Clamping mechanism and hydraulic grabbing arm type trash cleaning robot

Abstract

The utility model relates to the technical field of cleaning robots, in particular to a clamping mechanism and a hydraulic grabbing arm type cleaning robot. A clamping mechanism comprises a first material taking assembly and a second material taking assembly which are used for being connected with a mechanical arm. The first material taking assembly comprises two clamping jaws which can move oppositely and form a clamping interval, and a driving piece used for driving the clamping jaws to move. The second material taking assembly comprises a material taking frame detachably connected to the clamping jaw. The two material taking frames are used for jointly forming a containing groove after the two clamping jaws move relatively, and the containing groove can contain fluid. By means of the second material taking assembly, the clamping mechanism can have a plurality of clamping forms through the detachable material taking frame, and different types of pollutants can be taken out of a water area by selecting different clamping forms.

Description

Technical Field

[0001] This utility model relates to the field of cleaning robot technology, specifically to a clamping mechanism and a hydraulic gripper-type cleaning robot. Background Technology

[0002] With the development of artificial intelligence, cleaning robots are revolutionizing the traditional manual cleaning model and are used for cleaning water bodies such as hydropower stations, reservoirs, lakes, and rivers. They mainly consist of a vision system and a gripping mechanism. The vision system locates and classifies the garbage, and the gripping mechanism installed on the robotic arm grabs the garbage.

[0003] The gripping mechanism of existing cleaning robots mainly consists of grippers and drive components. Typically, grippers have multiple teeth, some staggered and some circumferentially distributed, but they are not suitable for effectively gripping fragile or flowing objects in water. Because flowing objects can easily slip between the teeth, and fragile items can easily be broken by rigid gripping, thus aggravating pollution, manual entry into the water is still required to clean up the above-mentioned pollutants, which is quite troublesome. Utility Model Content

[0004] This invention provides a clamping mechanism and a hydraulic gripper-type cleaning robot, which can overcome the shortcomings of existing technologies in that they are not good at grasping fragile or flowing objects in water.

[0005] According to the present invention, a clamping mechanism includes a first material handling component and a second material handling component for connection with a robotic arm; the first material handling component includes two grippers that can move toward each other and form a clamping area, and a drive member for driving the grippers to move.

[0006] The second material handling assembly includes a material handling frame detachably connected to the gripper; the two material handling frames are used to form a receiving groove together after the two grippers move relative to each other, and the receiving groove can hold fluid.

[0007] The second material-grabbing component of this invention enables the clamping mechanism to have multiple clamping modes through a detachable material-grabbing frame, allowing different clamping modes to be selected to remove different types of pollutants from the water. For example, the first clamping mode is when the first material-grabbing component's claws alone grasp the pollutants, which can grasp large and relatively strong pollutants. The second clamping mode is when the second material-grabbing component's material-grabbing frame is added, and the two material-grabbing frames can form a receiving groove together after the relative displacement of the claws. This mode can hold fluids, small or fragile items, such as glass bottles, aged plastic parts, and excessively proliferating aquatic plants, as well as pollutants that are fragile and easily slip through the gaps in the claws. One end of the receiving groove is open while the other side is closed, which can hold the above-mentioned pollutants and remove them from the water for treatment without the need for other equipment or manual entry into the water for treatment.

[0008] Preferably, the first material handling assembly also includes a mounting base; the mounting base is connected to the robotic arm through one end face; two grippers are rotatably engaged at the other end face of the mounting base; the driving component includes two cylinders that are arranged crosswise and hinged to the mounting base, and the output ends of the two cylinders are respectively hinged to the opposite sides of the two grippers; the grippers are composed of multiple L-shaped claw teeth spaced apart along the length of the mounting base, and the claw teeth of the two grippers are staggered; sealing strips are provided at the side walls where the two material handling frames fit together.

[0009] In this invention, the driving components enable two cylinders to move two grippers and two material handling frames, thus allowing different types of contaminants to be held in two different gripping configurations; the sealing strip ensures the sealing of the receiving groove.

[0010] Preferably, the gripper is provided with a first positioning element; the first positioning element includes two first fixing seats symmetrically arranged on opposite sides of the gripper; the two first fixing seats are spaced apart along the length of the mounting base and are rotatably engaged with a bidirectional screw; the interior of the first fixing seat is provided with a first sliding cavity; the two threads of the bidirectional screw extend into the two first sliding cavities respectively, and are threadedly engaged with first sliders that slide in cooperation with the first sliding cavities; the opposite end of the first slider is connected to a first locking block that can extend out of the first sliding cavity; the side of the material picking frame away from the receiving groove is provided with two fixing blocks; the two first fixing seats are pressed against the two fixing blocks, and the fixing blocks are provided with a locking slot for the first locking block to extend into.

[0011] In this invention, the second material-picking component can be detachably connected by the first positioning component; by rotating the bidirectional screw, the two first locking blocks can be extended and retracted, cooperating with the locking slot at the material-picking frame, thus enabling the material-picking frame to be assembled and disassembled; wherein the first locking blocks and the locking slot are polygonal, when only the first clamping mode, i.e., the gripper, is used to hold the contaminant, it is not necessary to remove the second material-picking component. The flipping angle of the second material-picking component can be changed so that the gripper is not interfered with when holding the contaminant. In this way, it is not necessary to frequently pick up and put down the second material-picking component, and the operation can be carried out directly at the gripper when switching modes.

[0012] Preferably, the side wall of the first fixed seat is provided with a first groove that communicates with the first sliding cavity; the side wall of the first slider is detachably connected with a first lever that passes through the first groove.

[0013] In this invention, the first lever prevents the first locking block from disengaging from the first sliding cavity due to excessive rotation of the bidirectional screw, thus serving as a limiting mechanism.

[0014] Preferably, the bidirectional screw is coaxially connected to a polygonal retaining ring; the retaining ring is located between the two first retaining seats.

[0015] In this invention, the polygonal retaining ring makes it easier to rotate the bidirectional screw.

[0016] A hydraulic gripper-type cleaning robot includes a robotic arm and any of the gripping mechanisms described above. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the main body;

[0018] Figure 2 This is a schematic diagram of the first clamping configuration of the clamping mechanism;

[0019] Figure 3 A schematic diagram showing the second clamping configuration of the clamping mechanism.

[0020] Figure 4 This is a schematic diagram of the second clamping configuration of the clamping mechanism in closed position.

[0021] Figure 5 This is a schematic diagram of the third clamping configuration of the clamping mechanism;

[0022] Figure 6 This is a schematic diagram of the second material handling component after the grippers have been disassembled;

[0023] Figure 7 This is a schematic diagram showing the through hole after it has been opened;

[0024] Figure 8 A schematic diagram of the identification mechanism;

[0025] Figure 9 This is a schematic diagram showing the protective cover and sealing ring after disassembly.

[0026] Figure 10 This is a schematic diagram of the third positioning component;

[0027] Figure 11 for Figure 6 Enlarged view of point A;

[0028] Figure 12 for Figure 7 Enlarged diagram of point B. Detailed Implementation

[0029] To further understand the content of this utility model, a detailed description of the utility model is provided in conjunction with the embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the utility model.

[0030] Example 1

[0031] like Figure 1-12As shown, this embodiment provides a hydraulic gripper-type cleaning robot, which includes a body 100. The body 100 includes a gripping mechanism 120 and a robotic arm 110 for driving the gripping mechanism 120 to move in the water. The gripping mechanism 120 includes a first material-grabbing component 223 and a second material-grabbing component 224. The first material-grabbing component 223 includes two grippers 2230 that can move towards each other and form a gripping area 2232, and a drive member 222 for driving the grippers 2230 to move.

[0032] The second material handling assembly 224 includes a material handling frame 2240 detachably connected to the gripper 2230; the two material handling frames 2240 are used to form a receiving groove 2246 together after the two grippers 2230 move relative to each other, and the receiving groove 2246 can contain fluid.

[0033] Through the second material-retrieving component 224 in this embodiment, the clamping mechanism 120 can have multiple clamping modes via the detachable material-retrieving frame 2240, allowing different clamping modes to be selected to remove different types of pollutants from the water. For example, the first clamping mode is when only the grippers 2230 of the first material-retrieving component 223 are used to grasp pollutants, which can grasp large and relatively strong pollutants. The second clamping mode is when the material-retrieving frame 2240 of the second material-retrieving component 224 is installed, and the two material-retrieving frames 2240 can jointly form a receiving groove 2246 after the relative displacement of the grippers 2230. This mode can accommodate fluids, small or fragile items, such as glass bottles, aged plastic parts, excessively proliferating aquatic plants, river silt, and other fragile pollutants that are easy to slip through the gaps of the grippers 2230. The receiving groove 2246 is open at one end and closed at the other, which can accommodate the above-mentioned pollutants and remove them from the water for treatment without the need for other equipment or manual entry into the water for treatment.

[0034] In this embodiment, the first material handling component 223 further includes a mounting base 221; the mounting base 221 is connected to the robotic arm 110 through one end face; two grippers 2230 are rotatably engaged at the other end face of the mounting base 221; the driving component 222 includes two cylinders 2220 that are arranged crosswise and hinged to the mounting base 221, and the output ends of the two cylinders 2220 are respectively hinged to the opposite faces of the two grippers 2230; the grippers 2230 are composed of a plurality of L-shaped claw teeth 2231 that are spaced apart along the length direction of the mounting base 221, and the claw teeth 2231 of the two grippers 2230 are staggered; sealing strips 2241 are provided at the side walls where the two material handling frames 2240 fit together.

[0035] By setting the drive component 222 in this embodiment, the two cylinders 2220 can drive the two grippers 2230 and the two picking frames 2240 to move, so that different types of contaminants can be clamped in two clamping modes; wherein the sealing strip 2241 can ensure the sealing of the receiving groove 2246.

[0036] In this embodiment, a first positioning element 225 is provided at the gripper 2230; the first positioning element 225 includes two first fixing seats 11250 symmetrically arranged on opposite sides of the gripper 2230; the two first fixing seats 11250 are spaced apart along the length of the mounting base 221 and are rotatably engaged with a bidirectional screw 11252; the interior of the first fixing seat 11250 is provided with a first sliding cavity 11251; the two threads of the bidirectional screw 11252 respectively extend into the two first sliding cavities 11251. Each of the first sliding blocks 11254 is threadedly fitted to slide in the first sliding cavity 11251; the opposite end of the first sliding block 11254 is connected to a first locking block 11256 that can extend out of the first sliding cavity 11251; the side of the material picking frame 2240 away from the receiving groove 2246 is provided with two fixing blocks 7242; the two first fixing seats 11250 are pressed between the two fixing blocks 7242, and the fixing blocks 7242 are provided with a locking slot 7243 for the first locking block 11256 to extend into.

[0037] The first positioning component 225 in this embodiment enables the second material handling component 224 to be detachably connected. By rotating the bidirectional screw 11252, the two first locking blocks 11256 can be extended and retracted, cooperating with the locking slot 7243 at the material handling frame 2240, thus enabling the material handling frame 2240 to be assembled and disassembled. The first locking blocks 11256 and the locking slot 7243 are polygonal. When only the first clamping mode, i.e., the gripper 2230, is used to hold the contaminant, it is not necessary to remove the second material handling component 224. The rotation angle of the second material handling component 224 can be changed so that the gripper 2230 is not interfered with by the second material handling component 224 when holding the contaminant. In this way, it is not necessary to frequently pick up and put down the second material handling component 224. When switching modes, the operation can be performed directly at the gripper 2230.

[0038] In this embodiment, the side wall of the first fixed seat 11250 is provided with a first sliding groove 11253 that communicates with the first sliding cavity 11251; the side wall of the first slider 11254 is detachably connected with a first lever 11257 that passes through the first sliding groove 11253; the bidirectional screw 11252 is coaxially connected with a polygonal fixing ring 11255; the fixing ring 11255 is located between the two first fixed seats 11250.

[0039] By setting the first lever 11257 in this embodiment, the first locking block 11256 will not disengage from the first sliding cavity 11251 due to excessive rotation of the bidirectional screw 11252, thus playing a limiting role; the polygonal fixing ring 11255 can more easily rotate the bidirectional screw 11252.

[0040] In this embodiment, the body 100 also includes a linear module 140, which enables the robotic arm 110 to move in a straight line.

[0041] The linear module 140 in this embodiment allows the robotic arm 110 to move via the linear module 140, enabling the robotic arm 110, gripping mechanism 120, and identification mechanism 130 to move to different locations in the water area. The linear module 140 can be installed on the shore or on a mobile vehicle. The mobile vehicle allows the cleaning robot to reach various water areas for cleaning work. The linear module 140 is a prior art technology, mainly composed of a motor, lead screw, nut, and slide. The robotic arm 110 is connected to the slide and is driven by the motor. The robotic arm 110 is a common type of hydraulically driven robotic arm in the prior art. The gripping mechanism 120 and identification mechanism 130 are installed at the end of the robotic arm 110 and can extend into the water area.

[0042] Example 2

[0043] This embodiment also includes a material picking frame 2240 having multiple through holes 2244 communicating with the receiving groove 2246 at its bottom, and grooves 2245 communicating with the through holes 2244; a sealing assembly 226 for controlling the opening and closing of the through holes 2244 is provided at the material picking frame 2240; the sealing assembly 226 includes a sealing plate 5260 connected to two fixing blocks 7242; the sealing plate 5260 includes a connecting plate 5261 and a rubber plate 5262 stacked together; a rotating shaft 12263 is connected to the connecting plate 5261, and a connecting hole 12247 for the rotating shaft 12263 to rotate and engage is provided at the fixing block 7242; the rubber plate 5262 is used to engage with the groove 2245.

[0044] The through hole 2244 and sealing component 226 in this embodiment enable the clamping mechanism 120 to have a third clamping mode. The third clamping mode is used for lighter pollutants that are easy to float on the water surface, such as paper scraps and leaves. Since the second clamping mode can place the water and pollutants together in the receiving tank 2246, the aforementioned paper scraps, leaves and other pollutants will detach from the water surface of the receiving tank 2246 and fall back into the water during the movement of the robotic arm 110, affecting the cleaning efficiency. Therefore, when using the third clamping mode, excess water will flow out from the through hole 2244, leaving the pollutants in the receiving tank 2246. In this way, when the robotic arm 110 moves, it can ensure that the pollutants stay in the receiving tank 2246 and are brought back to the ground. The rubber plate 5262 of the sealing plate 5260 can cooperate with the groove 2245 to seal the through hole 2244, so that the clamping mechanism 120 returns to the second clamping mode. Therefore, the sealing component 226 is used for switching between the second clamping mode and the third clamping mode.

[0045] In this embodiment, a second positioning member 327 is provided at the material picking frame 2240; the second positioning member 327 includes a second fixing seat 12270 connected to the material picking frame 2240 and near one end of the rotating shaft 12263; the second fixing seat 12270 has a second sliding cavity 12271 inside; a second slider 13374 that can extend out of the second sliding cavity 12271 is slidably fitted inside the second sliding cavity 12271; a polygonal second locking block 12276 is connected to the side wall of the second slider 13374; the rotating shaft 1226 One end of 3 is provided with a slot 12264 for the second locking block 12276 to engage; the interior of the second sliding cavity 12271 is provided with a first compression spring 12272 that abuts against the second slider 13374; the first compression spring 12272 is used to enable the second locking block 12276 to maintain engagement with the slot 12264; the side wall of the second fixed seat 12270 is provided with a second sliding groove 12273 that communicates with the second sliding cavity 12271; the second slider 13374 is connected to a second lever 12275 that passes through the second sliding groove 12273.

[0046] By setting the second positioning member 327 in this embodiment, the sealing plate 5260 of the sealing assembly 226 can be positioned after being rotated at different angles, thereby preventing the rubber plate 5262 from failing to seal with the groove 2245 due to cold shrinkage, or preventing the sealing plate 5260 from being lower than the material picking frame 2240 after being kept vertical by gravity, thus affecting the material picking of the material picking frame 2240; wherein the second locking block 12276 and the slot 12264 are polygonal, in use, the second lever 12275 is slid to make the second locking block 12276 disengage from the slot 12264 and compress the first compression spring 12272, then the sealing plate 5260 is rotated to a suitable angle, the second lever 12275 is released and the spring returns to its original state so that the second locking block 12276 engages with the slot 12264, at which time the sealing plate 5260 can be positioned at a suitable angle.

[0047] In this embodiment, a protective component 728 is provided at the second fixing seat 12270; the protective component 728 includes a sealing cover 12280 hinged to the side wall of the second fixing seat 12270; one side of the sealing cover 12280 forms a groove that can cover the side of the second fixing seat 12270 with the second sliding groove 12273; a plurality of spaced limiting plates 12281 are provided inside the groove; a torsion spring 12282 is provided at the hinge of the sealing cover 12280, and the torsion spring 12282 is used to keep the sealing cover 12280 in contact with the second fixing seat 12270.

[0048] The protective component 728 in this embodiment prevents minute impurities in the water from entering the second sliding cavity 12271 and affecting the extension and contraction of the spring and the sliding of the second slider 13374. The torsion spring 12282 ensures that the sealing cover 12280 always covers the second lever 12275 and the second slide groove 12273. The spacing between every two limiting plates 12281 matches the width of the second lever 12275. Since multiple second positioning members 327 can be provided, it is inconvenient for a single person to simultaneously keep multiple second locking blocks 12276 detached from the locking groove 12264. In this state, after one hand lifts up the sealing cover 12280 and slides the second lever 12275 to disengage the second locking block 12276 from the slot 12264, the other hand blocks the end of the second locking block 12276. After releasing the sealing cover 12280 and the second lever 12275, the sealing cover 12280 and the second fixing seat 12270 will fit together, causing the second lever 12275 to be placed between the two limiting plates 12281 in the corresponding position. At this time, one second positioning member 327 is released, and the other second positioning members 327 can be released in sequence so that the sealing plate 5260 can be freely rotated.

[0049] Example 3

[0050] This embodiment differs from Embodiment 1 or Embodiment 2 in that, in this embodiment, the identification mechanism 130 includes a bracket 731 for connection to the robotic arm 110; the bracket 731 is arranged perpendicular to the length direction of the mounting base 221 and is hinged to a tilting frame 732; a motor 733 for driving the tilting frame 732 to tilt is provided at the bracket 731; a machine vision camera 735 is connected to one end face of the tilting frame 732, and the machine vision camera 735 is connected to a mounting plate 734, which is detachably connected to the tilting frame 732 by fasteners.

[0051] With the identification mechanism 130 in this embodiment, the machine vision camera 735 can observe the situation of the corresponding water area and distinguish the types of garbage. Thus, when the clamping mechanism 120 is in the different clamping states, it can grab or clamp the corresponding types of pollutants. After the pollutants are brought ashore, they can be placed in different areas for garbage sorting to facilitate subsequent processing.

[0052] In this embodiment, a protective cover 736 for covering the machine vision camera 735 is provided at one end face of the flipping frame 732, and a third positioning member 738 for connecting the protective cover 736 is provided at the other end face; the protective cover 736 is hemispherical, and a concentric limiting groove 8360 is provided at the opening, and a sealing ring 737 is fitted in the limiting groove 8360; the third positioning member 738 includes a third fixing seat 10382 connected to the end face of the flipping frame 732 away from the machine vision camera 735; the interior of the third fixing seat 10382 is provided with a third sliding cavity 10383 arranged along the length direction of the third fixing seat 10382; the third sliding cavity 10383 is slidably fitted with two third sliders 10388; the two A second compression spring 10385 is abutting between the third sliders 10388; a third locking block 10387 extending out of the third sliding cavity 10383 is provided at the opposite end of the third sliders 10388; two insertion ports 7320 penetrating both end faces are provided at the flipping frame 732; an insertion plate 7380 that can pass through the insertion port 7320 is connected to the opening of the protective cover 736; a positioning port 7381 for the third locking block 10387 to pass through is provided at the insertion plate 7380; a third sliding groove 10386 communicating with the third sliding cavity 10383 is provided on the side wall of the third fixed seat 10382 away from the flipping frame 732; a paddle 10384 passing through the third sliding groove 10386 is connected to the third sliders 10388.

[0053] The protective cover 736 and the third positioning component 738 in this embodiment allow the protective cover 736 to be quickly installed and removed from the machine vision camera 735, protecting the machine vision camera 735 from contaminants and impurities. The third positioning component 738, when in use, simply requires pinching the lever 10384 in opposite directions to engage the third locking block 10387 with the positioning port 7381 of the insert plate 7380, enabling quick installation and removal of the protective cover 736. The sealing ring 737 is embedded in the limiting groove 8360. When the opening of the protective cover 736 is in contact with the flipping frame 732, the sealing ring 737 prevents water and impurities from entering the protective cover 736, providing a certain degree of sealing protection. The motor 733 drives the flipping frame 732 to rotate, allowing the flipping frame 732 to rotate and observe the water area, as well as the grippers 2230 and the receiving groove 2246. During the cleaning process, the machine vision camera 735 is used to observe the contaminants in the water area. Furthermore, after grabbing or clamping, the machine vision camera 735 is rotated to observe the situation at the gripper 2230 and the receiving slot 2246. This allows observation of whether the pollutants have been grabbed or clamped by the clamping mechanism 120. Once confirmed, the pollutants can be transported ashore by the robotic arm 110 for processing. The machine vision camera 735 is part of a prior art machine vision system. The cleaning robot of this invention is also equipped with a common machine vision system, which includes an imaging module, an image processing module, and an execution module. The imaging module includes a machine vision camera 735 with a lens and an illumination system for acquiring images of the water. The image processing module contains an image processing algorithm to distinguish the types of pollutants. The execution module sends instructions to the hydraulic system of the robotic arm 110 based on the structure of the image processing. For example, after the robotic arm 110 and the clamping mechanism 120 transport the garbage ashore, the garbage is piled into different areas for differentiation according to the classification of the identification mechanism 130.

[0054] It is readily understood that those skilled in the art can combine, split, or reorganize the embodiments provided in this application to obtain other embodiments, all of which do not exceed the protection scope of this application.

[0055] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the embodiments shown are only part of the embodiments of the present invention. The actual structure is not limited to this. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A clamping mechanism, characterized in that: It includes a first picking assembly (223) and a second picking assembly (224) for connection with a robotic arm (110); the first picking assembly (223) includes two grippers (2230) capable of moving toward each other and forming a gripping area (2232), and a drive (222) for driving the grippers (2230) to move. The second material handling assembly (224) includes a material handling frame (2240) detachably connected to the gripper (2230); the two material handling frames (2240) are configured to form a receiving groove (2246) together after the two grippers (2230) move relative to each other, the receiving groove (2246) being able to contain fluid.

2. The clamping mechanism according to claim 1, characterized in that: The first material handling assembly (223) also includes a mounting base (221); the mounting base (221) is connected to the robotic arm (110) through one end face; two grippers (2230) are rotatably engaged at the other end face of the mounting base (221); the drive unit (222) includes two cylinders (2220) that are arranged crosswise and hinged to the mounting base (221), and the output ends of the two cylinders (2220) are respectively hinged to the opposite side of the two grippers (2230); the grippers (2230) are composed of multiple L-shaped claw teeth (2231) spaced apart along the length direction of the mounting base (221), and the claw teeth (2231) of the two grippers (2230) are arranged interlaced; sealing strips (2241) are provided at the side walls where the two material handling frames (2240) fit together.

3. The clamping mechanism according to claim 2, characterized in that: A first positioning element (225) is provided at the gripper (2230); the first positioning element (225) includes two first fixing seats (11250) symmetrically arranged on opposite sides of the gripper (2230); the two first fixing seats (11250) are spaced apart along the length of the mounting base (221) and are rotatably engaged with a bidirectional screw (11252); the interior of the first fixing seat (11250) is provided with a first sliding cavity (11251); the two threads of the bidirectional screw (11252) extend into the two first sliding cavities (11251) respectively, and respectively A first slider (11254) is threaded and slidably engaged with the first sliding cavity (11251); a first locking block (11256) that can extend out of the first sliding cavity (11251) is connected to the opposite end of the first slider (11254); two fixing blocks (7242) are provided on the side of the material picking frame (2240) away from the receiving groove (2246); two first fixing seats (11250) are pressed between the two fixing blocks (7242), and the fixing blocks (7242) are provided with a locking slot (7243) for the first locking block (11256) to extend into.

4. The clamping mechanism according to claim 3, characterized in that: The first fixed seat (11250) has a first groove (11253) that communicates with the first sliding cavity (11251) on its side wall; the first slider (11254) has a first lever (11257) that passes through the first groove (11253) detachably connected to its side wall.

5. A clamping mechanism according to claim 3, characterized in that: The bidirectional screw (11252) is coaxially connected to a polygonal retaining ring (11255); the retaining ring (11255) is located between two first retaining seats (11250).

6. A hydraulic gripper-type cleaning robot, comprising a robotic arm (110) and a gripping mechanism (120) as described in any one of claims 1-5.

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