Multifunctional cleaning mechanical arm for chemical equipment

The invention discloses a multifunctional cleaning mechanical arm structure for chemical equipment. A cleaning mechanical arm comprises a base rotating joint, a second-order lifting joint, a horizontal rotating joint, a second-order horizontal moving joint, a tail end telescopic joint, a tail end rotating joint and a balance weight part. The movement of the rotary joint part is realized by adopting a servo motor driving mode; movement of the movable joint part is achieved in a hydraulic telescopic rod driving mode. In addition, the balance weight part is linked with the second-order horizontal moving joint in a connecting rod mode, and stress balance of the cleaning mechanical arm in the working process is achieved. According to the cleaning mechanical arm, the tail end executing part reaches the operation position through mutual actions of the base rotating joint, the second-order lifting joint, the horizontal rotating joint and the second-order horizontal moving joint, and cleaning of an operation process p