CN107838133A - High-voltage contact dry ice cleaning robot for electric power overhead operation - Google Patents
High-voltage contact dry ice cleaning robot for electric power overhead operation Download PDFInfo
- Publication number
- CN107838133A CN107838133A CN201711107102.3A CN201711107102A CN107838133A CN 107838133 A CN107838133 A CN 107838133A CN 201711107102 A CN201711107102 A CN 201711107102A CN 107838133 A CN107838133 A CN 107838133A
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- China
- Prior art keywords
- corner
- rotary shaft
- rotating bar
- dry ice
- support frame
- Prior art date
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- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 title claims abstract description 90
- 235000011089 carbon dioxide Nutrition 0.000 title claims abstract description 90
- 238000004140 cleaning Methods 0.000 title claims abstract description 57
- 239000000523 sample Substances 0.000 claims abstract description 15
- 238000005507 spraying Methods 0.000 claims abstract description 8
- 239000007789 gas Substances 0.000 claims description 6
- 239000003921 oil Substances 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 3
- 239000010687 lubricating oil Substances 0.000 claims description 3
- 238000005461 lubrication Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 2
- 206010014357 Electric shock Diseases 0.000 description 3
- 239000008188 pellet Substances 0.000 description 3
- 239000004677 Nylon Substances 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 241000596151 Iris domestica Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0064—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes
- B08B7/0092—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes by cooling
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Landscapes
- Cleaning In General (AREA)
Abstract
The invention discloses a high-voltage contact dry ice cleaning robot for electric power high-altitude operation, which comprises: the transportation base comprises a supporting platform, wheels and a jacking oil cylinder; the bottom telescopic frame is arranged on the supporting platform in a telescopic manner; the middle telescopic frame is arranged on the bottom telescopic frame in a telescopic way; the dry ice cleaning device is arranged on at least one middle telescopic frame; the dry ice cleaning device comprises a top support frame, a bearing plate, a six-axis manipulator, a dry ice emitter and an air compressor, wherein a probe of the six-axis manipulator is provided with a dry ice nozzle, an output interface of the dry ice emitter is connected with the dry ice nozzle, the air compressor is connected with the dry ice emitter, and the dry ice emitter is provided with a depth camera for shooting the probe of the six-axis manipulator. Through the mode, the dry ice cleaning robot disclosed by the invention can automatically clean the high-voltage contact, is high in safety, does not generate an electric shock phenomenon, and can clean the high-voltage contact by spraying dry ice, so that the cleaning efficiency is higher.
Description
Technical field
The present invention relates to technical field of power systems, more particularly to a kind of high-voltage contact dry ice of electric aerial work
Cleaning robot.
Background technology
With economic and society development, requirement of the people to supply of electric power improves constantly, therewith the demand of livewire work
More and more, various insulation aerial work platforms arise at the historic moment, and have obtained very extensive application.High-voltage contact is also known as
Mume flower contact, it is widely used in power equipment GIS such as and switchs, vacuum switch etc., a conductive part used in them
In mostly using high-voltage contact as main conductive connector.
Generally, it is dirty easily to accumulate dust etc. for high-voltage contact, and the time one is grown, and high-voltage contact is dirty to become tight
Weight, it is therefore desirable to which not timing is cleaned to high-voltage contact.At present, on the market mainly by manually holding cleaning equipment
Cleaned, the cleaning equipment includes lengthened insulative bar, the special-purpose nylon grinding head being arranged on lengthened insulative bar and installation
Motor in lengthened insulative bar, to be rotated by Motor Control special-purpose nylon grinding head to clean high-voltage contact.However,
Because high-voltage contact has high-tension electricity, therefore electric shock risk be present, it is dangerous, and by then passing through artificial cleaning high-voltage contact, because
This cleaning performance is poor.
The content of the invention
The present invention solves the technical problem of provide a kind of high-voltage contact dry ice cleaner of electric aerial work
Device people, high-voltage contact, safety and cleaning efficiency height can be cleaned automatically, is also convenient for transporting.
In order to solve the above technical problems, one aspect of the present invention is：A kind of electric aerial work is provided to use
High-voltage contact Dry ice cleaning machine people, including：Transport base, including support platform, be arranged on support platform both sides car
The jacking cylinder of the both sides in support platform is taken turns and is arranged on, the wherein piston rod of jacking cylinder is set towards ground；Stretch bottom
Contracting frame, it is scalable to be arranged in support platform；An at least middle part expansion bracket, it is scalable to be arranged on the expansion bracket of bottom；Dry ice is clear
Cleaning device, it is arranged at least on a middle part expansion bracket；Wherein, Dry ice cleaning device includes top supporting frame, is arranged on top plate branch
Loading plate on support, the six axis robot being arranged on loading plate, the dry ice transmitter being arranged on loading plate and setting
The probe of air compressor machine on loading plate, wherein six axis robot away from loading plate is provided with dry ice nozzle, dry ice transmitter
Output interface is connected by conveyance conduit with dry ice nozzle, and air compressor machine is connected with dry ice transmitter, and dry ice transmitter, which is provided with, to be used
In the depth camera of the probe of shooting six axis robot.
Wherein, the air velocity transducer for detecting wind speed is additionally provided with dry ice transmitter, and on the probe of six axis robot
It is additionally provided with the derusting sprinkler head for compressed-air blast cleaning water, the lubrication oil nozzle for spraying lubricating oil and for spraying high pressure
The gases at high pressure shower nozzle of gas.
Wherein, support platform is symmetrically arranged at the front end with scalable the first retractor device in support platform and scalable
The second retractor device in support platform, the rear end of support platform are symmetrically arranged with scalable the 3rd stretching in support platform
Compression apparatus and scalable the 4th retractor device in support platform, wherein jacking cylinder include being arranged on the first retractor device
At least one first jacking cylinder, be arranged on the second retractor device at least one second jacking cylinder, to be arranged on the 3rd flexible
At least one the 3rd jacking cylinder and at least one the 4th jacking cylinder being arranged on the 4th retractor device on device, at least one
First jacking cylinder, at least one second jacking cylinder, at least one the 3rd jacking cylinder and at least piston of one the 4th jacking cylinder
Bar is set towards ground, and support platform be provided with respectively with least one first jacking cylinder, at least one second jacking cylinder, at least
One the 3rd jacking cylinder and the hydraulic power unit that at least one the 4th jacking cylinder connects.
Wherein, bottom expansion bracket includes support column, the first support of setting on the support columns being arranged in support platform
Frame, be hinged bottom expansion link and the hydraulic jack being arranged on the first support frame in one end, one end of wherein hydraulic jack is hinged
Set on the support columns, and the piston rod of the other end of hydraulic jack is hinged and is arranged on the expansion link of bottom, to pass through hydraulic oil
Cylinder driving bottom expansion link is folded with.
Wherein, the rectangular shape of the first support frame is set, and support column includes the first corner that one end is arranged on the first support frame
The first support column that the upper and other end is arranged in support platform, one end are arranged on the second corner of the first support frame and another
Hold the second support column being arranged in support platform, one end is arranged in the third corner of the first support frame and the other end is arranged on
The 3rd support column in support platform, one end are arranged in the fourth angle portion of the first support frame and the other end is arranged on support platform
On the 4th support column, bottom expansion link includes first expansion link, be hinged in be hinged the first corner for being arranged on the first support frame
It is arranged on second expansion link in the second corner of the first support frame, the 3rd of the be hinged third corner for being arranged on the first support frame the stretches
Contracting bar and the 4th expansion link in the be hinged fourth angle portion for being arranged on the first support frame, hydraulic jack include the first hydraulic jack and
Second hydraulic jack, one end of the first hydraulic jack is be hinged to be arranged on the first support column, the other end of the first hydraulic jack
Piston rod is be hinged to be arranged on the second expansion link, and one end of the second hydraulic jack is be hinged to be arranged on the 3rd support column, the second liquid
The piston rod of the other end of compressing cylinder is be hinged to be arranged on the 4th expansion link.
Wherein, first side of the first corner of the first support frame away from the second corner is provided with the first lower rotation axle, the
One expansion link includes one end and is fixedly installed on the another of the first rotating bar on the first lower rotation axle and one end and the first rotating bar
Second rotating bar of one end rotation connection；Second side of second corner away from third corner of first support frame is provided with the second bottom
Portion's rotary shaft, the second expansion link include the 3rd rotating bar and one end and the 3rd that one end is fixedly installed on the second lower rotation axle
4th rotating bar of the other end rotation connection of rotating bar；Threeth side of the third corner of first support frame away from fourth angle portion
Provided with the 3rd lower rotation axle, the 3rd expansion link include one end be fixedly installed on the 5th rotating bar on the 3rd lower rotation axle and
The 6th rotating bar that the other end of one end and the 5th rotating bar is rotatablely connected；The fourth angle portion of first support frame is away from the first corner
Four side be provided with the 4th lower rotation axle, the 4th expansion link includes that one end is fixedly installed on the 4th lower rotation axle
The eighth-turn lever that the other end of seven rotating bars and one end and the 7th rotating bar is rotatablely connected.
Wherein, the second support frame of an at least middle part expansion bracket including rectangular shape, be hinged be arranged on the second support frame
5th expansion link in the first corner, be hinged the second corner for being arranged on the second support frame the 6th expansion link, be hinged be arranged on the
7th expansion link of the third corner of two support frames and the 8th expansion link in the be hinged fourth angle portion for being arranged on the second support frame,
And second rotating bar the other end it is be hinged be arranged on the first corner of the second support frame, the other end of the 4th rotating bar is be hinged to be set
Put on the second corner of the second support frame, the be hinged third corner for being arranged on the second support frame of the other end of the 6th rotating bar
On, the other end of eighth-turn lever is be hinged to be arranged in the fourth angle portion of the second support frame.
Wherein, first side of the first corner of the second support frame away from the second corner is interval with the first middle part rotary shaft
With the second middle part rotary shaft, the other end of the second rotating bar is fixedly installed in the first middle part rotary shaft, and the 5th expansion link is fixed
It is arranged in the second middle part rotary shaft, and the first middle part rotary shaft is provided with first gear, the second middle part rotary shaft is provided with and the
The second gear of one gear gear connection；Second side of second corner away from third corner of second support frame is interval with
Three middle part rotary shafts and the 4th middle part rotary shaft, the other end of the 4th rotating bar are fixedly installed in the 3rd middle part rotary shaft, the
Six expansion links are fixedly installed in the 4th middle part rotary shaft, and the 3rd middle part rotary shaft is provided with the 3rd gear, and the 4th middle part turns
Moving axis is provided with the 4th gear being connected with the 3rd gear gear；Threeth side of the third corner of second support frame away from fourth angle portion
While being interval with the 5th middle part rotary shaft and the 6th middle part rotary shaft, the other end of the 6th rotating bar is fixedly installed on the 5th middle part
In rotary shaft, the 7th expansion link is fixedly installed in the 6th middle part rotary shaft, and the 5th middle part rotary shaft is provided with the 5th gear,
6th middle part rotary shaft is provided with the 6th gear being connected with the 5th gear gear；The fourth angle portion of second support frame is away from first jiao
The four side in portion is interval with the 7th middle part rotary shaft and the 8th middle part rotary shaft, the other end fixed setting of eighth-turn lever
In the 7th middle part rotary shaft, the 8th expansion link is fixedly installed in the 8th middle part rotary shaft, and is set in the 7th middle part rotary shaft
There is the 7th gear, the 8th middle part rotary shaft is provided with the eighth gear being connected with the 7th gear gear.
Wherein, the 5th expansion link is fixedly installed on the first middle part rotating bar and one end in the second middle part rotary shaft including one end
The second middle part rotating bar being rotatablely connected with the other end of the first middle part rotating bar, the 6th expansion link are fixedly installed on including one end
In the other end of the 3rd middle part rotating bar and one end and the 3rd middle part rotating bar is rotatablely connected in 4th middle part rotary shaft the 4th
Portion's rotating bar, the 7th expansion link are fixedly installed in the 6th middle part rotary shaft the 5th middle part rotating bar and one end and the including one end
6th middle part rotating bar of the other end rotation connection of five middle part rotating bars, the 8th expansion link are fixedly installed on the 8th including one end
The 8th middle part that the other end of the 7th middle part rotating bar and one end and the 7th middle part rotating bar is rotatablely connected in the rotary shaft of middle part turns
Lever.
Wherein, the rectangular shape of top supporting frame is set, first side of first corner away from the second corner of top supporting frame
Side is provided with the first top rotary shaft, and the other end of the second middle part rotating bar is fixedly installed in the first top rotary shaft, top branch
Second side of second corner away from third corner of support is provided with the second top rotary shaft, the other end of the 4th middle part rotating bar
It is fixedly installed in the second top rotary shaft, threeth side of the third corner away from fourth angle portion of top supporting frame is provided with the 3rd
Top rotary shaft, the other end of the 6th middle part rotating bar are fixedly installed in the 3rd top rotary shaft, and the 4th of top supporting frame the
Four side of the corner away from the first corner is provided with the 4th top rotary shaft, and the other end of the 8th middle part rotating bar is fixedly installed on
In 4th top rotary shaft.
The beneficial effects of the invention are as follows：The situation of prior art is different from, electric aerial work disclosed in this invention is used
High-voltage contact Dry ice cleaning machine people include：Transport base, including support platform, be arranged on support platform both sides wheel
And the jacking cylinder of the both sides in support platform is arranged on, wherein the piston rod of jacking cylinder is set towards ground；Stretch bottom
Frame, it is scalable to be arranged in support platform；An at least middle part expansion bracket, it is scalable to be arranged on the expansion bracket of bottom；Dry ice cleaning
Device, it is arranged at least on a middle part expansion bracket；Wherein, Dry ice cleaning device includes top supporting frame, is arranged on top plate supporting
Loading plate on frame, the six axis robot being arranged on loading plate, the dry ice transmitter being arranged on loading plate and it is arranged on
The probe of air compressor machine on loading plate, wherein six axis robot away from loading plate is provided with dry ice nozzle, dry ice transmitter it is defeated
Outgoing interface is connected by conveyance conduit with dry ice nozzle, and air compressor machine is connected with dry ice transmitter, and dry ice transmitter, which is provided with, to be used for
Shoot the depth camera of the probe of six axis robot.By the above-mentioned means, the height of electric aerial work disclosed in this invention
Pressure contact Dry ice cleaning machine people can clean to high-voltage contact automatically, safe, be not in electric shock phenomenon, and should
The high-voltage contact Dry ice cleaning machine people of electric aerial work is mainly cleaned by spraying dry ice to high-voltage contact, is made
It is higher to obtain cleaning efficiency；In addition, the high-voltage contact Dry ice cleaning machine people of the electric aerial work can be folded with, its institute
The space of occupancy is small, significantly facilitates transport.
Brief description of the drawings
Fig. 1 is the structural representation of the high-voltage contact Dry ice cleaning machine people of electric aerial work of the present invention；
Fig. 2 is the Part I structural representation of the high-voltage contact Dry ice cleaning machine people of electric aerial work in Fig. 1；
Fig. 3 is the Part II structural representation of the high-voltage contact Dry ice cleaning machine people of electric aerial work in Fig. 1.
Embodiment
As Figure 1-3, the structure that Fig. 1 is the high-voltage contact Dry ice cleaning machine people of electric aerial work of the present invention is shown
It is intended to；Fig. 2 is the Part I structural representation of the high-voltage contact Dry ice cleaning machine people of electric aerial work in Fig. 1；Fig. 3
It is the Part II structural representation of the high-voltage contact Dry ice cleaning machine people of electric aerial work in Fig. 1.The electric power high-altitude
The high-voltage contact Dry ice cleaning machine people of operation includes transport base 40, at least bottom expansion bracket 30, a middle part expansion bracket 11
With Dry ice cleaning device 10.
Transport base 40 include support platform 401, be arranged on support platform 401 both sides wheel and be arranged on support
The piston rod of the jacking cylinder of both sides on platform 401, wherein jacking cylinder is set towards ground.It should be understood that the work of jacking cylinder
Stopper rod is set towards ground, mainly in robot manipulating task, by wheel lift, to prevent wheel damage.Wherein wheel includes setting
Put the first wheel of the front end of support platform 401 and the second wheel and be arranged on the rear end of support platform 401 the 3rd wheel and
4th wheel.
In the present embodiment, support platform 401 is symmetrically arranged at the front end with scalable first stretching in support platform 401
Compression apparatus 402 and scalable the second retractor device in support platform 401, the rear end of support platform 401 is symmetrically arranged with can
Stretch the 3rd retractor device 405 and scalable the 4th retractor device 407 in support platform 401 in support platform 401.
That is, the first retractor device 402, the second retractor device, the 3rd retractor device 405 and the 4th retractor device 407 are in machine
People can be housed in inside support platform 401 when not working, in machine man-hour, the flexible dress of the first retractor device 402, second
Put, the 3rd retractor device 405 and the 4th retractor device 407 can stretch out four sides in support platform 401 to support whole machine
People.
Further, jacking cylinder include being arranged at least one first jacking cylinder 403 on the first retractor device 402,
At least one second jacking cylinder 404 that is arranged on the second retractor device, at least 1 be arranged on the 3rd retractor device 405
Three jacking cylinders 406 and at least one the 4th jacking cylinder 408 being arranged on the 4th retractor device 407.Preferably, at least one
First jacking cylinder 403, at least one second jacking cylinder 404, at least one the 3rd jacking cylinder 406 and at least one the 4th jacking oil
The piston rod of cylinder 408 is set towards ground.
In addition, support platform 401 be provided with respectively with least one first jacking cylinder 403, at least one second jacking cylinder
404th, at least one the 3rd jacking cylinder 406 and the hydraulic power unit 409 of at least one the 4th jacking cylinder 408 connection, to pass through hydraulic pressure
Pumping plant 409 is at least one first jacking cylinder 403, at least one second jacking cylinder 404, at least and of the 3rd jacking cylinder 406
At least one the 4th jacking cylinder 408 provides power.
Bottom expansion bracket 30 is scalable to be arranged in support platform 401.Specifically, bottom expansion bracket 30 includes being arranged on branch
Support column on support platform 401, set the first support frame 301 on the support columns, one end are be hinged to be arranged on the first support frame 301
On bottom expansion link and hydraulic jack.In the present embodiment, one end of hydraulic jack is be hinged is set on the support columns, and liquid
The piston rod of the other end of compressing cylinder is be hinged to be arranged on the expansion link of bottom, to drive bottom expansion link to fold by hydraulic jack
Set.
In the present embodiment, 301 rectangular shape of the first support frame is set, and support column is arranged on the first support frame including one end
On 301 the first corner and the first support column that the other end is arranged in support platform 401, one end are arranged on the first support frame
On 301 the second corner and the second support column that the other end is arranged in support platform 401, one end are arranged on the first support frame
In 301 third corner and the 3rd support column that the other end is arranged in support platform 401, one end are arranged on the first support frame
In 301 fourth angle portion and the other end is arranged on the 4th support column in support platform 401.
In the present embodiment, bottom expansion link includes being hinged the first of the first corner for being arranged on the first support frame 301 and stretched
Contracting bar, be hinged the second corner for being arranged on the first support frame 301 the second expansion link, be hinged be arranged on the first support frame 301
3rd expansion link of third corner and the 4th expansion link in the be hinged fourth angle portion for being arranged on the first support frame 301.
Further, hydraulic jack includes the first hydraulic jack 312 and the second hydraulic jack 313, the first hydraulic jack 312
One end it is be hinged be arranged on the first support column, the piston rod of the other end of the first hydraulic jack 312 is be hinged to be arranged on second and stretches
On contracting bar, one end of the second hydraulic jack 313 is be hinged to be arranged on the 3rd support column, the other end of the second hydraulic jack 313
Piston rod is be hinged to be arranged on the 4th expansion link.
In the present embodiment, first side of first corner away from the second corner of the first support frame 301 is provided with the first bottom
Portion's rotary shaft 302, the first expansion link include the He of the first rotating bar 303 that one end is fixedly installed on the first lower rotation axle 302
The second rotating bar 304 that the other end of one end and the first rotating bar 303 is rotatablely connected；Second corner of the first support frame 301 is remote
Second side from third corner is provided with the second lower rotation axle, and the second expansion link is fixedly installed on the second bottom including one end and turned
The 4th rotating bar 306 that the other end of the 3rd rotating bar 305 and one end and the 3rd rotating bar 305 on moving axis is rotatablely connected；The
Threeth side of the third corner of one support frame 301 away from fourth angle portion is provided with the 3rd lower rotation axle, and the 3rd expansion link includes
One end is fixedly installed on the 5th rotating bar 307 and one end and the other end turn of the 5th rotating bar 307 on the 3rd lower rotation axle
6th rotating bar 308 of dynamic connection；Four side of the fourth angle portion away from the first corner of first support frame 301 is provided with the 4th bottom
Portion's rotary shaft 309, the 4th expansion link include the He of the 7th rotating bar 310 that one end is fixedly installed on the 4th lower rotation axle 309
The eighth-turn lever 311 that the other end of one end and the 7th rotating bar 310 is rotatablely connected.It should be understood that the first lower rotation axle 302,
Second lower rotation axle, the 3rd lower rotation axle and the 4th lower rotation axle 309 are rotatably arranged on the first support frame 301.
It should be understood that the first rotating bar 303 and the second rotating bar 304 can only be remote in the first corner of the first support frame 301
The first side in the second corner folds rotation up and down, and the 3rd rotating bar 305 and the 4th rotating bar 306 can only be in the first support frames
301 second side of second corner away from third corner folds rotation, the 5th rotating bar 307 and the 6th rotating bar 308 up and down
Rotation, the 7th rotating bar 310 can only be folded above and below threeth side of the third corner away from fourth angle portion of the first support frame 301
With eighth-turn lever 311 can only above and below four side of the fourth angle portion away from the first corner of the first support frame 301 folded turning
It is dynamic.
Preferably, one end of the first hydraulic jack 312 is be hinged is arranged on the first support column, the first hydraulic jack 312
The piston rod of the other end is be hinged to be arranged in the 3rd rotating bar 305, and one end of the second hydraulic jack 313 is be hinged to be arranged on the 3rd
On dagger, the piston rod of the other end of the second hydraulic jack 313 is be hinged to be arranged in the 7th rotating bar 310.
At least a middle part expansion bracket 11 is scalable is arranged on the expansion bracket of bottom.Specifically, an at least middle part expansion bracket 11
The second support frame 200 including rectangular shape, the 5th expansion link in be hinged the first corner for being arranged on the second support frame 200, hinge
Connect the 6th expansion link in the second corner for being arranged on the second support frame 200, the be hinged third corner for being arranged on the second support frame 200
The 7th expansion link and the be hinged fourth angle portion for being arranged on the second support frame 200 the 8th expansion link.In the present embodiment,
The other end of two rotating bars 304 is be hinged to be arranged on the first corner of the second support frame 200, the other end of the 4th rotating bar 306
Be hinged to be arranged on the second corner of the second support frame 200, the other end of the 6th rotating bar 308 is be hinged to be arranged on the second support frame
In 200 third corner, the other end of eighth-turn lever 311 is be hinged to be arranged in the fourth angle portion of the second support frame 200.
In the present embodiment, first side of first corner away from the second corner of the second support frame 200 is interval with
One middle part rotary shaft 203 and the second middle part rotary shaft 201, the other end of the second rotating bar 304 are fixedly installed on the first middle part and turned
On moving axis 203, the 5th expansion link is fixedly installed in the second middle part rotary shaft 201, and the first middle part rotary shaft 203 is provided with the
One gear 204, the second middle part rotary shaft 201 are provided with the second gear 202 being connected with the gear of first gear 204.
Further, second side of second corner away from third corner of the second support frame 200 is interval with the 3rd
The middle part rotary shaft 205 of portion's rotary shaft 207 and the 4th, the other end of the 4th rotating bar 306 are fixedly installed on the 3rd middle part rotary shaft
On 207, the 6th expansion link is fixedly installed in the 4th middle part rotary shaft 205, and the 3rd middle part rotary shaft 207 is provided with the 3rd tooth
Wheel 208, the 4th middle part rotary shaft 205 are provided with the 4th gear 206 being connected with 208 the 3rd gear gears.
Further, threeth side of the third corner of the second support frame 200 away from fourth angle portion is interval with the 5th
Portion's rotary shaft and the 6th middle part rotary shaft, the other end of the 6th rotating bar 308 are fixedly installed in the 5th middle part rotary shaft, and the 7th
Expansion link is fixedly installed in the 6th middle part rotary shaft, and the 5th middle part rotary shaft is provided with the 5th gear, and the 6th middle part rotates
Axle is provided with the 6th gear 209 being connected with the 5th gear gear.
Further, four side of the fourth angle portion away from the first corner of the second support frame 200 is interval with the 7th
Portion's rotary shaft and the 8th middle part rotary shaft, the other end of eighth-turn lever 311 are fixedly installed in the 7th middle part rotary shaft, and the 8th
Expansion link is fixedly installed in the 8th middle part rotary shaft, and the 7th middle part rotary shaft is provided with the 7th gear 211, and the 8th middle part turns
Moving axis is provided with the eighth gear 210 being connected with the gear of the 7th gear 211.
In the present embodiment, the 5th expansion link is fixedly installed on the first middle part in the second middle part rotary shaft 201 including one end
The second middle part rotating bar 114 that the other end of rotating bar 113 and one end and the first middle part rotating bar 113 is rotatablely connected, the 6th stretches
Contracting bar is fixedly installed on the 3rd middle part rotating bar 115 and one end in the 4th middle part rotary shaft 205 including one end and turned with the 3rd middle part
4th middle part rotating bar 116 of the other end rotation connection of lever 115, the 7th expansion link are fixedly installed in the 6th including one end
In the other end of the 5th middle part rotating bar 117 and one end and the 5th middle part rotating bar 117 is rotatablely connected in portion's rotary shaft the 6th
Portion's rotating bar 118, the 8th expansion link are fixedly installed on the 7th middle part rotating bar 119 and one in the 8th middle part rotary shaft including one end
The 8th middle part rotating bar 120 that the other end of end and the 7th middle part rotating bar 119 is rotatablely connected.It should be understood that the first middle part rotates
The middle part rotating bar 114 of bar 113 and second can only be on first side of first corner away from the second corner of the second support frame 200
Lower fold rotates, and the 3rd middle part rotating bar 115 and the 4th middle part rotating bar 116 can only be in the second corners of the second support frame 200
Second side away from third corner folds rotation up and down, and the 5th middle part rotating bar 117 and the 6th middle part rotating bar 118 can only be
Threeth side of the third corner of second support frame 200 away from fourth angle portion folds rotation, the He of the 7th middle part rotating bar 119 up and down
8th middle part rotating bar 120 can only fold above and below four side of the fourth angle portion away from the first corner of the second support frame 200
Rotate.
Dry ice cleaning device 10 is arranged at least on a middle part expansion bracket 11.Specifically, Dry ice cleaning device 10 includes top
Portion support frame 100a, the loading plate 100b being arranged on top plate supporting frame 100a, six shaft mechanicals being arranged on loading plate 100b
Hand 101, the dry ice transmitter 104 being arranged on loading plate 100b and the air compressor machine 105 being arranged on loading plate 100b.
In the present embodiment, probe 102 of the six axis robot 101 away from loading plate 100b is provided with dry ice nozzle 103, does
The output interface of ice transmitter 104 is connected by conveyance conduit 1041 with dry ice nozzle 103, air compressor machine 105 and dry ice transmitter
104 connections.It should be understood that six axis robot 101 can be convenient to take dry ice nozzle 103 to optional position with 360 degree of rotations.
It should be understood that being cleaned by dry ice to high-voltage contact, dry ice pellet is ejected into the region that contact needs to clean, and utilizes
The physics reflection of the temperature difference makes different materials produce disengaging under different contraction speeds, when minus 78 degrees Celsius of dry ice pellets contact
Brittle explosion phenomenon can be produced after to high-voltage contact fouled surfaces, so that dirt shrinks and released, dry ice pellet can moment therewith
Gasify and expand 800 times, the powerful peeling force of product is quick by dirt, is thoroughly come off from high-voltage contact surface, so as to reach
To the cleaning performance of fast, efficient, safe energy-conservation.
Further, dry ice transmitter 104 is provided with the depth camera for the probe 102 for being used to shoot six axis robot 101
106, and the air velocity transducer 107 for detecting wind speed is additionally provided with dry ice transmitter 104.
It should be understood that in certain embodiments, in order to further improve cleaning performance, on the probe 102 of six axis robot 101
It is additionally provided with the derusting sprinkler head for compressed-air blast cleaning water, the lubrication oil nozzle for spraying lubricating oil and for spraying high pressure
The gases at high pressure shower nozzle of gas.
In the present embodiment, the rectangular shapes of top supporting frame 100a are set, and top supporting frame 100a the first corner is remote
The first side in the second corner is provided with the first top rotary shaft 112, and the other end of the second middle part rotating bar 114 is fixedly installed on
In one top rotary shaft 112, top supporting frame 100a second side of second corner away from third corner is provided with the second top
Rotary shaft, the other end of the 4th middle part rotating bar 116 are fixedly installed in the second top rotary shaft, and the of top supporting frame 100a
Threeth side of the triangular part away from fourth angle portion is provided with the 3rd top rotary shaft, and the other end of the 6th middle part rotating bar 118 is fixed
It is arranged in the 3rd top rotary shaft, four side of the top supporting frame 100a fourth angle portion away from the first corner is provided with the 4th
Top rotary shaft, the other end of the 8th middle part rotating bar 120 are fixedly installed in the 4th top rotary shaft.
It should be understood that the first top rotary shaft 112, the second top rotary shaft, the 3rd top rotary shaft and the 4th top rotate
Axle is rotatably provided on top supporting frame 100a.
To sum up, the high-voltage contact Dry ice cleaning machine people of electric aerial work disclosed in this invention includes：Transport bottom
Seat, including support platform, the wheel of both sides and the jacking oil for the both sides being arranged in support platform that are arranged on support platform
The piston rod of cylinder, wherein jacking cylinder is set towards ground；Bottom expansion bracket, it is scalable to be arranged in support platform；In at least one
Portion's expansion bracket, it is scalable to be arranged on the expansion bracket of bottom；Dry ice cleaning device, it is arranged at least on a middle part expansion bracket；Wherein,
Dry ice cleaning device includes top supporting frame, the loading plate being arranged on top plate supporting frame, six axle machines being arranged on loading plate
Tool hand, the dry ice transmitter being arranged on loading plate and the air compressor machine being arranged on loading plate, wherein six axis robot are remote
The probe of loading plate is provided with dry ice nozzle, and the output interface of dry ice transmitter is connected by conveyance conduit with dry ice nozzle, empty
Press is connected with dry ice transmitter, and dry ice transmitter is provided with the depth camera for the probe for being used to shoot six axis robot.Pass through
Aforesaid way, high-voltage contact Dry ice cleaning machine people disclosed in this invention can clean to high-voltage contact automatically, safety
Property it is high, be not in electric shock phenomenon, and the high-voltage contact Dry ice cleaning machine people of the electric aerial work mainly passes through spray
Blackberry lily ice cleans to high-voltage contact so that cleaning efficiency is higher；In addition, the high-voltage contact dry ice of the electric aerial work
Cleaning robot can be folded with, and the space shared by it is small, significantly facilitate transport.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
- A kind of 1. high-voltage contact Dry ice cleaning machine people of electric aerial work, it is characterised in that including：Transport base, including support platform, be arranged on the support platform both sides wheel and to be arranged on the support flat The jacking cylinder of both sides on platform, wherein the piston rod of the jacking cylinder is set towards ground；Bottom expansion bracket, it is scalable to be arranged in the support platform；An at least middle part expansion bracket, it is scalable to be arranged on the bottom expansion bracket；Dry ice cleaning device, it is arranged on described at least on a middle part expansion bracket；Wherein, the Dry ice cleaning device includes top supporting frame, the loading plate being arranged on the top plate supporting frame, is arranged on Six axis robot on the loading plate, the dry ice transmitter being arranged on the loading plate and it is arranged on the loading plate Air compressor machine, wherein probe of the six axis robot away from the loading plate is provided with dry ice nozzle, the dry ice transmitter Output interface be connected by conveyance conduit with the dry ice nozzle, the air compressor machine is connected with the dry ice transmitter, described Dry ice transmitter is provided with the depth camera for the probe for being used to shoot the six axis robot.
- 2. the high-voltage contact Dry ice cleaning machine people of electric aerial work according to claim 1, it is characterised in that institute The air velocity transducer being additionally provided with dry ice transmitter for detecting wind speed is stated, and is additionally provided with the probe of the six axis robot Derusting sprinkler head, the lubrication oil nozzle for spraying lubricating oil and the height for spraying gases at high pressure for compressed-air blast cleaning water Press gas tip.
- 3. the high-voltage contact Dry ice cleaning machine people of electric aerial work according to claim 1, it is characterised in that institute That states support platform is symmetrically arranged at the front end with scalable the first retractor device in the support platform and scalable described The second retractor device in support platform, the rear end of the support platform are symmetrically arranged with scalable in the support platform 3rd retractor device and scalable the 4th retractor device in the support platform, wherein the jacking cylinder includes being arranged on At least one first jacking cylinder on first retractor device, at least one second be arranged on second retractor device top Oil-lifting jar, at least one the 3rd jacking cylinder being arranged on the 3rd retractor device and it is arranged on the 4th retractor device On at least one the 4th jacking cylinder, at least one first jacking cylinder, at least one second jacking cylinder, it is described at least The piston rod of one the 3rd jacking cylinder and at least one the 4th jacking cylinder is set towards ground, and the support platform is provided with Respectively with least one first jacking cylinder, at least one second jacking cylinder, at least one the 3rd jacking cylinder and The hydraulic power unit of at least one the 4th jacking cylinder connection.
- 4. the high-voltage contact Dry ice cleaning machine people of electric aerial work according to claim 1, it is characterised in that institute State bottom expansion bracket include be arranged in the support platform support column, be arranged on the support column the first support frame, The be hinged bottom expansion link and hydraulic jack being arranged on first support frame in one end, wherein one end of the hydraulic jack It is be hinged to be arranged on the support column, and the piston rod of the other end of the hydraulic jack is hinged and is arranged on the bottom expansion link On, to drive the bottom expansion link to be folded with by the hydraulic jack.
- 5. the high-voltage contact Dry ice cleaning machine people of electric aerial work according to claim 4, it is characterised in that institute The rectangular shape of the first support frame is stated to set, the support column be arranged on including one end on the first corner of first support frame and The first support column that the other end is arranged in the support platform, one end be arranged on the second corner of first support frame and The second support column that the other end is arranged in the support platform, one end be arranged in the third corner of first support frame and The 3rd support column that the other end is arranged in the support platform, one end be arranged in the fourth angle portion of first support frame and The other end is arranged on the 4th support column in the support platform, and the bottom expansion link, which includes being hinged, is arranged on described first First expansion link in the first corner of support, second expansion link in be hinged the second corner for being arranged on first support frame, hinge Connect the 3rd expansion link of the third corner for being arranged on first support frame and be hinged be arranged on the of first support frame 4th expansion link in four corners, the hydraulic jack include the first hydraulic jack and the second hydraulic jack, first hydraulic oil One end of cylinder is be hinged to be arranged on first support column, and the piston rod of the other end of first hydraulic jack is be hinged to be arranged on On second expansion link, one end of second hydraulic jack is be hinged to be arranged on the 3rd support column, second liquid The piston rod of the other end of compressing cylinder is be hinged to be arranged on the 4th expansion link.
- 6. the high-voltage contact Dry ice cleaning machine people of electric aerial work according to claim 5, it is characterised in that institute State first side of the first corner of the first support frame away from the second corner and be provided with the first lower rotation axle, first expansion link The another of the first rotating bar on the first lower rotation axle and one end and first rotating bar is fixedly installed on including one end Second rotating bar of one end rotation connection；Second side of second corner away from third corner of first support frame is provided with the Two lower rotation axles, second expansion link include the 3rd rotating bar that one end is fixedly installed on the second lower rotation axle The 4th rotating bar being rotatablely connected with the other end of one end and the 3rd rotating bar；The third corner of first support frame is remote The 3rd side from fourth angle portion is provided with the 3rd lower rotation axle, and the 3rd expansion link is fixedly installed on described including one end The 6th rotating bar that the other end of the 5th rotating bar and one end and the 5th rotating bar on three lower rotation axles is rotatablely connected； The four side of the fourth angle portion of first support frame away from the first corner is provided with the 4th lower rotation axle, and the described 4th is flexible Bar includes the 7th rotating bar and one end and the 7th rotating bar that one end is fixedly installed on the 4th lower rotation axle The eighth-turn lever of other end rotation connection.
- 7. the high-voltage contact Dry ice cleaning machine people of electric aerial work according to claim 6, it is characterised in that institute Stating an at least middle part expansion bracket includes the second support frame of rectangular shape, be hinged the first corner for being arranged on second support frame The 5th expansion link, be hinged the second corner for being arranged on second support frame the 6th expansion link, be hinged be arranged on described the The 8th of 7th expansion link of the third corner of two support frames and the be hinged fourth angle portion for being arranged on second support frame stretches Contracting bar, and the other end of second rotating bar is hinged and is arranged on the first corner of second support frame, described 4th turn The other end of lever is be hinged to be arranged on the second corner of second support frame, and the other end of the 6th rotating bar is be hinged to be set Put in the third corner of second support frame, the other end of the eighth-turn lever is be hinged to be arranged on second support frame Fourth angle portion on.
- 8. the high-voltage contact Dry ice cleaning machine people of electric aerial work according to claim 7, it is characterised in that institute State first side of the first corner of the second support frame away from the second corner and be interval with the first middle part rotary shaft and the second middle part Rotary shaft, the other end of second rotating bar are fixedly installed in the rotary shaft of first middle part, and the 5th expansion link is consolidated Surely it is arranged in the rotary shaft of second middle part, and first middle part rotary shaft is provided with first gear, second middle part Rotary shaft is provided with the second gear being connected with the first gear gear；Second side of second corner away from third corner of second support frame is interval with the 3rd middle part rotary shaft and Four middle part rotary shafts, the other end of the 4th rotating bar are fixedly installed in the 3rd middle part rotary shaft, and the described 6th stretches Contracting bar is fixedly installed in the 4th middle part rotary shaft, and the 3rd middle part rotary shaft is provided with the 3rd gear, and described Four middle part rotary shafts are provided with the 4th gear being connected with the 3rd gear gear；Threeth side of the third corner of second support frame away from fourth angle portion is interval with the 5th middle part rotary shaft and Six middle part rotary shafts, the other end of the 6th rotating bar are fixedly installed in the 5th middle part rotary shaft, and the described 7th stretches Contracting bar is fixedly installed in the 6th middle part rotary shaft, and the 5th middle part rotary shaft is provided with the 5th gear, and described Six middle part rotary shafts are provided with the 6th gear being connected with the 5th gear gear；Four side of the fourth angle portion of second support frame away from the first corner is interval with the 7th middle part rotary shaft and Eight middle part rotary shafts, the other end of the eighth-turn lever are fixedly installed in the 7th middle part rotary shaft, and the described 8th stretches Contracting bar is fixedly installed in the 8th middle part rotary shaft, and the 7th middle part rotary shaft is provided with the 7th gear, and described Eight middle part rotary shafts are provided with the eighth gear being connected with the 7th gear gear.
- 9. the high-voltage contact Dry ice cleaning machine people of electric aerial work according to claim 8, it is characterised in that institute State the 5th expansion link including one end be fixedly installed in the rotary shaft of second middle part the first middle part rotating bar and one end with it is described Second middle part rotating bar of the other end rotation connection of the first middle part rotating bar, the 6th expansion link are fixedly installed including one end The other end of the 3rd middle part rotating bar and one end and the 3rd middle part rotating bar, which rotates, in the 4th middle part rotary shaft connects The 4th middle part rotating bar connect, during the 7th expansion link is fixedly installed on the 5th in the 6th middle part rotary shaft including one end The 6th middle part rotating bar that the other end of portion's rotating bar and one end and the 5th middle part rotating bar is rotatablely connected, the described 8th stretches Contracting bar is fixedly installed on the 7th middle part rotating bar and one end and the described 7th middle part in the 8th middle part rotary shaft including one end 8th middle part rotating bar of the other end rotation connection of rotating bar.
- 10. the high-voltage contact Dry ice cleaning machine people of electric aerial work according to claim 9, it is characterised in that The rectangular shape of top supporting frame is set, and first side of the first corner of the top supporting frame away from the second corner is provided with First top rotary shaft, the other end of second middle part rotating bar is fixedly installed in the rotary shaft of first top, described Second side of second corner away from third corner of top supporting frame is provided with the second top rotary shaft, and the 4th middle part rotates The other end of bar is fixedly installed in the rotary shaft of second top, and the third corner of the top supporting frame is away from fourth angle portion The 3rd side be provided with the 3rd top rotary shaft, the other end of the 6th middle part rotating bar is fixedly installed on the 3rd top In rotary shaft, four side of the fourth angle portion of the top supporting frame away from the first corner is provided with the 4th top rotary shaft, institute The other end for stating the 8th middle part rotating bar is fixedly installed in the 4th top rotary shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711107102.3A CN107838133A (en) | 2017-11-10 | 2017-11-10 | High-voltage contact dry ice cleaning robot for electric power overhead operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711107102.3A CN107838133A (en) | 2017-11-10 | 2017-11-10 | High-voltage contact dry ice cleaning robot for electric power overhead operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107838133A true CN107838133A (en) | 2018-03-27 |
Family
ID=61682602
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711107102.3A Pending CN107838133A (en) | 2017-11-10 | 2017-11-10 | High-voltage contact dry ice cleaning robot for electric power overhead operation |
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| CN (1) | CN107838133A (en) |
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