A complex working condition cargo cleaning manipulator and a cargo cleaning device

Abstract

The present application relates to the technical field of cleaning mechanical arm, especially to a complex working condition cleaning mechanical arm and a cleaning device. The complex working condition cleaning mechanical arm comprises a rotating platform, a vibrating hammer mechanism, a shovel rod, a blowing mechanism and a multi-degree-of-freedom mechanical arm body. A machine base is arranged on a walking mechanism, and the rotating platform is rotatably arranged above the machine base. The rotating platform can swing left and right relative to the machine base on the horizontal plane under the action of swing driving. The first end of the mechanical arm body is hingedly connected to the rotating platform, and the tail end is rotatably connected to the rear end of a secondary arm. The first end of the secondary arm is connected with the vibrating hammer mechanism, the blowing mechanism and the shovel rod. Through the cooperation of the vibrating hammer mechanism, the blowing mechanism and the shovel rod, and the coordinated movement of the multi-degree-of-freedom mechanical arm body, the complex working condition cleaning operation can be realized by the vibration, shovel and blowing processes, the cleaning efficiency is improved, the labor intensity is reduced, and the operation risk is reduced.

Description

Technical Field

[0001] This invention relates to the field of cabin cleaning robotic arm technology, and in particular to a cabin cleaning robotic arm and cabin cleaning device for complex working conditions. Background Technology

[0002] Currently, dry bulk cargo hold cleaning operations mainly employ a combination of manual labor and engineering machinery (excavators, loaders, rakes, etc.). Most residual cargo is piled up around the bottom of the hold, and cleaning primarily involves using engineering machinery to "scrape, push, and pile" the cargo. A smaller portion of residual cargo is located in the hold walls, between the keel ribs, and on ladders, making cleaning more complex and mainly requiring manual "scraping, vibrating, sweeping, and shoveling." Manual cleaning suffers from low efficiency, and the high temperature and dust environment poses significant safety risks. Summary of the Invention

[0003] (a) The problem that this invention aims to solve is that manual cleaning of cabins is inefficient, has a poor working environment, and poses high safety risks.

[0004] (II) Technical Solution To address the aforementioned technical problems, the present invention provides a complex-condition cleaning robot arm, which is mounted on a walking mechanism; the complex-condition cleaning robot arm includes: a secondary arm, a turntable, a vibratory hammer mechanism, a shovel, an air blowing mechanism, and a multi-degree-of-freedom robot arm body; The walking mechanism is equipped with a base, and a turntable is rotatably mounted on top of the base. The turntable can swing left and right relative to the base on a horizontal plane under the action of a swing drive. The first end of the main body of the robotic arm is hinged to the turntable, and the last end is rotatably connected to the rear end of the auxiliary arm. The first end of the auxiliary arm is connected to the vibrating hammer mechanism, the air blowing mechanism, and the shovel. The vibratory hammer mechanism includes a first drive unit, a turntable, a hammer body, a first spur gear, and a transmission assembly; The first driving unit is connected to the turntable and drives the turntable to rotate. The turntable is hollow to form a receiving cavity. The first spur gear is disposed within the receiving cavity and is fixedly disposed within the receiving cavity so that the first spur gear can remain stationary when the turntable rotates. The hammer body is located outside the receiving cavity. The hammer body is conical and has a helical structure on its outer surface. Multiple hammer bodies are configured, and the transmission assembly corresponds one-to-one with each hammer body. Each hammer body is spaced apart along the circumference of the turntable. The transmission assembly includes a second spur gear and a first bevel gear. The wheel and the second bevel gear, the second spur gear, the first bevel gear and the second bevel gear are rotatably disposed in the accommodating cavity, and when the turntable rotates, the second spur gear, the first bevel gear and the second bevel gear can rotate synchronously with the turntable. The second spur gear meshes with the first spur gear, and each of the second spur gears is spaced apart along the circumference of the first spur gear. The first bevel gear and the second spur gear are coaxially disposed, and the second bevel gear meshes with the first bevel gear. The hammer body is drivenly connected to the corresponding second bevel gear so that it can rotate synchronously with the second bevel gear.

[0005] Optionally, the vibratory hammer mechanism further includes connecting components that correspond one-to-one with the hammer body; The turntable is provided with hollow columns at circumferential intervals that correspond one-to-one with the hammer body, and one end of each hollow column is connected to the receiving cavity; the inner wall of each hollow column is provided with a closed-loop spiral groove. The connecting assembly includes a sliding shaft and a fixed sleeve; the fixed sleeve passes through the corresponding hollow column and one end is fixedly connected to the corresponding second bevel gear and coaxially arranged; the fixed sleeve has an elongated sliding hole extending along the axial direction of the fixed sleeve; one end of the sliding shaft is axially slidably fitted inside the fixed sleeve, and the other end extends out of the corresponding hollow column away from the receiving cavity and is fixedly connected to the corresponding hammer body; the outer surface of the sliding shaft is provided with a protrusion, the protrusion passes through the sliding hole and extends into the corresponding spiral groove, and the protrusion is slidably fitted with the corresponding spiral groove.

[0006] Optionally, the vibratory hammer mechanism may further include a self-locking rotating seat; The rotating seat and the hollow column are arranged in a one-to-one correspondence; the rotating seat is disposed on the turntable, and one end of the hollow column is fixedly disposed on the corresponding rotating seat. The rotating seat is configured to enable the hollow column to rotate around its axis.

[0007] Optionally, a first labyrinth sealing structure is provided between the hollow column and the fixed sleeve.

[0008] Optionally, it may also include an air supply mechanism; the air supply mechanism is used to supply air to the air blowing mechanism; The gas supply mechanism is also connected to the accommodating cavity, and the gas supply mechanism can supply gas into the accommodating cavity, and the gas can flow out through the first labyrinth sealing structure between the hollow column and the fixed sleeve.

[0009] Optionally, a sliding seal structure is provided between the fixed sleeve and the sliding shaft.

[0010] Optionally, the first drive unit is a motor, and the turntable is fixedly mounted on the output shaft of the first drive unit; The output shaft of the first drive unit is a hollow shaft. The complex working condition cleaning robot arm also includes a fixed shaft. The fixed shaft passes through the output shaft of the first drive unit through a bearing, and one end extends into the accommodating cavity. The first spur gear is fixedly mounted on the fixed shaft.

[0011] Optionally, the turntable includes a turntable body and a turntable cover, the turntable cover being detachably connected to the turntable body, and the receiving cavity being formed between the turntable body and the turntable cover.

[0012] Optionally, it may also include a vibration mechanism, which is connected to the shovel and drives the shovel to vibrate.

[0013] In another aspect, the present invention provides a tank cleaning device, including the aforementioned complex-condition tank cleaning robotic arm.

[0014] The beneficial effects of this invention are: This invention provides a complex-condition cleaning robot arm, which is mounted on a traveling mechanism. The robot arm includes a secondary arm, a turntable, a vibratory hammer mechanism, a shovel, an air blowing mechanism, and a multi-degree-of-freedom robot arm body. A base is mounted on the traveling mechanism, and the turntable is rotatably mounted above the base. The turntable can swing left and right relative to the base on a horizontal plane under the action of a swing drive. The first end of the robot arm body is hinged to the turntable, and the second end is rotatably connected to the rear end of the secondary arm. The first end of the secondary arm is connected to the vibratory hammer mechanism, the air blowing mechanism, and the shovel. The vibratory hammer mechanism includes a first drive unit, a turntable, a hammer body, a first spur gear, and a transmission assembly. The first drive unit is tractively connected to the turntable and drives the turntable to rotate. The turntable is hollow inside to form a receiving cavity. The first spur gear is disposed within the receiving cavity and is fixedly mounted within the receiving cavity, so that the turntable... The first spur gear remains stationary during rotation; the hammer body is located outside the accommodating cavity, the hammer body is conical, and the outer surface of the hammer body is provided with a spiral structure. Multiple hammer bodies are configured, and the transmission components correspond one-to-one with the hammer bodies. Each hammer body is spaced apart along the circumference of the turntable. The transmission components include a second spur gear, a first bevel gear, and a second bevel gear. The second spur gear, the first bevel gear, and the second bevel gear are rotatably disposed within the accommodating cavity. When the turntable rotates, the second spur gear, the first bevel gear, and the second bevel gear can rotate synchronously with the turntable. The second spur gear meshes with the first spur gear, and each second spur gear is spaced apart along the circumference of the first spur gear. The first bevel gear and the second spur gear are coaxially disposed, and the second bevel gear meshes with the first bevel gear. The hammer body is drivenly connected to the corresponding second bevel gear so that it can rotate synchronously with the second bevel gear.

[0015] By coordinating the vibratory hammer mechanism, the air blowing mechanism, and the shovel, and through the coordinated movement of the multi-degree-of-freedom robotic arm, the complex cleaning operations of the tank can be carried out by vibrating, shoveling, and blowing materials, thereby improving cleaning efficiency, reducing labor intensity, and minimizing operational risks. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the structure of the complex working condition cleaning robot arm provided in the embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the turntable.

[0018] Icon: 100 - Walking mechanism; 210-Turntable; 220-Vibrating hammer mechanism; 221-Turntable; 2211-Accommodating cavity; 2212-Hollow column; 2213-Helical groove; 222-Hammer body; 223-First spur gear; 224-Second spur gear; 225-First bevel gear; 226-Second bevel gear; 227-Sliding shaft; 228-Fixed sleeve; 2281-Sliding hole; 230-Shovel bar; 240-Air blowing mechanism; 250-Main body of robotic arm; 260-Secondary arm. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0024] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0026] This application provides a robotic arm for cleaning a cargo hold under complex working conditions, such as... Figure 1 and Figure 2 As shown, a complex-condition cleaning robot arm is mounted on a traveling mechanism 100. The traveling mechanism 100 can be a tracked type. The complex-condition cleaning robot arm includes: a secondary arm 260, a turntable 210, a vibratory hammer mechanism 220, a shovel 230, an air blowing mechanism 240, and a multi-degree-of-freedom robot arm body 250. A base is mounted on the traveling mechanism 100, and a turntable 210 is rotatably mounted on top of the base. The turntable 210 can swing relative to the base on a horizontal plane under the action of a swing drive.

[0027] The first end of the main body 250 of the robotic arm is hinged to the turntable 210, and the end of the main body 250 of the robotic arm is rotatably connected to the rear end of the auxiliary arm 260. The first end of the auxiliary arm 260 is connected to a vibrating hammer mechanism 220, an air blowing mechanism 240 and a shovel 230. Optionally, the vibrating hammer mechanism 220, the air blowing mechanism 240 and the shovel 230 are spaced apart along the width direction of the auxiliary arm 260.

[0028] The vibratory hammer mechanism 220 includes a first drive unit, a turntable 221, a hammer body 222, a first spur gear 223, and a transmission assembly. The first drive unit is mounted on the auxiliary arm 260 and is connected to the turntable 221 for driving its rotation. The turntable 221 is hollow to form a receiving cavity 2211. Optionally, the turntable 221 includes a disc body and a disc cover. The disc body is an open cylindrical structure, and the disc cover is detachably mounted on the open end of the disc body for opening and closing the open end. The disc body and disc cover together form the receiving cavity 2211. The first spur gear 223 is disposed within the receiving cavity 2211 and is fixedly disposed within the receiving cavity 2211, so that when the first drive unit drives the turntable 221 to rotate, the first spur gear 223 remains stationary and does not rotate synchronously with the turntable 221. Furthermore, the first spur gear 223 is coaxially arranged with the turntable 221. Hammer bodies 222 are disposed outside the receiving cavity 2211. Each hammer body 222 has a conical structure and a helical structure on its outer surface. Multiple hammer bodies 222 are configured, and transmission components are arranged correspondingly to each hammer body 222. The hammer bodies 222 are distributed at intervals along the circumference of the turntable 221. The transmission components include a second spur gear 224, a first bevel gear 225, and a second bevel gear 226. The second spur gear 224, the first bevel gear 225, and the second bevel gear 226 are rotatably mounted within the receiving cavity 2211 via gear seats, specifically on the disc body of the turntable 221. Thus, when the turntable 221 rotates, the second spur gear 224, the first bevel gear 225, and the second bevel gear 226 can move synchronously with the turntable 221. The second spur gear 224 meshes with the first spur gear 223, and the second spur gears 224 are distributed at intervals along the circumference of the first spur gear 223; the first bevel gear 225 is coaxially arranged with the first spur gear 223, the second bevel gear 226 meshes with the first bevel gear 225, and the axes of the first bevel gear 225 and the second bevel gear 226 are perpendicular to each other; the hammer body 222 is rotatably connected to the corresponding second bevel gear 226.

[0029] During use, when the first drive unit drives the turntable 221 to rotate, the first spur gear 223 remains stationary in the accommodating cavity 2211 of the turntable 221. The second spur gears 224 of each transmission component move with the turntable 221 and thus revolve relative to the first spur gear 223. The second spur gear 224 also rotates on its own axis while revolving, thereby driving the first bevel gear 225, which is coaxial with the second spur gear 224, to rotate. The first bevel gear 225 drives the second bevel gear 226, which meshes with the first bevel gear 225, to rotate, thereby driving the hammer body 222 to rotate. Thus, the hammer body 222 can rotate on its own axis while revolving with the turntable 221. Since the hammer body 222 is conical and has a spiral structure on its surface, it can effectively break up and disperse the wet and sticky materials adhering to the compartment.

[0030] The complex working condition cleaning robot arm provided in this embodiment, through the cooperation of the vibratory hammer mechanism 220, the air blowing mechanism 240 and the shovel 230, and the coordinated movement of the multi-degree-of-freedom robot arm body 250, can realize the process actions of vibrating, shoveling and blowing materials to carry out complex working condition cleaning operations, improve cleaning efficiency, reduce labor intensity and reduce operation risks.

[0031] In the optional implementation of this embodiment, such as Figure 2 As shown, the vibratory hammer mechanism 220 also includes connecting components that correspond one-to-one with the hammer body 222. Hollow columns 2212, corresponding one-to-one with the hammer body 222, are arranged at intervals along the circumference of the turntable 221. The hollow columns 2212 also correspond one-to-one with the connecting components. One end of the hollow column 2212 is connected to the outside, and the other end is connected to the receiving cavity 2211. The inner wall of the hollow column 2212 is provided with a closed-loop spiral groove 2213.

[0032] The connecting assembly includes a sliding shaft 227 and a fixed sleeve 228. The fixed sleeve 228 is a hollow tube structure, which passes through the corresponding hollow column 2212 and is fixedly connected at one end to the corresponding second bevel gear 226. It is coaxially arranged with the corresponding second bevel gear 226, and the connection method can be screwed or welded. A long, narrow sliding hole 2281 extending axially along the side of the fixed sleeve 228 is provided. One end of the sliding shaft 227 is axially slidably fitted within the fixed sleeve 228, and the other end extends from the end of the corresponding hollow column 2212 away from the receiving cavity 2211, and is fixedly connected to the corresponding hammer body 222. A protrusion is provided on the side of the sliding shaft 227, which passes through the sliding hole 2281 and extends into the spiral groove 2213 of the corresponding hollow column 2212, and the protrusion slidably engages with the spiral groove 2213 of the corresponding hollow column 2212.

[0033] In use, when the first drive unit drives the turntable 221 to rotate, the hollow column 2212 moves with the turntable 221, but the hollow column 2212 does not rotate on its own. The fixed sleeve 228 rotates with the second bevel gear 226 inside the hollow column 2212. Under the action of the sliding hole 2281, the sliding shaft 227 rotates synchronously with the fixed sleeve 228, thereby driving the hammer body 222 to rotate. Under the action of the spiral groove 2213, the sliding shaft 227 can also perform telescopic movement within the fixed sleeve 228 while rotating synchronously with the fixed sleeve 228, thereby enabling the hammer body 222 to perform telescopic movement. In this way, the effect of breaking up and agitating the wet and sticky materials adhering to the compartment can be further improved.

[0034] In an optional embodiment of this invention, the vibratory hammer mechanism 220 further includes a self-locking rotating seat. The rotating seat corresponds one-to-one with the hollow column 2212, and the rotating seat can be a self-locking bearing seat. The end of the hollow column 2212 furthest from the hammer body 222 is fixedly mounted on the rotating seat. The angle of the hollow column 2212 can be adjusted via the rotating seat, thereby adjusting the amount of extension and retraction of the hammer body 222 when it contacts the material, further improving the applicability of the robotic arm.

[0035] Optionally, in this embodiment, a first labyrinth sealing structure is provided between the hollow column 2212 and the fixed sleeve 228 to prevent impurities from entering the accommodating cavity 2211 through the gap between the hollow column 2212 and the fixed sleeve 228. Furthermore, the complex-condition cleaning robot arm also includes an air supply mechanism for supplying air to the blowing mechanism 240, which is an air outlet pipe. The air supply mechanism is also connected to the accommodating cavity 2211 and is used to inject gas into the accommodating cavity 2211. The gas can flow to the outside of the accommodating cavity 2211 through the first labyrinth sealing structure, and the gas can form an air curtain at the first labyrinth sealing structure, thereby further improving the sealing effect.

[0036] Optionally, in this embodiment, a sliding seal structure is provided between the fixed sleeve 228 and the sliding shaft 227 to prevent impurities from entering between the fixed sleeve 228 and the sliding shaft 227. Furthermore, the sliding seal structure can be made of a material such as polyethylene, which is relatively hard and can form a tiny gap between the sliding shaft 227 and the fixed sleeve 228. This allows gas injected into the accommodating cavity 2211 by the gas supply mechanism to flow out through this tiny gap, further improving the sealing effect of the sliding seal structure.

[0037] Preferably, a sliding sealing ring can also be provided between the sliding shaft 227 and the hollow column 2212 to improve the sealing performance.

[0038] In an optional embodiment of this example, the first drive unit is a motor, and the turntable 221 is fixedly mounted on the output shaft of the first drive unit. The output shaft of the first drive unit is a hollow shaft. The complex working condition cleaning robot arm also includes a fixed shaft. The fixed shaft passes through the output shaft of the first drive unit through a bearing, and one end extends into the accommodating cavity 2211. The first spur gear 223 is fixedly mounted on the fixed shaft.

[0039] In an optional embodiment of this example, the complex working condition cleaning robot arm also includes a vibration mechanism. The vibration mechanism is connected to the shovel 230 and drives the shovel 230 to vibrate, so as to improve the effect of the shovel 230. The vibration of the shovel 230 can be referenced to an electric hammer or a pneumatic hammer, so it will not be described in detail here.

[0040] Another embodiment of the present invention provides a tank cleaning device, including the complex working condition tank cleaning robotic arm described in any of the above embodiments.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A complex-condition cleaning robot arm, wherein the complex-condition cleaning robot arm is mounted on a traveling mechanism (100); characterized in that, The complex working condition cleaning robot arm includes: a secondary arm (260), a turntable (210), a vibratory hammer mechanism (220), a shovel (230), an air blowing mechanism (240), and a multi-degree-of-freedom robot arm body (250). The walking mechanism (100) is provided with a base, and the turntable (210) is rotatably mounted on the top of the base. The turntable (210) can swing left and right relative to the base on the horizontal plane under the action of swing drive. The head end of the main body of the robotic arm (250) is hinged to the turntable (210), and the tail end is rotatably connected to the rear end of the auxiliary arm (260). The head end of the auxiliary arm (260) is connected to the vibrating hammer mechanism (220), the air blowing mechanism (240) and the shovel (230). The vibratory hammer mechanism (220) includes a first drive unit, a turntable (221), a hammer body (222), a first spur gear (223), and a transmission assembly; The first driving unit is connected to the turntable (221) and drives the turntable (221) to rotate. The turntable (221) is hollow inside to form a receiving cavity (2211). The first spur gear (223) is disposed in the receiving cavity (2211) and is fixedly disposed in the receiving cavity (2211) so that the first spur gear (223) can remain stationary when the turntable (221) rotates. The hammer (222) is located outside the receiving cavity (2211). The hammer (222) is conical and has a spiral structure on its outer surface. Multiple hammers (222) are configured. The transmission assembly corresponds one-to-one with the hammers (222). Each hammer (222) is spaced apart along the circumference of the turntable (221). The transmission assembly includes a second spur gear (224) and a first bevel gear (225). The second bevel gear (226), the second spur gear (224), the first bevel gear (225), and the second bevel gear (226) are rotatably disposed in the accommodating cavity (2211). When the turntable (221) rotates, the second spur gear (224), the first bevel gear (225), and the second bevel gear (226) can rotate synchronously with the turntable (221). The second spur gear (224) meshes with the first spur gear (223). Each second spur gear (224) is spaced apart along the circumference of the first spur gear (223). The first bevel gear (225) is coaxially disposed with the second spur gear (224). The second bevel gear (226) meshes with the first bevel gear (225). The hammer body (222) is connected to the corresponding second bevel gear (226) so that it can rotate synchronously with the second bevel gear (226).

2. The complex-condition cleaning robot arm according to claim 1, characterized in that, The vibratory hammer mechanism (220) also includes connecting components that correspond one-to-one with the hammer body (222); The turntable (221) is provided with hollow columns (2212) that correspond one-to-one with the hammer body (222) at circumferential intervals. One end of the hollow column (2212) is connected to the accommodating cavity (2211). The inner wall of the hollow column (2212) is provided with a closed-loop spiral groove (2213). The connecting assembly includes a sliding shaft (227) and a fixed sleeve (228); the fixed sleeve (228) passes through the corresponding hollow column (2212) and one end is fixedly connected to the corresponding second bevel gear (226) and coaxially arranged; the fixed sleeve (228) has an elongated sliding hole (2281) extending axially along the fixed sleeve (228); one end of the sliding shaft (227) is axially slidably fitted in the fixed sleeve (228), and the other end extends out of the hollow column (2212) away from the accommodating cavity (2211) and is fixedly connected to the corresponding hammer body (222); the outer surface of the sliding shaft (227) is provided with a protrusion, the protrusion passes through the sliding hole (2281) and extends into the corresponding spiral groove (2213), and the protrusion is slidably fitted with the corresponding spiral groove (2213).

3. The complex-condition cleaning robot arm according to claim 2, characterized in that, The vibratory hammer mechanism (220) also includes a self-locking rotating seat; The rotating seat and the hollow column (2212) are arranged in a one-to-one correspondence; the rotating seat is arranged on the turntable (221), and one end of the hollow column (2212) is fixedly arranged on the corresponding rotating seat. The rotating seat is configured to enable the hollow column (2212) to rotate around its axis.

4. The complex-condition cleaning robot arm according to claim 2, characterized in that, A first labyrinth sealing structure is provided between the hollow column (2212) and the fixed sleeve (228).

5. The complex-condition cleaning robot arm according to claim 4, characterized in that, It also includes an air supply mechanism; the air supply mechanism is used to supply air to the air blowing mechanism (240); The gas supply mechanism is also connected to the accommodating cavity (2211), and the gas supply mechanism can supply gas into the accommodating cavity (2211), and the gas can flow out through the first labyrinth sealing structure between the hollow column (2212) and the fixed sleeve (228).

6. The complex-condition cleaning robot arm according to claim 2, characterized in that, A sliding sealing structure is provided between the fixed sleeve (228) and the sliding shaft (227).

7. The complex-condition cleaning robot arm according to claim 1, characterized in that, The first drive unit is a motor, and the turntable (221) is fixedly mounted on the output shaft of the first drive unit; The output shaft of the first drive unit is a hollow shaft. The complex working condition cleaning robot arm also includes a fixed shaft. The fixed shaft passes through the output shaft of the first drive unit through a bearing, and one end extends into the accommodating cavity (2211). The first spur gear (223) is fixedly mounted on the fixed shaft.

8. The complex-condition cleaning robot arm according to claim 1, characterized in that, The turntable (221) includes a disc body and a disc cover, the disc cover being detachably connected to the disc body, and the receiving cavity (2211) being formed between the disc body and the disc cover.

9. The complex-condition cleaning robot arm according to claim 1, characterized in that, It also includes a vibration mechanism, which is connected to the shovel (230) and drives the shovel (230) to vibrate.

10. A tank cleaning device, characterized in that, It includes a walking mechanism (100) and a complex working condition cleaning robot arm as described in any one of claims 1 to 9.

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