Foldable surrounding type end executive device for dry ice cleaning operation

Abstract

The invention discloses a foldable surrounding type end execution device for dry ice cleaning operation, and belongs to the technical field of power equipment maintenance equipment. Comprising a folding device, an opening and closing device and a surrounding operation device. According to the device, large-angle overturning and folding of the tail end device are achieved through a connecting rod mechanism of the folding device and a lead screw stepping motor, and the operation flexibility in a narrow space is improved; precise opening and closing of the surrounding operation device are achieved through a gear set of the opening and closing device and a steering engine, and it is guaranteed that the operation range is controllable and the load capacity is good; the surrounding operation device is composed of an annular guide rail, a sliding block and a dry ice spray head, bilateral simultaneous surrounding operation can be achieved, and operation visualization is achieved with the assistance of a camera module. The device is compact in structure and stable in operation, can adapt to cleaning operation of high-altitude or difficult-to-contact electric power insulators, improves the cleaning efficiency and the operation safety, and has good flexibility and adaptability.

Description

TECHNICAL FIELD

[0001] The application relates to a foldable surrounding end execution device for dry ice cleaning operation and belongs to the technical field of power equipment maintenance equipment. BACKGROUND

[0002] With the rapid development of the power industry, the equipment maintenance and cleaning work of power transmission lines becomes increasingly important. In particular, in high-voltage power lines, insulators as important power equipment, their surfaces are prone to dust, dirt and pollutants, affecting the insulation performance, and even causing equipment failure. The traditional insulator cleaning method relies on manual operation or traditional cleaning tools, which not only has low cleaning efficiency, but also has high safety hazards. Manual cleaning operation often requires high-altitude operation, and the operating environment is dangerous, especially in high-altitude, suspended, or ground-remote insulator cleaning operations, the safety and efficiency of manual operation cannot be effectively guaranteed. Using traditional cleaning tools such as water guns or chemical cleaning agents to clean insulators often cannot achieve fine and uniform cleaning effect, and may cause damage to the equipment or other safety hazards. With the gradual rise of the application of dry ice cleaning technology, it has gradually become an important means of power equipment cleaning due to its advantages of no waste water and no damage to equipment. Dry ice cleaning is not only efficient and environmentally friendly, but also can remove pollutants without touching the surface of the equipment through high-speed impact of dry ice particles, avoiding damage problems that may be caused by traditional cleaning methods.

[0003] The dry ice cleaning equipment on the market currently has the problems of inconvenient operation, limited cleaning range, poor adaptability, etc. Especially in high-altitude, difficult-to-access power insulator cleaning operations, the existing equipment cannot effectively solve the stability and flexibility problems of surrounding cleaning operation. Therefore, designing an end execution device for dry ice cleaning operation has the characteristics of adaptability to different power equipment surfaces, flexibility, cleaning efficiency, and improves the automation level of power equipment maintenance and reduces the exposure risk of manual high-risk operation, which becomes the key to solving the current technical bottleneck. SUMMARY

[0004] The application provides a foldable surrounding end execution device for dry ice cleaning operation, which can be installed with a dry ice cleaning nozzle for surrounding operation, and realizes folding and opening functions through a connecting rod mechanism and a gear transmission, thereby improving adaptability and flexibility in narrow space operation.

[0005] The technical scheme adopted by the present application is: a foldable surrounding end execution device for dry ice cleaning operation, comprising a folding device 1, an opening and closing device 2, and a surrounding operation device 3, the opening and closing device 2 is connected to the folding device 1 at one end and connected to the surrounding operation device 3 at the other end, the folding device 1 is used to realize the folding function of the whole end execution device; the opening and closing device 2 drives the surrounding operation device 3 to realize the opening and closing function; the surrounding operation device 3 drives the dry ice cleaning spray head installed thereon to perform surrounding operation.

[0006] Specifically, the folding device 1 comprises a connecting rod 1-1, an optical axis 1-2, an optical axis support seat 1-3, a back plate 1-4, a main pin shaft 1-5, a T-shaped bearing seat 1-6, a connecting hinge I 1-7, a connecting hinge II 1-8, a lead screw nut 1-9, a stepping motor support 1-10, a lead screw stepping motor 1-11, a main support 1-12, a connecting rotating shaft 1-13, an axle check ring I 1-14, a rolling bearing I 1-15, a hole check ring I 1-16, the optical axis support seat 1-3, the T-shaped bearing seat 1-6, and the stepping motor support 1-10 are fixedly installed on the back plate 1-4, the lead screw stepping motor 1-11 is installed above the stepping motor support 1-10, and the lead screw end is cooperatively installed with the rolling bearing in the T-shaped bearing seat 1-6; the lead screw nut 1-9 is cooperatively installed with the lead screw of the lead screw stepping motor 1-11 and fixedly installed with the connecting hinge I 1-7, the connecting hinge I 1-7 is cooperatively connected with the connecting hinge II 1-8 through the main pin shaft 1-5, and the connecting hinge II 1-8 is fixedly installed on the back of the main support 1-12; the connecting rotating shaft 1-13 is fixedly installed on the upper and lower ends of the main support 1-12, the connecting rod 1-1 is respectively installed with the rolling bearing I 1-15 at both ends, the rolling bearing I 1-15 is limited through the hole check ring I 1-16, and the connecting rod 1-1 is cooperatively installed with the connecting rotating shaft 1-13 and the optical axis 1-2 at both ends, and the optical axis 1-2 is fixed at both ends through the two optical axis support seats 1-3.

[0007] In particular: the opening and closing device 2 includes a left support plate 2-1, a photoelectric switch 2-2, a driven gear 2-3, a bearing seat 2-4, a rudder 2-5, a rudder support 2-6, a driving gear 2-7, a photoelectric switch baffle 2-8, a right support plate 2-9, a bull's eye wheel 2-10, a cushion block 2-11, a rudder connection flange 2-12, a rolling bearing II 2-13, a hole baffle II 2-14, a driving shaft 2-15, a tight screw I 2-16, a shaft sleeve II 2-17, a driven shaft 2-18, a shaft baffle II 2-19, the rudder 2-5 is installed on the rudder support 2-6, the rudder support 2-6 is fixedly installed above the folding device 1, the output end of the rudder 2-5 is connected with the rudder connection flange 2-12, and the rudder connection flange 2-12 is connected with the driving shaft 2-15 through top bolts; four bearing seats 2-4 are distributed and installed on both sides of the folding device 1, the rolling bearing II 2-13 is installed in the bearing seat 2-4 and is limited through the hole baffle II 2-14; the installation sequence of the driving shaft 2-15 from top to bottom is rolling bearing II 2-13, shaft sleeve II 2-17, driving gear 2-7, right support plate 2-9, rolling bearing II 2-13 and shaft baffle II 2-19, and the installation sequence of the driven shaft 2-18 from top to bottom is rolling bearing II 2-13, shaft sleeve II 2-17, driven gear 2-3, left support plate 2-1, rolling bearing II 2-13 and shaft baffle II 2-19; the driving gear 2-7 and the driven gear 2-3 are connected with the driving shaft 2-15 and the driven shaft 2-18 through keys, the right support plate 2-9 and the left support plate 2-1 are limited and connected with the driving shaft 2-15 and the driven shaft 2-18 through the tight screw 2-16, the driving gear 2-7 is engaged with the driven gear 2-3, and the photoelectric switch 2-2 and the photoelectric switch baffle 2-8 are installed on the left support plate 2-1 and the right support plate 2-9 respectively; the bull's eye wheel 2-10 and the cushion block 2-11 are fixedly installed on the folding device 1 in sequence, and support the right support plate 2-9 and the left support plate 2-1.

[0008] Specifically: the surrounding operation device 3 includes a gear ring 3-1, an annular guide rail 3-2, a reduction motor 3-3, a camera module 3-4, a slider seat 3-5, a dry ice spray head 3-6, a traveling gear 3-7, a tight screw II 3-8, a spray head support 3-9, a grooved bearing 3-10, a bearing pin 3-11, the left and right two gear rings 3-1 and the annular guide rail 3-2 are fixed on the left supporting plate 2-1 and the right supporting plate 2-9 respectively, the gear ring 3-1 and the annular guide rail 3-2 are installed with the corresponding supporting plate as the same center; the four grooved bearings 3-10 are connected with the bottom of the slider seat 3-5 through the bearing pin 3-11 and the nut, the distance between the two grooved bearings 3-10 on the same side is the width of the inverted trapezoid of the annular guide rail 3-2, the slider seat 3-5 is matched with the annular guide rail 3-2 through the grooved bearing 3-10; the reduction motor 3-3 is installed on the slider seat 3-5, the output shaft is connected with the traveling gear 3-7 through the tight screw 3-8, the traveling gear 3-7 is engaged with the gear ring 3-1, the traveling gear 3-7 is driven to rotate on the gear ring 3-1 through the reduction motor 3-3, so that the whole slider seat 3-5 and the operation device can move around the operation object; the camera module 3-4, the spray head support 3-9 and the dry ice spray head 3-6 are also installed on the slider seat 3-5, the dry ice spray head 3-6 is installed on the spray head support 3-9 and the rear end is connected with the dry ice cleaning machine.

[0009] The beneficial effects of the present application are: the foldable surrounding end execution device for dry ice cleaning operation provided by the present application realizes the folding function through a more stable connecting rod mechanism, reduces the operation space, and can perform surrounding cleaning operation, so as to improve the cleaning effect, the whole device structure is compact, stable and efficient, and specifically: 1. In the present application, the folding function is realized by a four-bar mechanism composed of multiple parts, which can realize large-angle folding and pitching action, and improve the flexibility of the device operation; the driving device of the folding action is a lead screw motor, which can utilize the self-locking performance of the lead screw to maintain the angle of the end device and prevent accidental falling during operation.

[0010] 2. In the present application, the opening and closing of the end gear ring and the guide rail are realized by a set of gear engagement, which is more accurate in controlling the opening and closing angle, adopts a rudder to drive, has a larger torque output in a small angle rotation range, and makes the device have better load capacity; the opening and closing device has a compact structure design, which can reduce redundant design and the weight of the device itself while ensuring the structural strength.

[0011] 3. In the present application, the operation object is simultaneously cleaned on both sides through surrounding operation, which greatly improves the operation efficiency, and the operation is visualized by cooperating with the camera module to ensure the operation effect; the movable spray head installation method makes the device more flexible and has stronger adaptability to different operation objects. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 This is a schematic diagram of the main structure of the present invention; Figure 2 This is a schematic diagram of the folding device structure of the present invention; Figure 3 This is a cross-sectional view of the connecting rod of the folding device of the present invention; Figure 4 This is a schematic diagram of the opening and closing device of the present invention; Figure 5 This is a cross-sectional view of the opening and closing device of the present invention; Figure 6 This is a schematic diagram of the structure of the circling operation device of the present invention; Figure 7 This is a partial structural cross-sectional view of the surround working device of the present invention; Figure 8 This is a schematic diagram of the invention used in conjunction with a mast-type elevator; Figure 9 This is a schematic diagram of the working scenario of the present invention; Figure 10 This is a schematic diagram of the operation process of the present invention. Figure 1 ; Figure 11 This is a schematic diagram of the operation process of the present invention. Figure 2 ; Figure 12 This is a schematic diagram of the operation process of the present invention. Figure 3 ; Figure 13 This is a schematic diagram of the operation process of the present invention. Figure 4 .

[0013] The labels in the diagram are as follows: 1: Folding device, 2: Opening and closing device, 3: Surrounding operation device, 1-1: Connecting rod, 1-2: Optical axis, 1-3: Optical axis support, 1-4: Back plate, 1-5: Main pin shaft, 1-6: T-type bearing seat, 1-7: Connecting hinge I, 1-8: Connecting hinge II, 1-9: Lead screw nut, 1-10: Stepper motor bracket, 1-11: Lead screw stepper motor, 1-12: Main support, 1-13: Connecting shaft, 1-14: Shaft retaining ring I, 1-15: Rolling bearing I, 1-16: Hole retaining ring I, 2-1: Left support plate, 2-2: Photoelectric switch, 2-3: Driven gear, 2-4: Bearing seat, 2-5: Servo motor, 2-6: Rudder. 2-7: Drive gear; 2-8: Photoelectric switch baffle; 2-9: Right support plate; 2-10: Bullseye wheel; 2-11: Pad block; 2-12: Servo connecting flange; 2-13: Rolling bearing II; 2-14: Hole retaining ring II; 2-15: Drive shaft; 2-16: Set screw I; 2-17: Bushing II; 2-18: Driven shaft; 2-19: Shaft retaining ring II; 3-1: Gear ring; 3-2: Circular guide rail; 3-3: Gear motor; 3-4: Camera module; 3-5: Slider seat; 3-6: Dry ice nozzle; 3-7: Traveling gear; 3-8: Set screw II; 3-9: Nozzle bracket; 3-10: Grooved bearing; 3-11: Bearing pin. Detailed Implementation

[0014] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] Example 1: As Figures 1-7 As shown, the present invention discloses a foldable, wraparound end effector for dry ice cleaning operations, comprising a folding device 1, an opening and closing device 2, and a wraparound working device 3. The folding device 1 mainly consists of a linkage mechanism and other accessories, used to realize the folding function of the entire end effector, and also connects to other equipment, such as aerial work platforms and self-propelled robots. The opening and closing device 2 consists of a gear set and other accessories, serving as the main carrier of the wraparound working device 3, driving the wraparound working device 3 to achieve its opening and closing function. The wraparound working device 3 mainly consists of a ring guide rail and a slider, driving the dry ice cleaning nozzle to perform wraparound operations, thereby improving the cleaning operation range and efficiency.

[0016] Furthermore, the folding device 1 includes a connecting rod 1-1, an optical axis 1-2, an optical axis support seat 1-3, a back plate 1-4, a main pin shaft 1-5, a T-type bearing seat 1-6, a connecting hinge I 1-7, a connecting hinge II 1-8, a lead screw nut 1-9, a stepper motor bracket 1-10, a lead screw stepper motor 1-11, a main support 1-12, a connecting shaft 1-13, a shaft retaining ring I 1-14, a rolling bearing I 1-15, and a hole retaining ring I 1-16. The optical axis support 1-3, T-type bearing seat 1-6, and stepper motor bracket 1-10 are all bolted to the back plate 1-4. The lead screw stepper motor 1-11 is mounted above the stepper motor bracket 1-10, with the end of the lead screw engaging with the rolling bearing inside the T-type bearing seat 1-6. The lead screw nut 1-9 engages with the lead screw of the lead screw stepper motor 1-11 and is bolted to the connecting hinge I 1-7. The connecting hinge I 1-7 and the connecting hinge II 1-8 are connected by a kingpin. Shaft 1-5 is connected, and connecting hinge II 1-8 is fixedly installed on the back of main support 1-12; the upper and lower ends of connecting shaft 1-13 are fixedly installed to main support 1-12 by bolts; rolling bearing I 1-15 is installed at both ends of connecting rod 1-1, and rolling bearing I 1-15 is limited by retaining ring I 1-16 through the hole; the upper and lower ends of connecting rod 1-1 are respectively connected to connecting shaft 1-13 and optical shaft 1-2; the two ends of optical shaft 1-2 are fixed by two optical shaft support seats 1-3. The basic principle of the folding device 1 is as follows: it consists of a four-bar linkage consisting of connecting hinge I 1-7, connecting hinge II 1-8, main support 1-12, connecting shaft 1-13, and connecting rod 1-1. The lead screw stepper motor 1-11 drives the lead screw to move the lead screw nut 1-9 up and down. The main support 1-12 can achieve the corresponding angle of flipping and folding. When the lead screw nut 1-9 moves upward, the main support 1-12 flips and folds downward, and vice versa. The designed flipping and folding angle is 90°.

[0017] Furthermore, the opening and closing device 2 includes a left support plate 2-1, a photoelectric switch 2-2, a driven gear 2-3, a bearing seat 2-4, a servo motor 2-5, a servo motor bracket 2-6, a drive gear 2-7, a photoelectric switch baffle 2-8, a right support plate 2-9, a bullseye wheel 2-10, a pad block 2-11, a servo motor connecting flange 2-12, a rolling bearing II 2-13, a retaining ring II for the bore 2-14, a drive shaft 2-15, a set screw I 2-16, a bushing II 2-17, a driven shaft 2-18, and a retaining ring II for the shaft 2-19. Servo motor 2-5 is mounted on servo motor bracket 2-6, which is bolted to the main support 1-12. The output end of servo motor 2-5 is connected to servo motor connecting flange 2-12, which is connected to drive shaft 2-15 via top bolts. Four bearing housings 2-4 are distributed on both sides of the main support 1-12. Rolling bearings II 2-13 are installed in the bearing housings 2-4 and are limited by retaining rings II 2-14 through holes. Drive shaft 2-1... The installation sequence from top to bottom for the driven shaft 2-18 is as follows: rolling bearing II2-13, bushing II2-17, drive gear 2-7, right support plate 2-9, rolling bearing II2-13, and shaft retaining ring II2-19. The installation sequence from top to bottom for the driven shaft 2-18 is as follows: rolling bearing II2-13, bushing II2-17, driven gear 2-3, left support plate 2-1, rolling bearing II2-13, and shaft retaining ring II2-19. Drive gear 2-7 and driven gear 2-3 are respectively... Both the drive shaft 2-15 and the driven shaft 2-18 are connected by keys. The right support plate 2-9 and the left support plate 2-1 are respectively limited and connected to the drive shaft 2-15 and the driven shaft 2-18 by set screws 2-16. The photoelectric switch 2-2 and the photoelectric switch baffle 2-8 are respectively installed on the left support plate 2-1 and the right support plate 2-9. The bullseye wheel 2-10 and the pad 2-11 are sequentially fixedly installed on the support plate below the main support 1-12, which supports the right support plate 2-9 and the left support plate 2-1. The servo motor 2-5 can directly drive the drive gear 2-7. Through the meshing of the drive gear 2-7 and the driven gear 2-3, the right support plate 2-9 and the left support plate 2-1 are driven to rotate in opposite directions to realize the opening or closing function. The maximum opening angle is designed to be 65°. When fully closed, the photoelectric switch 2-2 and the photoelectric switch baffle 2-8 send a positioning signal to the external controller, and the controller controls the servo motor 2-5 to stop rotating.

[0018] Further, the circling operation device 3 includes a gear ring 3-1, an annular guide rail 3-2, a reduction motor 3-3, a camera module 3-4, a slider seat 3-5, a dry ice nozzle 3-6, a traveling gear 3-7, a set screw II 3-8, a nozzle bracket 3-9, a grooved bearing 3-10, and a bearing pin 3-11. The left and right gear rings 3-1 and the annular guide rail 3-2 are respectively fixed to the left support plate 2-1 and the right support plate 2-9 by bolts. The gear rings 3-1 and the annular guide rail 3-2 are installed concentrically with their corresponding support plates. Four grooved bearings 3-10 are connected to the bottom sides of the slider seat 3-5 via bearing pins 3-11 and nuts. The distance between two grooved bearings 3-10 on the same side is the width of the inverted trapezoid of the annular guide rail 3-2. The slider seat 3-5 cooperates with the annular guide rail 3-2 through the grooved bearings 3-10. The reduction motor 3-3 is mounted on the slider seat 3-5 by bolts. The output shaft is connected to the travel gear 3-7 via the set screw 3-8. The travel gear 3-7 meshes with the gear ring 3-1. The travel gear 3-7 is driven to rotate on the gear ring 3-1 by the reduction motor 3-3, so that the entire slider seat 3-5 and the working device can move around the working object. The slider seat 3-5 is also equipped with a camera module 3-4, a nozzle bracket 3-9 and a dry ice nozzle 3-6. The camera module 3-4 is used to observe the working effect. The dry ice nozzle 3-6 is the final working device. The dry ice nozzle 3-6 is installed on the nozzle bracket 3-9 and its rear end needs to be connected to a dry ice cleaning machine.

[0019] Furthermore, optional models of the present invention are given, such as: lead screw stepper motor 1-11 model: 57HD series stepper motor [57HD3404]; servo motor 2-5 model: BLS33 series servo motor [BLS3355]; geared motor 3-3 model: DC geared motor [MG513P30].

[0020] Example 2: As Figures 8-13 As shown, this invention describes the process of using a foldable, wraparound end effector for dry ice cleaning operations on high-altitude insulators. Figure 8 The device of the present invention shown can be connected and installed to the end of the mast-type elevator via the back plate 1-4, and in conjunction with the lifting function of the mast-type elevator, it can be used to clean high-altitude insulators.

[0021] Furthermore, such as Figure 9 As shown, the mast-type lift equipped with the device of the present invention is moved to a location close to the insulator installation platform. Since the device of the present invention adopts a foldable design, it is moved as close to the platform as possible while ensuring that the entire device can rise without obstruction, so that the surrounding work device can better cover the insulator area, while reducing the movement of the lift after the device is raised.

[0022] Furthermore, such as Figure 10As shown, after the working position is fixed, the elevator deploys its four stabilizing outriggers, and the multi-stage main boom gradually rises until it reaches a height that allows the surrounding working device 3 to be tilted and lifted, at which point it stops. Figure 11 As shown, after reaching the designated height, the servo motor 2-5 drives the two side gear rings 3-1 and the annular guide rail 3-2 to open at a certain angle, while the lead screw stepper motor 1-11 drives the main support 1-12 to rotate the entire device upward.

[0023] Furthermore, such as Figure 12 As shown, when the circling device 3 is flipped to the horizontal position, the lead screw stepper motor 1-11 stops rotating, and the servo motor 2-5 drives the two side gear rings 3-1 to close with the annular guide rail 3-2, so that the circling device 3 completely surrounds the insulator.

[0024] Furthermore, such as Figure 13 As shown, the device of the present invention can perform dry ice cleaning on insulators from bottom to top. The reduction motor 3-3 drives the travel gear 3-7 to drive the slider seat 3-5 and the dry ice nozzle 3-6 to start moving in a circular motion along the annular guide rail 3-2. The dry ice nozzle 3-6 needs to be connected to a dry ice cleaning machine to spray dry ice particles. The spray range can cover multiple layers of insulator sheets. The left and right dry ice nozzles 3-6 move in opposite directions to work until one round of cleaning is completed. The mast-type lift continues to rise, and the dry ice nozzle 3-6 can move back in the opposite direction to complete the second cleaning. This step is repeated until the cleaning of an entire insulator column is completed. The device of the present invention is folded back, the lift descends, and it can then move to the next insulator column to start work.

[0025] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A foldable wraparound end effector for dry ice cleaning operations, characterized in that: It includes a folding device (1), an opening and closing device (2), and a circling operation device (3). One end of the opening and closing device (2) is connected to the folding device (1), and the other end is connected to the circling operation device (3). The folding device (1) is used to realize the folding function of the entire end effector. The opening and closing device (2) drives the circling operation device (3) to realize the opening and closing function. The circling operation device (3) drives the dry ice cleaning nozzle installed on it to perform circling operation.

2. The foldable wraparound end effector for dry ice cleaning operations according to claim 1, characterized in that: The folding device (1) includes a connecting rod (1-1), an optical axis (1-2), an optical axis support seat (1-3), a back plate (1-4), a main pin shaft (1-5), a T-type bearing seat (1-6), connecting hinge I (1-7), connecting hinge II (1-8), a lead screw nut (1-9), a stepper motor bracket (1-10), a lead screw stepper motor (1-11), a main support (1-12), a connecting shaft (1-13), a shaft retaining ring I (1-14), a rolling bearing I (1-15), and a hole retaining ring I (1-16). The optical axis support seat (1-3), the T-type bearing seat (1-6), and the stepper motor bracket (1-10) are all fixedly installed on the back plate (1-4). The lead screw stepper motor (1-11) is installed above the stepper motor bracket (1-10), and the end of the lead screw is connected to the T-type bearing. The inner rolling bearing of the seat (1-6) is fitted and installed; the lead screw nut (1-9) is fitted with the lead screw of the lead screw stepper motor (1-11) and fixedly installed with the connecting hinge I (1-7); the connecting hinge I (1-7) and the connecting hinge II (1-8) are connected by the main pin (1-5); the connecting hinge II (1-8) is fixedly installed on the back of the main support (1-12); the upper and lower ends of the connecting shaft (1-13) are fixedly installed with the main support (1-12); the two ends of the connecting rod (1-1) are respectively fitted with rolling bearing I (1-15); the rolling bearing I (1-15) is limited by the retaining ring I (1-16) through the hole; the upper and lower ends of the connecting rod (1-1) are respectively fitted with the connecting shaft (1-13) and the optical shaft (1-2); the two ends of the optical shaft (1-2) are fixed by two optical shaft support seats (1-3).

3. The foldable wraparound end effector for dry ice cleaning operations according to claim 1, characterized in that: The opening and closing device (2) includes a left support plate (2-1), a photoelectric switch (2-2), a driven gear (2-3), a bearing seat (2-4), a servo motor (2-5), a servo motor bracket (2-6), a drive gear (2-7), a photoelectric switch baffle (2-8), a right support plate (2-9), a bullseye wheel (2-10), a pad (2-11), a servo motor connecting flange (2-12), a rolling bearing II (2-13), a retaining ring II (2-14), a drive shaft (2-15), a set screw I (2-16), a bushing II (2-17), and a driven shaft (2-18). The shaft retaining ring II (2-19) is installed on the servo motor (2-5), which is mounted on the servo motor bracket (2-6). The servo motor bracket (2-6) is fixedly installed above the folding device (1). The output end of the servo motor (2-5) is connected to the servo motor connecting flange (2-12), and the servo motor connecting flange (2-12) is connected to the drive shaft (2-15) by top bolts. Four bearing seats (2-4) are distributed and installed on both sides of the folding device (1). Rolling bearing II (2-13) is installed in the bearing seat (2-4) and limited by the retaining ring II (2-14). The drive shaft (2-15) is installed in the following order from top to bottom. The components are, respectively, rolling bearing II (2-13), bushing II (2-17), drive gear (2-7), right support plate (2-9), rolling bearing II (2-13), and shaft retaining ring II (2-19). The driven shaft (2-18) is installed in the following order from top to bottom: rolling bearing II (2-13), bushing II (2-17), driven gear (2-3), left support plate (2-1), rolling bearing II (2-13), and shaft retaining ring II (2-19). The drive gear (2-7) and driven gear (2-3) are connected to the drive shaft (2-15) and driven shaft (2-18) respectively. All are connected by keys. The right support plate (2-9) and the left support plate (2-1) are respectively limited and connected to the drive shaft (2-15) and the driven shaft (2-18) by set screws (2-16). The drive gear (2-7) meshes with the driven gear (2-3). The photoelectric switch (2-2) and the photoelectric switch baffle (2-8) are respectively installed on the left support plate (2-1) and the right support plate (2-9). The bullseye wheel (2-10) and the pad (2-11) are fixedly installed on the folding device (1) in sequence, which supports the right support plate (2-9) and the left support plate (2-1).

4. The foldable wraparound end effector for dry ice cleaning operations according to claim 1, characterized in that: The surrounding operation device (3) includes a gear ring (3-1), an annular guide rail (3-2), a reduction motor (3-3), a camera module (3-4), a slider seat (3-5), a dry ice nozzle (3-6), a travel gear (3-7), a set screw II (3-8), a nozzle bracket (3-9), a grooved bearing (3-10), and a bearing pin (3-11). The left and right gear rings (3-1) and the annular guide rail (3-2) are respectively fixed on both sides of the opening and closing device (2). The gear rings (3-1) and the annular guide rail (3-2) are installed concentrically with the opening and closing device (2). The four grooved bearings (3-10) are connected to the bottom sides of the slider seat (3-5) through the bearing pin (3-11) and nuts. The distance between two grooved bearings (3-10) on the same side is annular. The guide rail (3-2) has an inverted trapezoidal width. The slider seat (3-5) is connected to the ring guide rail (3-2) through a grooved bearing (3-10). The geared motor (3-3) is mounted on the slider seat (3-5). The output shaft is connected to the travel gear (3-7) through a set screw (3-8). The travel gear (3-7) meshes with the gear ring (3-1). The geared motor (3-3) drives the travel gear (3-7) to rotate on the gear ring (3-1), realizing the movement of the entire slider seat (3-5) and the working device around the working object. The slider seat (3-5) is also equipped with a camera module (3-4), a nozzle bracket (3-9), and a dry ice nozzle (3-6). The dry ice nozzle (3-6) is mounted on the nozzle bracket (3-9) and its rear end is connected to the dry ice cleaning machine.

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