner wall of the conversion ring (17) in a circumferential direction at equal intervals.

7. The mechanical arm with cleaning function according to claim 6, characterized in that: The driving ring (16) comprises a fixed ring (19) fixedly connected to the liquid outlet pipe (4), a movable ring (20) is rotatably arranged on the fixed ring (19), the transmission rod (18) is fixedly connected to an outer wall of the movable ring (20), a conversion motor (21) is arranged on the liquid outlet pipe (4), and an output end of the conversion motor (21) is in transmission connection with the movable ring (20).

8. The mechanical arm with cleaning function according to claim 4, characterized in that: The liquid outlet pipe (4) is provided with a first isolation plate (24) and a second isolation plate (25), the first isolation plate (24) and the second isolation plate (25) form a transfer cavity (26) between the liquid outlet pipe (4), the driving shaft (12) penetrates through the transfer cavity (26), and the transfer cavity (26) is in communication with an inner cavity of the driving shaft (12) through the liquid inlet hole (13).

9. The mechanical arm with cleaning function according to claim 8, characterized in that: The first isolation plate (24) and the second isolation plate (25) are respectively provided with control valves (27), and the control valves (27) control the on-off of the first liquid storage tank (2) and the second liquid storage tank (3) and the transfer cavity (26).

10. A cleaning robot characterized by: The mechanical arm with the cleaning function as claimed in any one of claims 1-9 is mounted on the base (28).

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