A cleaning robot

Abstract

The utility model provides a kind of cleaning mechanical arm, including first swing arm, second swing arm, third swing arm and operating arm, first swing arm two ends are respectively provided with first rotary drive and second rotary drive, first rotary drive drives first swing arm rotation around first axis;Second swing arm first end is rotatably connected with first swing arm second end, and second rotary drive drives second swing arm rotation around second axis, and second swing arm second end is provided with third rotary drive;Third swing arm first end is rotatably connected with second swing arm second end, and third rotary drive drives third swing arm rotation around third axis, and third swing arm second end is provided with operating rotary drive;Operating arm first end is rotatably connected with third swing arm second end, and operating rotary drive drives operating arm can rotate around operating axis, and operating arm second end is provided with gripper and clamping drive assembly;The utility model can grasp cleaning supplies to clean to be cleaned area, and cleaning range is wide.

Description

Technical Field

[0001] This utility model relates to the field of cleaning technology, specifically to a cleaning robotic arm. Background Technology

[0002] Toilets, as a common sanitary fixture, are difficult to clean in real time, especially in public places. Because they cannot be cleaned immediately after each use, they are easily contaminated by urine, sweat, and other waste. This waste mainly accumulates on the surface of the toilet seat that contacts the buttocks and on the skirt of the toilet seat that supports the pelvic cavity. Because they cannot be cleaned immediately, the waste accumulates quickly, emitting unpleasant odors and leaving obvious stains. Moreover, the accumulated dirt becomes even more difficult to remove, leading to a negative user experience. Even in some public places (such as airports and hotels) where manual cleaning is relatively timely, contact cleaning tools are generally used, and these tools themselves are not necessarily very clean and may be another source of bacterial and viral contamination.

[0003] An automatic toilet cleaning device is currently available, installed inside the toilet seat, comprising a large arm and a small arm, with a cleaning brush mounted on the small arm. When not in use, the large and small arms retract and fold inside the toilet seat. After flushing, the large and small arms extend downwards, allowing the cleaning brush to move down and clean the inner wall and bottom of the toilet. However, placing the cleaning brush on the toilet seat is neither hygienic nor aesthetically pleasing. Moreover, because this cleaning device only has a large and small arm, the working range of the cleaning brush is relatively small. If it were placed in other locations, such as on the outside of the toilet body, its limited range of motion and angle would prevent it from completing the cleaning operation. Utility Model Content

[0004] The purpose of this invention is to provide a cleaning robotic arm with a wide cleaning range that can grab paper towels at fixed locations to clean the toilet seat or toilet skirt.

[0005] To achieve the above objectives, this utility model provides a cleaning robotic arm, comprising a first rotating arm, a second rotating arm, a third rotating arm, and an operating arm. The first rotating arm has a first rotary drive and a second rotary drive at its two ends, the first rotary drive driving the first rotating arm to rotate around a first axis. The first end of the second rotating arm is rotatably connected to the second end of the first rotating arm, and the second rotary drive driving the second rotating arm to rotate around a second axis, the first axis being perpendicular to the second axis. The second end of the second rotating arm has a third rotary drive. The first end of the third rotating arm is rotatably connected to the second end of the second rotating arm, and the third rotary drive driving the third rotating arm to rotate around a third axis, the third axis being parallel to the second axis. The second end of the third rotating arm has an operating rotary drive. The first end of the operating arm is rotatably connected to the second end of the third rotating arm, and the operating rotary drive driving the operating arm to rotate around an operating axis, the operating axis being perpendicular to the third axis. The second end of the operating arm has a gripper and a gripping drive assembly, the gripping drive assembly driving the gripper to perform gripping or releasing actions. The gripper includes a auger, a mounting shell, and two clamping block assemblies. The auger is located inside the mounting shell, and the two clamping block assemblies are located on both sides of the auger. The clamping block assemblies partially extend into the mounting shell and are connected to the auger. The clamping drive assembly drives the auger to rotate around its own axis, thereby causing the two clamping block assemblies to move closer or further apart.

[0006] As can be seen from the above solution, by setting multiple rotating arms, even if the cleaning robot arm is set on the outer wall of the toilet body, the operating arm can move flexibly to the top of the seat or toilet skirt, effectively increasing the range of motion of the operating arm; by setting grippers, it is used to grab disinfectant wipes, wet wipes or dry wipes at a pre-set position to wipe and clean the seat or toilet skirt.

[0007] A further embodiment is that the first rotary drive component includes a first motor, a first driving gear, a first driven gear, a first planetary carrier, and a first upper cover. The first driving gear is mounted on the drive shaft of the first motor, and the first upper cover is mounted on the first motor. Multiple first teeth are provided on the inner peripheral wall of the first upper cover. The first planetary carrier is located between the first upper cover and the first motor. A first fixed shaft and a first power rod are respectively provided on both sides of the first planetary carrier. The first driven gear is connected to the first fixed shaft and meshes with the first driving gear and the first teeth. The first power rod extends upward through the first upper cover. The first motor drives the first driven gear and the first planetary carrier to rotate through the first driving gear, thereby driving the first power rod to rotate.

[0008] A further option is that the structures of the second rotary drive, the third rotary drive, and the operating rotary drive are all the same as the structure of the first rotary drive.

[0009] A further embodiment is that the first rotating arm is provided with a first lug, a first mounting part, and a first mounting groove. The first mounting part and the first mounting groove are respectively located at both ends of the first rotating arm, and the first lug is located between the first mounting part and the first mounting groove. The first mounting part is fixedly connected to the first power rod, the first lug protrudes from the bottom wall of the first rotating arm, and the second rotary drive is located in the first mounting groove. The clamping power rod of the second rotary drive penetrates through the bottom of the first mounting groove.

[0010] A further embodiment is that the second rotating arm is provided with a second lug, a second mounting part, and a second mounting groove. The second mounting part and the second mounting groove are respectively located at both ends of the second rotating arm, and the second lug is located between the second mounting part and the second mounting groove. The second mounting part is fixedly connected to the clamping power rod, the second lug protrudes from the bottom wall of the second rotating arm, and the third rotary drive is located in the second mounting groove. The third power rod of the third rotary drive penetrates through the bottom of the second mounting groove.

[0011] A further embodiment is that the third rotating arm is provided with a third mounting part and a third mounting groove, which are respectively located at both ends of the third rotating arm; the third mounting part is fixedly connected to the third power rod, and the operating rotation drive component is located in the third mounting groove, with the operating power rod of the operating rotation drive component protruding from the third mounting groove.

[0012] A further embodiment is that the operating arm is provided with a fourth mounting part and a fifth mounting part, which are respectively located at both ends of the operating arm; the fourth mounting part is fixedly connected to the operating power rod, and the clamping drive assembly is located on the fifth mounting part.

[0013] A further embodiment includes a clamping block assembly comprising a power toothed block, a first connecting rod, a second connecting rod, and a clamping block. The power toothed block is rotatably mounted inside the mounting housing via a first rotating shaft. The teeth of the power toothed block mesh with a helical component. The protrusion of the power toothed block is movably connected to the first end of the first connecting rod via a second rotating shaft. The first end of the second connecting rod is movably connected to the mounting housing via a third rotating shaft. The clamping block is movably connected to the second ends of both the first and second connecting rods. The helical component can drive the power toothed block to rotate around the first rotating shaft, thereby driving the clamping block to move via the first and second connecting rods.

[0014] A further embodiment includes a clamping drive assembly comprising a second motor, a second driving gear, a second driven gear, a second planetary carrier, and a second upper cover. The second driving gear is mounted on the drive shaft of the second motor, and the second upper cover is mounted on the second motor. Multiple second teeth are provided on the inner peripheral wall of the second upper cover. The second planetary carrier is positioned between the second upper cover and the second motor. A second fixed shaft and a clamping power rod are respectively provided on both sides of the second planetary carrier. The second driven gear is connected to the second fixed shaft and meshes with both the second driving gear and the second teeth. The clamping power rod extends upward through the second upper cover and connects to a screw component. The second motor drives the second driven gear and the second planetary carrier to rotate via the second driving gear, thereby driving the clamping power rod and the screw component to rotate. Attached Figure Description

[0015] Figure 1 This is a structural diagram of the folded state of an embodiment of this utility model.

[0016] Figure 2 This is a structural diagram of the unfolded state of an embodiment of this utility model.

[0017] Figure 3 This is an exploded view of the first rotary drive component in an embodiment of this utility model.

[0018] Figure 4 This is a structural diagram of the first rotating arm in an embodiment of this utility model.

[0019] Figure 5 This is a structural diagram of the second rotating arm in an embodiment of this utility model.

[0020] Figure 6 This is a structural diagram of the third rotating arm in an embodiment of this utility model.

[0021] Figure 7 This is a structural diagram of the operating arm in an embodiment of this utility model.

[0022] Figure 8 This is a structural diagram of the gripper and clamping drive assembly in an embodiment of this utility model.

[0023] Figure 9 This is an exploded view of the gripper in an embodiment of this utility model.

[0024] Figure 10 This is an exploded view of the clamping drive assembly in an embodiment of this utility model.

[0025] Figure 11 This is a schematic diagram of an embodiment of the present invention applied to a smart toilet.

[0026] Explanation of reference numerals in the attached figures: 1-First rotating arm, 11-First lug, 12-First mounting part, 13-First mounting groove, 131-First center hole; 2-First rotary drive component, 21-First motor, 22-First drive gear, 23-First driven gear, 24-First planetary carrier, 241-First power rod, 242-First fixed shaft, 25-First upper cover; 3-Second rotating arm, 31-Second lug, 32-Second mounting part, 33-Second mounting groove, 331-Second center hole; 4-Second rotary drive component; 5-Third rotating arm, 51-Third mounting part, 52-Third mounting groove, 521-Third center hole; 6-Third rotary drive component; 7-Operating arm, 71-Fourth mounting part, 72-Fifth mounting part; 8- Operate the rotary drive component; 9-Gripper, 91-Screw, 92-Mounting housing, 93-Grip block assembly, 931-Power tooth block, 9311-Tooth, 9312-Protrusion, 932-First connecting rod, 933-Second connecting rod, 9331-First ear plate, 9332-Second ear plate, 934-Grip block, 9341-Grip part, 9342-First connecting part, 9343-Second connecting part, 94-First rotating shaft, 95-Second rotating shaft, 96-Third rotating shaft, 97-Fourth rotating shaft, 98-Fifth rotating shaft; 10-Clamping drive assembly, 101-Second motor, 102-Second driving gear, 103-Second driven gear, 104-Second planetary carrier, 1041-Clamping power rod, 1042-Second fixed shaft, 105-Second upper cover; 20 - Toilet body; 201 - Receiving cavity; 30-seat ring; 40 - Toilet skirt hem.

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0028] See Figure 1 and Figure 2 The cleaning robotic arm provided in this embodiment includes a first rotating arm 1, a first rotary drive 2, a second rotating arm 3, a second rotary drive 4, a third rotating arm 5, a third rotary drive 6, an operating arm 7, an operating rotary drive 8, a gripper 9, and a gripping drive assembly 10.

[0029] The first rotary drive 2 and the second rotary drive 4 are respectively connected to the two ends of the first rotating arm 1. Specifically, the first end of the first rotating arm 1 is fixedly connected to the first power rod 241 of the first rotary drive 2. The first rotary drive 2 can drive the first rotating arm 1 to rotate around the first axis, which is the axis of the first power rod 241.

[0030] The first end of the second rotating arm 3 is fixedly connected to the second power rod of the second rotary drive member 4. The second rotary drive member 4 can drive the second rotating arm 3 to rotate around the second axis, which is the axis of the second power rod. The first axis is perpendicular to the second axis. The second end of the second rotating arm 3 is provided with a third rotary drive member 6.

[0031] The first end of the third rotating arm 5 is fixedly connected to the third power rod of the third rotary drive member 6. The third rotary drive member 6 drives the third rotating arm 5 to rotate around the third axis, which is the axis of the third power rod. The third axis is parallel to the second axis. The second end of the third rotating arm 5 is provided with an operating rotary drive member 8.

[0032] The first end of the operating arm 7 is fixedly connected to the operating power rod of the operating rotary drive 8. The operating rotary drive 8 drives the operating arm 7 to rotate around the operating axis, which is the axis of the operating power rod. The operating axis is perpendicular to the third axis.

[0033] The robotic arm in this embodiment can rotate around multiple different axes, facilitating free movement in three-dimensional space and providing a wider range of motion.

[0034] The second end of the operating arm 7 is provided with a gripper 9 and a gripping drive assembly 10. The gripping drive assembly 10 drives the gripper 9 to perform gripping or releasing actions. The gripper 9 can move between a preset position and the area to be cleaned. The preset position can be set according to the actual situation, and cleaning supplies such as disinfectant wipes, wet wipes, or dry wipes are placed at the preset position, preferably disposable cleaning supplies.

[0035] See Figure 3 The first rotary drive component 2 includes a first motor 21, a first drive gear 22, a first driven gear 23, a first planetary carrier 24, and a first upper cover 25.

[0036] The first driving gear 22 is mounted on the drive shaft of the first motor 21. Three first driven gears 23 are provided, each positioned on the outer periphery of the first driving gear 22. A first planetary carrier 24 is positioned above the first driven gears 23. A first power rod 241 and three first fixed shafts 242 are respectively mounted on the upper and lower sides of the first planetary carrier 24, with the first driven gears 23 mounted on their corresponding first fixed shafts 242. A first upper cover 25 is positioned above the first motor 21. The first planetary carrier 24 is located inside the first upper cover 25. The first power rod 241 extends upward through the first upper cover 25 for connection to the first rotating arm 1. Multiple first teeth are provided on the inner peripheral wall of the first upper cover 25, allowing the first driven gears 23 to simultaneously mesh with both the first driving gear 22 and the first teeth.

[0037] When the first motor 21 starts, the first driving gear 22 drives the first driven gear 23 to rotate. With the cooperation of the first teeth, the first driven gear 23 also revolves, thereby driving the first planetary carrier 24 and the first power rod 241 to rotate.

[0038] The structures of the second rotary drive member 4, the third rotary drive member 6, and the operating rotary drive member 8 are all the same as those of the first rotary drive member 2, and will not be described again here.

[0039] In another embodiment, the first rotary drive 2, the second rotary drive 4, the third rotary drive 6, and the operating rotary drive 8 can also be servos. The structure of the servos is existing technology and will not be described in detail here.

[0040] See Figure 4 and combined Figure 1 The first rotating arm 1 is provided with a first lug 11, a first mounting part 12, and a first mounting groove 13. The first mounting part 12 and the first mounting groove 13 are respectively provided at both ends of the first rotating arm 1. The first lug 11 is provided between the first mounting part 12 and the first mounting groove 13. The first lug 11 protrudes from one side wall of the first rotating arm 1 and is used to support the second rotating arm 3 when the robotic arm is folded.

[0041] The axial direction of the first mounting part 12 is perpendicular to the axial direction of the first mounting groove 13. The first mounting part 12 is fixedly connected to the first power rod 241. The second rotary drive 4 is disposed in the first mounting groove 13, and a first central hole 131 is provided at the bottom of the first mounting groove 13. The second power rod of the second rotary drive passes through the first central hole 131.

[0042] See Figure 5 and combined Figure 1 The second rotating arm 3 is provided with a second lug 31, a second mounting part 32, and a second mounting groove 33, which are respectively located at both ends of the second rotating arm 3. The second lug 31 is located between the second mounting part 32 and the second mounting groove 33, and protrudes from one side wall of the second rotating arm 3 to support the third rotating arm 5 when the robotic arm is folded.

[0043] The axial direction of the second mounting part 32 is parallel to the axial direction of the second mounting groove 33. The second mounting part 32 is fixedly connected to the second power rod, and the third rotary drive member 6 is disposed in the second mounting groove 33. The bottom of the second mounting groove 33 is provided with a second central hole 331, and the third power rod of the third rotary drive member 6 passes through the second central hole 331.

[0044] See Figure 6 and combined Figure 2The third rotating arm 5 is provided with a third mounting part 51 and a third mounting groove 52, which are respectively located at both ends of the third rotating arm 5. The axial direction of the third mounting part 51 is perpendicular to the axial direction of the third mounting groove 52. The third mounting part 51 is fixedly connected to the third power rod. The operating rotation drive 8 is located in the third mounting groove 52. The bottom of the third mounting groove 52 has a third central hole 521, and the operating power rod of the operating rotation drive 8 protrudes from the third central hole 521.

[0045] See Figure 7 and combined Figure 2 The operating arm 7 is provided with a fourth mounting part 71 and a fifth mounting part 72, which are respectively located at both ends of the operating arm 7. The fourth mounting part 71 is fixedly connected to the operating power rod, and the clamping drive assembly 10 is mounted on the fifth mounting part 72.

[0046] See Figure 8 and Figure 9 The gripper 9 includes a screw 91, a mounting shell 92, and two gripper assemblies 93.

[0047] The auger 91 is rotatably disposed within the mounting housing 92. Two clamping block assemblies 93 are respectively disposed on both sides of the auger 91. The clamping block assemblies 93 partially extend into the mounting housing 92 and connect to the auger 91. The clamping drive assembly 10 drives the auger 91 to rotate around its own axis, thereby causing the two clamping block assemblies 93 to move closer or further apart. Specifically: Each clamping block assembly 93 includes a power gear block 931, a first connecting rod 932, a second connecting rod 933, and a clamping block 934.

[0048] The power gear block 931 includes a toothed portion 9311 and a protrusion 9312. The toothed portion 9311 is fan-shaped and disposed within the mounting housing 92. The protrusion 9312 protrudes outward from the mounting housing 92, facing away from the toothed portion 9311. The toothed portion 9311 is movably connected to the mounting housing 92 via a first rotating shaft 94. The axis of the first rotating shaft 94 is perpendicular to the axis of the helical member 91, and the toothed portion 9311 is engaged with the helical member 91. The protrusion 9312 is movably connected to the first end of the first connecting rod 932 via a second rotating shaft 95.

[0049] A clamping block 934 is disposed on the outside of the mounting housing 92. The clamping block 934 is provided with a clamping part 9341, a first connecting part 9342, and a second connecting part 9343. The two clamping parts 9341 are arranged opposite to each other and form a clamping opening. The first connecting part 9342 is movably connected to the second end of the first connecting rod 932 via a fourth rotating shaft 97. The second connecting part 9343 is movably connected to the second end of the second connecting rod 933 via a fifth rotating shaft 98.

[0050] Both the first connecting rod 932 and the second connecting rod 933 are located on the outer side of the mounting housing 92. The second connecting rod 933 is H-shaped, and its first end has two first ear plates 9331, which are respectively located on both sides of the mounting housing 92 and are movably connected to the mounting housing 92 via a third rotating shaft 96. The second end of the second connecting rod 933 has two second ear plates 9332, which are respectively located on both sides of the second connecting part 9343 and are movably connected to the second connecting part 9343 via a fifth rotating shaft 98.

[0051] When the spiral component 91 rotates around its own axis, it can drive the power tooth block 931 to rotate around the first rotating shaft 94, and then drive the clamping block 934 to move through the first connecting rod 932 and the second connecting rod 933, so as to realize the relative approach and relative distance of the two clamping blocks 934.

[0052] See Figure 10 The clamping drive assembly 10 includes a second motor 101, a second drive gear 102, a second driven gear 103, a second planetary carrier 104, and a second upper cover 105.

[0053] The second driving gear 102 is mounted on the drive shaft of the second motor 101. Three second driven gears 103 are provided, each positioned on the outer periphery of the second driving gear 102. A second planetary carrier 104 is positioned above the second driven gears 103. Clamping power rods 1041 and three second fixed shafts 1042 are respectively provided on the upper and lower sides of the second planetary carrier 104. The second driven gears 103 are mounted on the corresponding second fixed shafts 1042. A second upper cover 105 is positioned above the second motor 101. The second planetary carrier 104 is located inside the second upper cover 105. The clamping power rods 1041 extend upwards through the second upper cover 105 for connection with the helical component 91. Multiple second teeth are provided on the inner peripheral wall of the second upper cover 105, allowing the second driven gears 103 to simultaneously mesh with both the second driving gear 102 and the second teeth.

[0054] When the second motor 101 starts, the second driving gear 102 drives the second driven gear 103 to rotate. With the cooperation of the second teeth, the second driven gear 103 also revolves, thereby driving the second planetary carrier 104, the clamping power rod 1041 and the screw 91 to rotate.

[0055] In another embodiment, the clamping drive assembly 10 can be a servo motor, the structure of which is existing technology and will not be described in detail here.

[0056] See Figure 11In this embodiment, the robotic arm can be applied to the toilet body 20 of a smart toilet. The upper part of the toilet body 20 is provided with a toilet skirt 40, and the seat ring 30 is rotatably connected to the upper part of the toilet body 20, and is positioned above the toilet skirt 40. The first end of the robotic arm is rotatably connected to the receiving cavity 201 of the toilet body 20, and the second end of the robotic arm can extend and retract into the receiving cavity 201.

[0057] When the second end of the robotic arm extends into the receiving cavity 201, the gripper 9 on the second end of the robotic arm can move horizontally and vertically to move between a preset position and the area to be cleaned. That is, after the gripper 9 picks up the cleaning product at the preset position, it moves to above the seat 30 or toilet skirt 40 to clean the seat 30 or toilet skirt 40.

[0058] When the seat ring 40 is in the lowered position, the robotic arm is used to clean the surface of the seat ring 30; when the seat ring 30 is flipped up, the robotic arm is used to clean the toilet skirt 40 on the upper part of the toilet body 20, which helps to meet the cleaning needs of both male and female users.

[0059] In other embodiments, the cleaning robotic arm can also be applied to other devices that require cleaning, without limitation.

[0060] In summary, by setting multiple rotating arms, this utility model allows the operating arm 7 to move flexibly above the seat ring 30 or toilet skirt 40 even when the cleaning robotic arm is set on the outer wall of the toilet body 20, which helps to increase the range of motion of the operating arm 7; by setting the gripper 9, it is used to grab disinfectant wipes, wet wipes or dry wipes at a preset position to wipe and clean the seat ring 30 or toilet skirt 40.

[0061] Finally, it should be emphasized that the above are only preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model can have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A cleaning robotic arm, characterized in that, include: A first rotating arm, wherein a first rotating drive member and a second rotating drive member are respectively provided at both ends of the first rotating arm, and the first rotating drive member can drive the first rotating arm to rotate around a first axis. The second rotating arm has a first end rotatably connected to the second end of the first rotating arm. The second rotation drive can drive the second rotating arm to rotate around a second axis. The first axis is perpendicular to the second axis. The second end of the second rotating arm is provided with a third rotation drive. The third rotating arm has a first end rotatably connected to the second end of the second rotating arm. The third rotating drive drives the third rotating arm to rotate around a third axis, which is parallel to the second axis. The second end of the third rotating arm is provided with an operating rotating drive. An operating arm is provided, with its first end rotatably connected to the second end of a third rotating arm. An operating rotation drive drives the operating arm to rotate around an operating axis perpendicular to the third axis. The second end of the operating arm is provided with a gripper and a gripping drive assembly. The gripping drive assembly drives the gripper to perform gripping or releasing actions. The gripper includes a auger, a mounting shell, and two gripping block assemblies. The auger is disposed within the mounting shell, and the two gripping block assemblies are respectively disposed on both sides of the auger. The gripping block assemblies partially extend into the mounting shell and are connected to the auger. The gripping drive assembly drives the auger to rotate around its own axis, thereby causing the two gripping block assemblies to move closer or further apart.

2. The cleaning robotic arm according to claim 1, characterized in that: The first rotary drive component includes a first motor, a first driving gear, a first driven gear, a first planetary carrier, and a first upper cover. The first driving gear is disposed on the drive shaft of the first motor, and the first upper cover is disposed on the first motor. A plurality of first teeth are provided on the inner peripheral wall of the first upper cover. The first planetary carrier is disposed between the first upper cover and the first motor. A first fixed shaft and a first power rod are respectively provided on both sides of the first planetary carrier. The first driven gear is connected to the first fixed shaft and meshes with the first driving gear and the first teeth respectively. The first power rod passes through the first upper cover upward. The first motor drives the first driven gear and the first planetary carrier to rotate through the first driving gear, thereby driving the first power rod to rotate.

3. The cleaning robotic arm according to claim 2, characterized in that: The structures of the second rotary drive, the third rotary drive, and the operating rotary drive are all the same as those of the first rotary drive.

4. The cleaning robotic arm according to claim 2, characterized in that: The first rotating arm is provided with a first lug, a first mounting part and a first mounting groove. The first mounting part and the first mounting groove are respectively provided at both ends of the first rotating arm, and the first lug is provided between the first mounting part and the first mounting groove. The first mounting part is fixedly connected to the first power rod, the first lug protrudes from the bottom wall of the first rotating arm, the second rotary drive is disposed in the first mounting groove, and the clamping power rod of the second rotary drive penetrates through the bottom of the first mounting groove.

5. The cleaning robotic arm according to claim 4, characterized in that: The second rotating arm is provided with a second lug, a second mounting part and a second mounting groove. The second mounting part and the second mounting groove are respectively provided at both ends of the second rotating arm, and the second lug is provided between the second mounting part and the second mounting groove. The second mounting part is fixedly connected to the clamping power rod, the second lug protrudes from the bottom wall of the second rotating arm, the third rotary drive is disposed in the second mounting groove, and the third power rod of the third rotary drive penetrates through the bottom of the second mounting groove.

6. The cleaning robotic arm according to claim 5, characterized in that: The third rotating arm is provided with a third mounting part and a third mounting groove, and the third mounting part and the third mounting groove are respectively located at both ends of the third rotating arm; The third mounting part is fixedly connected to the third power rod, the operating rotation drive is disposed in the third mounting groove, and the operating power rod of the operating rotation drive protrudes from the third mounting groove.

7. The cleaning robotic arm according to claim 6, characterized in that: The operating arm is provided with a fourth mounting part and a fifth mounting part, which are respectively located at both ends of the operating arm; The fourth mounting part is fixedly connected to the operating power rod, and the clamping drive assembly is mounted on the fifth mounting part.

8. The cleaning robotic arm according to claim 1, characterized in that: The clamping block assembly includes a power toothed block, a first connecting rod, a second connecting rod, and a clamping block. The power toothed block is rotatably disposed in the mounting housing via a first rotating shaft. The teeth of the power toothed block mesh with the helical component. The protrusion of the power toothed block is movably connected to the first end of the first connecting rod via a second rotating shaft. The first end of the second connecting rod is movably connected to the mounting housing via a third rotating shaft. The clamping block is movably connected to the second ends of the first connecting rod and the second end of the second connecting rod, respectively. The spiral component can drive the power toothed block to rotate around the first rotating shaft, and then drive the clamping block to move through the first connecting rod and the second connecting rod.

9. The cleaning robotic arm according to claim 1, characterized in that: The clamping drive assembly includes a second motor, a second driving gear, a second driven gear, a second planetary carrier, and a second upper cover. The second driving gear is mounted on the drive shaft of the second motor, and the second upper cover is mounted on the second motor. The inner peripheral wall of the second upper cover is provided with a plurality of second teeth. The second planetary carrier is disposed between the second upper cover and the second motor. A second fixed shaft and a clamping power rod are respectively provided on both sides of the second planetary carrier. The second driven gear is connected to the second fixed shaft and meshes with the second driving gear and the second teeth. The clamping power rod passes upward through the second upper cover and is connected to the helical component. The second motor drives the second driven gear and the second planetary carrier to rotate via the second driving gear, thereby driving the clamping power rod and the screw to rotate.

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