CN107161331B - A kind of automatic replacement fluorescent tube unmanned plane - Google Patents
A kind of automatic replacement fluorescent tube unmanned plane Download PDFInfo
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- CN107161331B CN107161331B CN201710392994.XA CN201710392994A CN107161331B CN 107161331 B CN107161331 B CN 107161331B CN 201710392994 A CN201710392994 A CN 201710392994A CN 107161331 B CN107161331 B CN 107161331B
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 19
- 238000006243 chemical reaction Methods 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Invalid Beds And Related Equipment (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of automatic replacement fluorescent tube unmanned plane, the present invention utilizes unmanned aerial vehicle platform, to complete a whole set of disassembly and the replacement process of fluorescent tube, technical solution used in the present invention is: a kind of automatic replacement fluorescent tube unmanned plane, including body, horn, motor extending shaft, first motor, propeller, column, mechanical arm, the first joint of mechanical arm, mechanical arm second joint, it is characterized by: the body is rectangular shape, body two sides are symmetrically installed four horns, motor extending shaft is installed on horn top, first motor is installed on motor extending shaft top, propeller and radome fairing are installed on the motor shaft of first motor, propeller rotational is driven to provide lift for unmanned plane by first motor, two battery flats are symmetrical arranged below body, the present invention is using unmanned plane as main carrying platform, have The characteristics of movement speed is fast, landing is flexible, safe operation.
Description
Technical field
The present invention relates to the equipment of the installation and replacement of indoor suspended ceiling fluorescent tube, and in particular to a kind of automatic replacement daylight
Fluorescent tube unmanned plane.
Background technique
In national product, fluorescent lamp be present in we life each place, classroom, corridor, office, library with
And museum etc., place especially big in flow of the people are even more largely illuminated using fluorescent lamp.But the service life of fluorescent lamp
It is limited, in order to replace the relatively high fluorescent lamp of ceiling height, such as waiting room, meeting room hall, hospital hall etc. in time
Place, it is pretty troublesome for manually going to replace, and existing temporal problem also has the life security of staff and ground staff to ask
Topic, in consideration of it, the present invention provides a kind of automatic replacement fluorescent tube unmanned plane, the very good solution extra high daylight of replacement
The problem of fluorescent tube, had not only saved time but also a possibility that reduction personnel cause danger.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of automatic replacement fluorescent tube unmanned plane, the present invention is flat using unmanned plane
Platform, installing and dismounting fluorescent tube shield frame manipulator and rotation exchange the mechanical device of fluorescent tube on unmanned plane, by unmanned aerial vehicle platform
With the manipulation of mechanical device, to complete a whole set of disassembly and the replacement process of fluorescent tube, technical solution used in the present invention is:
A kind of automatic replacement fluorescent tube unmanned plane, including body, horn, motor extending shaft, first motor, propeller, column, machinery
Arm, the first joint of mechanical arm, mechanical arm second joint, the second main motor, the second auxiliary-motor, mechanical arm fixed arm, the first electric cylinders,
First electric cylinders fixing axle, the first electric cylinders cylinder body, hinge axis, hinges end, first axle connecting element, conversion axle sleeve, the first d-axis,
Second d-axis, the second d-axis spur rack, third motor fixing seat, third motor, third motor gear, first level d-axis are left
Axis, first level d-axis spur rack, movable operating platform, rectangle protrusion button, first level d-axis right axle, the second horizontal d-axis,
Second horizontal d-axis spur rack, first axle connecting element, the second electric cylinders, the 4th motor, the second electric cylinders pedestal, the 5th motor,
One rocker arm, horizontal brace rod, connection buckle, the second rocker arm, handgrip station, handgrip station firm banking, the 6th motor are fixed
Plane on seat, the 6th motor, the 6th motor gear, third electric cylinders pedestal, third electric cylinders, handgrip station, handgrip mounting seat,
Groove slide rail base, semicolumn roller bearing, fixing seat, fixation hole and built-in motor, handgrip fixing piece, handgrip, elastic rubber support
Axis, the 7th built-in motor and output gear, new fluorescent tube placing clamp, old fluorescent tube placing clamp, battery compartment and foot prop, the installation of the 5th motor
Hole, the 8th servo motor, it is characterised in that: the body is rectangular shape, and body two sides are symmetrically installed four horns,
Motor extending shaft is installed on horn top, and the motor extending shaft is fixed on straight down below horn top, is extended in motor
First motor is installed in axis bottom end, installs propeller on the motor shaft of first motor, is by first motor drive propeller rotational
Unmanned plane provides lift, two battery flats is symmetrical arranged below body, the battery flat is cubic shaped, in battery flat
V-arrangement foot prop is installed in bottom, and the 5th motor installing hole is arranged in horn top upper surface；
Two columns are installed side by side above body, and the first electric cylinders and mechanical arm is respectively set column two sides are Y-shaped；
The piston rod front end of first electric cylinders has hinge, comes to control the of front end accurately by adjusting collapsing length
The position of one axis connection element, the mechanical arm are by the mechanical arm of the second motor control angle, by driving the second main electricity
Machine, the second auxiliary-motor change the relative angle in the first joint of mechanical arm, mechanical arm second joint accurately to adjust the of rear end
The position of one axis connection element, second main motor are fixed on mechanical arm second joint, and shaft end directly drives mechanical arm
The rotation of first joint, second auxiliary-motor are fixed on mechanical arm fixed arm, directly drive the rotation of mechanical arm second joint,
It is respectively provided with first axle connecting element at the horizontal place in hinge front end and mechanical arm top of the front end of first electric cylinders, at two
The first d-axis of setting and the second d-axis in first axle connecting element mounting hole, and spur rack is set two d-axis sides;
Axle sleeve is converted in sliding setting respectively on the both ends of two d-axis, and the conversion axle sleeve is by two perpendicular shapes
Third motor mount is arranged in the axle sleeve that the mounting hole of state is constituted, conversion axle sleeve side, and the third motor mount is that have electricity
Machine mounting hole, one end be semicolumn, one end be cube mounting base, and in third motor mount install third electricity
Machine, the output shaft end of third motor are mounted with gear, gear and d-axis spur rack engaged gears, and then drive conversion axle sleeve the
It is moved on one d-axis and the second d-axis；
It is covered in transaxle and horizontal d-axis is installed in upper hole, and be provided with spur rack in horizontal d-axis side, and horizontal straight
Axis both ends are embedded in movable operating platform, are mounted with that rectangle protrudes button in the inside lateral position of the top groove of movable operating platform, described
Rectangle protrusion button manage and protect frame fixing buckle for pressing fluorescent lamp, and shield frame is removed, third is set by movable operating platform
Motor mount, and third motor is installed in third motor mount, the output shaft end of third motor is mounted with gear, gear
It is moved on horizontal d-axis with horizontal d-axis spur rack engaged gears driving movable operating platform；
In left side, new fluorescent tube rack is arranged in the middle part of horn, and on right side, old fluorescent tube rack, institute is arranged in the middle part of horn
The fluorescent tube rack stated is the hollow out rack for being equipped with the vertical fixed frame in both ends, in the 5th motor installing hole on horn top
5th motor is installed, the 5th the first rocker arm of motor driven, the rotation of the second rocker arm drive horizontal brace rod to make horizontal lateral movement,
Horizontal brace rod and the first rocker arm, the second rocker arm are connected by connection buckle, and two pedestals, pedestal are symmetrical arranged above horizontal brace rod
It is mounted with the 4th motor above, the electrical axis of the 4th motor is parallel with horizontal brace rod length direction, and the 4th motor drives the
The rotation of two electric cylinders bottom ends installs the second axis connection element in the telescopic rod top end of the second electric cylinders, on the same horizontal brace rod
Second horizontal d-axis is installed in two the second axis connection component holes of installation, and is provided with spur rack in the second horizontal d-axis side,
Installed on the second horizontal d-axis handgrip station (, the 8th servo motor is set in the second horizontal d-axis shaft end, directly drives the
Two horizontal d-axis rotations；
6th motor mount is set under handgrip fixing seat base platform, and the handgrip firm banking, which is one, hole
Fixed platform, and the 6th motor is installed in the 6th motor mount, the output shaft end of the 6th motor is mounted with gear, gear
It is moved on the second horizontal d-axis with the second horizontal d-axis spur rack engaged gears driving handgrip station, at handgrip fixing seat bottom
Three ball hinges are installed on seat, and a piece elastic rubber support shaft is installed in three ball hinge center positions, in ball hinge
Third electric cylinders are installed, third electric cylinders connect plane on handgrip station with elastic rubber support shaft upper end, stretch by three electric cylinders
Contracting cooperation acts to control the pitch angle of plane on handgrip station, and handgrip is arranged in plane on handgrip station and installs bottom
Seat, in handgrip mounting seat be arranged groove slide rail base, the groove slide rail base medial surface have sliding rail gear arrange and
With limit buckle, semicolumn roller bearing is installed in groove slide rail base, the 7th built-in motor is set in the semicolumn roller bearing
And output gear and limit buckle is installed, the 7th built-in motor and output gear by with the sliding rail in groove slide rail base
Gear column occlusion driving semicolumn roller bearing rotation is arranged in semicolumn roller bearing plane to drive top grip portion rotation
Fixation hole is arranged in fixing seat in fixing seat, and the fixation hole can select to install according to fluorescent tube demand, the in-built electrical
Machine drives handgrip fixing piece axis to rotate directly out of hole, and handgrip fixing piece is installed in fixation hole, is installed on handgrip fixing piece
Handgrip.
Further, the handgrip is rotated by the servo driving being mounted on handgrip fixing piece.
The invention has the advantages that:
1. the present invention using unmanned plane as main carrying platform, have movement speed is fast, landing flexibly, safe operation
The characteristics of.
2. can be broadened the scope of work when unmanned plane pinpoints flight by setting multistage retractable rod, reduce because of unmanned plane frequency
Numerous mobile bring security risk.
3. working efficiency can be improved and guarantee quality by the work in succession simultaneously of two two sets of handgrips of setting.
Detailed description of the invention
Fig. 1 is main view of the invention.
Fig. 2 is part-structure figure one of the invention.
Fig. 3 is part-structure figure two of the invention.
Fig. 4 is part-structure figure three of the invention.
Fig. 5 is part-structure figure four of the invention.
Fig. 6 is part-structure figure five of the invention.
Fig. 7 is handgrip station schematic diagram one of the invention.
Fig. 8 is handgrip station schematic diagram two of the invention.
Fig. 9 is mobile station of the invention.
Figure 10 is rotation lower shaft of the invention.
Figure 11 is handgrip firm banking of the invention.
Figure 12 is handgrip firm banking of the invention.
Drawing reference numeral: 1- body, 2- horn, 3- motor extending shaft, 4- first motor, 5- propeller, 6- column, 7- are mechanical
Arm, the first joint of 701- mechanical arm, 702- mechanical arm second joint, the second main motor of 703-, the second auxiliary-motor of 704-, 705- machine
Tool arm fixed arm, the first electric cylinders of 8-, the first electric cylinders of 801- fixing axle, the first electric cylinders of 802- cylinder body, 803- hinge axis, 804- hinge
Secondary end, 9- first axle connecting element, 10- convert axle sleeve, the first d-axis of 11-, the second d-axis of 12-, 1200- the second d-axis straight-tooth
Article, 13- third motor fixing seat, 14- third motor, 15- third motor gear, 16- first level d-axis left axle, 1601-
One horizontal d-axis spur rack, 17- movable operating platform, 18- rectangle protrude button, 19- first level d-axis right axle, the second water of 20-
Straight axis, the horizontal d-axis spur rack of 2001- second, 21- first axle connecting element, the second electric cylinders of 2201-, the 4th motor of 2202-,
The second electric cylinders of 2203- pedestal, the 5th motor of 2301-, the first rocker arm of 2302-, 2303- horizontal brace rod, 2304- connection buckle,
The second rocker arm of 2305-, 24- handgrip station, 2401- handgrip station firm banking, the 6th motor fixing seat of 2402-, 2403-
6th motor, the 6th motor gear of 2404-, 2405- third electric cylinders pedestal, 2406- third electric cylinders, on 2407- handgrip station
Plane, 2408- handgrip mounting seat, 2409- groove slide rail base, 2410- semicolumn roller bearing, 2411- fixing seat, 2412- are solid
Determine hole and built-in motor, 2413- handgrip fixing piece, 2414- handgrip, 2415- elastic rubber support shaft, the 7th in-built electrical of 2416-
Machine and the new fluorescent tube placing clamp of output gear, 2501-, the old fluorescent tube placing clamp of 2502-, 26- battery compartment and foot prop, the 5th motor of 27-
Mounting hole, the 8th servo motor of 28-.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Fig. 1 to 12, a kind of automatic replacement fluorescent tube unmanned plane, including body 1, horn 2, motor extending shaft 3,
First motor 4, propeller 5, column 6, mechanical arm 7, the first joint of mechanical arm 701, mechanical arm second joint 702, the second main electricity
Machine 703, the second auxiliary-motor 704, mechanical arm fixed arm 705, the first electric cylinders 8, the first electric cylinders fixing axle 801, the first electric cylinders cylinder body
802, hinge axis 803, hinges end 804, first axle connecting element 9, conversion axle sleeve 10, the first d-axis 11, the second d-axis 12, the
Two d-axis spur racks 1200, third motor fixing seat 13, third motor 14, third motor gear 15, first level d-axis left axle
16, first level d-axis spur rack 1601, movable operating platform 17, rectangle protrude button 18, first level d-axis right axle 19, second
Horizontal d-axis 20, the second horizontal d-axis spur rack 2001, first axle connecting element 21, the second electric cylinders 2201, the 4th motor 2202,
Second electric cylinders pedestal 2203, the 5th motor 2301, the first rocker arm 2302, horizontal brace rod 2303, connection buckle 2304, the second rocker arm
2305, handgrip station 24, handgrip station firm banking 2401, the 6th motor fixing seat 2402, the 6th motor the 2403, the 6th
Motor gear 2404, third electric cylinders pedestal 2405, third electric cylinders 2406, plane 2407, handgrip mounting seat on handgrip station
2408, groove slide rail base 2409, semicolumn roller bearing 2410, fixing seat 2411, fixation hole and built-in motor 2412, handgrip are fixed
Part 2413, handgrip 2414, elastic rubber support shaft 2415, the 7th built-in motor and output gear 2416, new fluorescent tube placing clamp
2501, old fluorescent tube placing clamp 2502, battery compartment and foot prop 26, the 5th motor installing hole 27, the 8th servo motor 28, feature exist
In: the body 1 is rectangular shape, and 1 two sides of body are symmetrically installed four horns 2, and on 2 top of horn, installation motor extends
Axis 3, the motor extending shaft are fixed on straight down below 2 top of horn, install first motor in 3 bottom end of motor extending shaft
4, propeller 5 is installed on the motor shaft of first motor 4, drives the rotation of propeller 5 to provide liter for unmanned plane by first motor 4
Power is symmetrical arranged two battery flats 26 below body, and the battery flat is cubic shaped, installs V in battery flat bottom
The 5th motor installing hole 27 is arranged in 2 top upper surface of horn in shape foot prop；
Two columns 6 of installation side by side above body 1, and the first electric cylinders 8 and machine is respectively set 6 two sides of column are Y-shaped
Tool arm 7；
The piston rod front end of first electric cylinders 8 has hinge, comes to control front end accurately by adjusting collapsing length
The position of first axle connecting element 9, the mechanical arm 7 are to pass through driving second by the mechanical arm of the second motor control angle
Main motor 703, the second auxiliary-motor 704 come to change the relative angle in the first joint of mechanical arm 701, mechanical arm second joint 702
The position of the accurate first axle connecting element 9 for adjusting rear end, second main motor 703 are fixed on mechanical arm second joint
On 702, shaft end directly drives the rotation of the first joint of mechanical arm 701, and second auxiliary-motor 704 is fixed on mechanical arm fixed arm
On 705, the rotation of mechanical arm second joint 702, hinge front end and mechanical arm in the front end of first electric cylinders 8 are directly driven
The horizontal place in 7 tops is respectively provided with first axle connecting element 9, and the first d-axis 11 is arranged in two 9 mounting holes of first axle connecting element
With the second d-axis 12, and spur racks 1200 are set two d-axis sides;
Sliding setting conversion axle sleeve 10, the conversion axle sleeve 10 are by two in vertical respectively on the both ends of two d-axis
The axle sleeve that the mounting hole of straight state is constituted is converted and third motor mount 13 is arranged by axle sleeve 10, the third motor installation
Seat 13 is that have motor installing hole, one end be semicolumn, and one end is the mounting base of cube, and in third motor mount 13
Third motor 14 is installed, the output shaft end of third motor is mounted with that gear 15, gear 15 are engaged with d-axis spur rack gear 1200,
And then conversion axle sleeve 10 is driven to move on the first d-axis 11 and the second d-axis 12；
Horizontal d-axis 16 is installed in hole on conversion axle sleeve 10, and is provided with spur rack 1601 in horizontal 16 side of d-axis,
And it is embedded in movable operating platform 17 at horizontal d-axis both ends, it is mounted with that rectangle is convex in the inside lateral position of the top groove of movable operating platform
Button 18 out, the rectangle protrusion button 18 manages and protects frame fixing buckle for pressing fluorescent lamp, and shield frame is removed, and grasps mobile
Make by platform 17 be arranged third motor mount 13, and in third motor mount install third motor 14, third motor it is defeated
Shaft end is mounted with gear 15 out, and gear 15 and horizontal 1601 engaged gears of d-axis spur rack driving movable operating platform 17 are horizontal straight
It is moved on axis 16；
In left side, new fluorescent tube rack 2501 is arranged in the middle part of horn 2, and on right side, the middle part of horn 2 is arranged old fluorescent tube and places
Frame 2502, the fluorescent tube rack 25 is the hollow out rack for being equipped with the vertical fixed frame in both ends, the 5th of 2 top of horn the
5th motor 2301 is installed in motor installing hole 27, the 5th motor 2301 drives the first rocker arm 2302, the rotation of the second rocker arm 2305,
Drive horizontal brace rod 2303 to make horizontal lateral movement, horizontal brace rod 2303 and the first rocker arm 2302, the second rocker arm 2305 by
Connection buckle 2304 connects, and horizontal brace rod 2303 is symmetrical arranged two pedestals 2203 above, and pedestal 2203 is mounted with the 4th above
The electrical axis of motor 2202, the 4th motor 2202 is parallel with 2303 length direction of horizontal brace rod, and the 4th motor 2202 drives
The rotation of second electric cylinders, 2201 bottom end installs the second axis connection element 21 in the telescopic rod top end of the second electric cylinders 2201, same
It is installed on horizontal brace rod 2303 and second horizontal d-axis 20 is installed in two 21 holes of the second axis connection element, and is horizontal straight second
20 side of axis be provided with spur rack 2001, on the second horizontal d-axis 20 install handgrip station (24, in the second horizontal d-axis axis
Setting the 8th servo motor 28 in end directly drives the second horizontal d-axis 20 and rotates；
6th motor mount 2402, the handgrip firm banking are set under 2401 platform of handgrip fixing seat pedestal
2401 be a porose fixed platform, and the 6th motor 2403 is installed in the 6th motor mount 2402, the 6th motor
Output shaft end is mounted with that gear 2404, gear 2404 and the second horizontal 2001 engaged gears of d-axis spur rack drive handgrip station
24 move on the second horizontal d-axis 20, three ball hinges 2405 are installed on handgrip fixing seat pedestal 2401, and in three balls
2405 center position of free bearing installs an elastic rubber support shaft 2415, and third electric cylinders 2406 are installed in ball hinge 2405,
Third electric cylinders 2406 connect plane 2407 on handgrip station with 2415 upper end of elastic rubber support shaft, flexible by three electric cylinders
Cooperate to control the movement of the pitch angle of plane 2407 on handgrip station, handgrip is set in plane 2407 on handgrip station and is pacified
Pedestal 2408 is filled, groove slide rail base 2409 is set in handgrip mounting seat 2408, in the groove slide rail base 2409
There is sliding rail gear to arrange and have limit buckle for side, and semicolumn roller bearing 2410 is installed in groove slide rail base 2409, described
The 7th built-in motor of setting and output gear 2416 simultaneously install limit buckle in semicolumn roller bearing, the 7th built-in motor and defeated
Gear 2416 is rotated by being engaged driving semicolumn roller bearing 2410 with the sliding rail gear column in groove slide rail base out, to drive
The rotation of top grip portion, fixing seat 2411 is arranged in 2410 plane of semicolumn roller bearing, fixation hole is arranged in fixing seat
2412, the fixation hole 2412 can select to install according to fluorescent tube demand, and the built-in motor 2412 directly drives out of hole
Dynamic 2413 axis of handgrip fixing piece rotation, handgrip fixing piece 2413 is installed in fixation hole 2412, is pacified on handgrip fixing piece 2413
Fill handgrip 2414.
Further, the handgrip 2414 is rotated by the servo driving being mounted on handgrip fixing piece 2413.
Working principle of the present invention: in the use of the present invention, new fluorescent tube is placed on new fluorescent tube rack 2501 first,
5th motor 2301 resets, and the first rocker arm 2302, the second rocker arm 2305 reset, and conversion axle sleeve 10 resets, and movable operating platform 17 is multiple
Position, handgrip station 24 and its component reset, and the first electric cylinders 8, the second electric cylinders 2201, mechanical arm 7 reset, and unmanned plane rises
Fly；When reaching below specified fluorescent lamp, the driving conversion of third motor 14 axle sleeve 10, movable operating platform 17 move and adjust position
It sets, adjusts the collapsing length of the first electric cylinders 8 and the first joint of mechanical arm 701 by adjusting mechanical arm 7, mechanical arm second are closed
The 702, second main motor 703, the second auxiliary-motor 704 are saved, is made in 17 groove of movable operating platform insertion fluorescent lamp shield frame frame, by square
Shape is protruded button 18 and is popped up, and can buckle shield frame and press and remove shield frame, and the rectangle protrusion button 18 of pop-up can clamp shield frame
Make its stabilization；Unmanned plane is moved to the left at this time, the 5th motor 2301 starting the second horizontal d-axis 20 of adjustment to suitable distance, and second
Second horizontal d-axis 20 is pushed up and is contacted fluorescent tube by the starting of electric cylinders 2201, and the 6th motor 2403 drives handgrip station mobile
To suitable position, fluorescent tube is caught by handgrip 2414, semicolumn roller bearing 2410 is driven by the 7th motor 2416, drives handgrip 2414
Fluorescent tube is removed in rotation, and the 5th motor 2301, the second electric cylinders 2201 are restored and cooperate the 4th motor 2202, the 8th servo motor 28
Fluorescent tube is moved at 2502 mouthfuls of old fluorescent tube rack, handgrip 2414 discharges fluorescent tube, and old fluorescent tube is removed and is placed on old
In fluorescent tube rack 2502, this process of repetition removes all fluorescent tubes；Unmanned plane moves right, the starting rotation of the 4th motor 2202
Second electric cylinders 2201, the starting of the second electric cylinders 2201 inwardly push the second horizontal d-axis 20, the 5th motor 2301, the 8th servo electricity
Starting the second horizontal d-axis 20 of rotation of machine 28, so that handgrip, close to new 2501 exit of fluorescent tube rack, the 7th motor 2416 drives
New fluorescent tube is clamped taking-up, the 4th motor 2202, the 7th motor by dynamic semicolumn roller bearing 2410, the driving rotation of handgrip 2414
2416, the 8th servo motor 28 resets, and the 5th motor 2301 drives the first rocker arm 2302, the second rocker arm 2305, adjusts the second water
Straight axis 20 arrives suitable distance, and the second horizontal d-axis 20 is pushed up and contacted tube face by the starting of the second electric cylinders 2201, by the
Six motors 2403 driving handgrip station is moved to suitable position, and fluorescent tube is put into lamp holder by handgrip 2114, and by the 7th motor
2416 driving semicolumn roller bearings 2410, the driving rotation of handgrip 2414 screw new fluorescent tube, and handgrip 2414 discharges fluorescent tube, repeats this
All fluorescent tubes are completed to replace by process；Unmanned plane is mobile to centre, and release rectangle protrudes button 18, and shield frame is installed into corresponding positions
It sets, unmanned plane landing manually removes old fluorescent tube, is put into new fluorescent tube, prepares subsequent operation.
Claims (2)
1. a kind of automatic replacement fluorescent tube unmanned plane, including body (1), horn (2), motor extending shaft (3), first motor
(4), propeller (5), column (6), mechanical arm (7), the first joint of mechanical arm (701), mechanical arm second joint (702), second
Main motor (703), the second auxiliary-motor (704), mechanical arm fixed arm (705), the first electric cylinders (8), the first electric cylinders fixing axle
(801), the first electric cylinders cylinder body (802), hinge axis (803), hinges end (804), first axle connecting element (9), conversion axle sleeve
(10), the first d-axis (11), the second d-axis (12), the second d-axis spur rack (1200), third motor fixing seat (13), third electricity
Machine (14), third motor gear (15), first level d-axis left axle (16), first level d-axis spur rack (1601), mobile behaviour
Make platform (17), rectangle protrusion button (18), first level d-axis right axle (19), the second horizontal d-axis (20), the second horizontal d-axis
Spur rack (2001), first axle connecting element (21), the second electric cylinders (2201), the 4th motor (2202), the second electric cylinders pedestal
(2203), the 5th motor (2301), the first rocker arm (2302), horizontal brace rod (2303), connection buckle (2304), the second rocker arm
(2305), handgrip station (24), handgrip station firm banking (2401), the 6th motor fixing seat (2402), the 6th motor
(2403), the 6th motor gear (2404), third electric cylinders pedestal (2405), third electric cylinders (2406), plane on handgrip station
(2407), handgrip mounting seat (2408), groove slide rail base (2409), semicolumn roller bearing (2410), fixing seat (2411), solid
Determine hole and built-in motor (2412), handgrip fixing piece (2413), handgrip (2414), elastic rubber support shaft (2415), in the 7th
Set motor and output gear (2416), new fluorescent tube placing clamp (2501), old fluorescent tube placing clamp (2502), battery compartment and foot prop
(26), the 5th motor installing hole (27), the 8th servo motor (28), it is characterised in that: the body (1) is cuboid
Shape, body (1) two sides are symmetrically installed four horns (2), install motor extending shaft (3) on horn (2) top, the motor prolongs
Long axis is fixed on straight down below horn (2) top, installs first motor (4) in motor extending shaft (3) bottom end, first motor
(4) propeller (5) are installed on motor shaft, drive propeller (5) rotation to provide lift for unmanned plane by first motor (4),
Two battery flats (26) are symmetrical arranged below body, the battery flat is cubic shaped, installs V-arrangement in battery flat bottom
The 5th motor installing hole (27) is arranged in horn (2) top upper surface in foot prop；
Two columns (6) of installation side by side above the body (1), and the first electric cylinders (8) are respectively set column (6) two sides are Y-shaped
With mechanical arm (7)；
The piston rod front end of first electric cylinders (8) has hinge, comes to control the of front end accurately by adjusting collapsing length
The position of one axis connection element (9), the mechanical arm (7) are to pass through driving the by the mechanical arm of the second motor control angle
Two main motors (703), the second auxiliary-motor (704) change the first joint of mechanical arm (701), mechanical arm second joint (702)
Relative angle accurately to adjust the position of the first axle connecting element (9) of rear end, and second main motor (703) is fixed on machine
On tool arm second joint (702), shaft end directly drives the first joint of mechanical arm (701) rotation, second auxiliary-motor (704)
It is fixed on mechanical arm fixed arm (705), mechanical arm second joint (72) rotation is directly driven, in first electric cylinders (8)
Front end hinge front end and mechanical arm (7) horizontal place in top be respectively provided with first axle connecting element (9), in two the first axis connections
Setting the first d-axis (11) and the second d-axis (12) in element (9) mounting hole, and spur rack is set two d-axis sides
(1200);
Sliding setting conversion axle sleeve (10) respectively, the conversion axle sleeve (10) are by two in vertical on the both ends of two d-axis
The axle sleeve that the mounting hole of straight state is constituted, conversion axle sleeve (10) is other to be arranged third motor mount (13), the third motor
Mounting base (13) be have motor installing hole, one end be semicolumn, one end be cube mounting base, and third motor install
Third motor (14) are installed in seat (13), the output shaft end of third motor is mounted with gear (15), gear (15) and d-axis straight-tooth
The occlusion of bar gear (1200), and then conversion axle sleeve (10) is driven to move on the first d-axis (11) and the second d-axis (12)；
It is installed horizontal d-axis (16) in hole in conversion axle sleeve (10), and is provided with spur rack in horizontal d-axis (166) side
(1601), movable operating platform (17) and at horizontal d-axis both ends are embedded in, in the inside lateral position peace of the top groove of movable operating platform
Rectangle protrusion button (18) is filled, rectangle protrusion button (18) manages and protects frame fixing buckle for pressing fluorescent lamp, and will shield
Frame is removed, and third motor mount (13) is arranged by movable operating platform (17), and install third in third motor mount
Motor (14), the output shaft end of third motor be mounted with gear (15), gear (15) and horizontal d-axis spur rack (1601) gear
Occlusion driving movable operating platform (17) is moved on horizontal d-axis (16)；
In left side, new fluorescent tube rack (2501) is arranged in the middle part of horn (2), and on right side, the middle part of horn (2) is arranged old fluorescent tube and puts
It sets frame (2502), the fluorescent tube rack (25) is the hollow out rack for being equipped with the vertical fixed frame in both ends, is pushed up in horn (2)
The 5th motor (2301) of installation in 5th motor installing hole (27) at end, the 5th motor (2301) driving the first rocker arm (2302),
Second rocker arm (2305) rotation drives horizontal brace rod (2303) to make horizontal lateral movement, horizontal brace rod (2303) and first
Rocker arm (2302), the second rocker arm (2305) are connected by connection buckle (2304), and horizontal brace rod (2303) is symmetrical arranged two above
Pedestal (2203), pedestal (2203) are mounted with the 4th motor (2202), the electrical axis and level of the 4th motor (2202) above
Connecting rod (2303) length direction is parallel, and the 4th motor (2202) drives the rotation of the second electric cylinders (2201) bottom end, in the second electric cylinders
(2201) telescopic rod top end installs the second axis connection element (21), and two the are installed on the same horizontal brace rod (2303)
Second horizontal d-axis (20) is installed in two axis connection element (21) holes, and is provided with spur rack in the second horizontal d-axis (20) side
(2001), handgrip station (24) are installed on the second horizontal d-axis (20), the 8th servo is set in the second horizontal d-axis shaft end
Motor (28) directly drives the second horizontal d-axis (20) rotation；
6th motor mount (2402), the handgrip firm banking are set under handgrip fixing seat pedestal (2401) platform
(2401) it is a porose fixed platform, and the 6th motor (2403) is installed in the 6th motor mount (2402), the 6th
The output shaft end of motor is mounted with gear (2404) that gear (2404) drives with the second horizontal d-axis spur rack (2001) engaged gears
Dynamic handgrip station (24) are moved on the second horizontal d-axis (20), and three flexural pivots are installed on handgrip fixing seat pedestal (2401)
Seat (2405), and a piece elastic rubber support shaft (2415) is installed in three ball hinge (2405) center positions, in ball hinge
(2405) third electric cylinders (2406) are installed on, third electric cylinders (2406) connect handgrip behaviour with elastic rubber support shaft (2415) upper end
Make plane on platform (2407), the pitching angular motion of plane (2407) on handgrip station is controlled by three electric cylinders expansion fits
Make, handgrip mounting seat (2408) are set in plane (2407) on handgrip station, are set on handgrip mounting seat (2408)
It sets groove slide rail base (2409), there is sliding rail gear to arrange and with limit for groove slide rail base (2409) medial surface
Button installs semicolumn roller bearing (2410) in groove slide rail base (2409), in the semicolumn roller bearing built in setting the 7th
Motor and output gear (2416) simultaneously install limit buckle, the 7th built-in motor and output gear (2416) by with groove
Sliding rail gear column occlusion driving semicolumn roller bearing (2410) rotation in slide rail base, so that top grip portion rotation is driven,
Fixing seat (2411) are set in semicolumn roller bearing (2410) plane, fixation hole (2412) are set in fixing seat, described consolidates
Determining hole (2412) can select to install according to fluorescent tube demand, and the built-in motor (2412) drives handgrip to fix directly out of hole
The rotation of part (2413) axis, installs handgrip fixing piece (2413) in fixation hole (2421), installs on handgrip fixing piece (2413)
Handgrip (2414).
2. a kind of automatic replacement fluorescent tube unmanned plane according to claim 1, it is characterised in that: handgrip (2414) is by pacifying
Servo driving rotation on handgrip fixing piece (2413).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710392994.XA CN107161331B (en) | 2017-05-27 | 2017-05-27 | A kind of automatic replacement fluorescent tube unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710392994.XA CN107161331B (en) | 2017-05-27 | 2017-05-27 | A kind of automatic replacement fluorescent tube unmanned plane |
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| CN107161331A CN107161331A (en) | 2017-09-15 |
| CN107161331B true CN107161331B (en) | 2019-08-20 |
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| CN108429216B (en) * | 2018-04-01 | 2020-05-22 | 沈阳国联电缆附件制造有限公司 | High-voltage line deicing unmanned aerial vehicle |
| CN110587573A (en) * | 2019-09-30 | 2019-12-20 | 苏州得尔达国际物流有限公司 | Robot capable of automatically replacing lamp tube and replacing method thereof |
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| CN102412530B (en) * | 2011-12-23 | 2014-04-09 | 北京国网富达科技发展有限责任公司 | Line navigation amphibious power circuit comprehensive maintenance robot and circuit maintenance method thereof |
| KR101614620B1 (en) * | 2014-12-05 | 2016-04-22 | 서울대학교산학협력단 | Aerial Robot System Based on Multi-rotor for Mechanical Tasks |
| US9764838B2 (en) * | 2015-04-14 | 2017-09-19 | ETAK Systems, LLC | Unmanned aerial vehicle-based systems and methods associated with cell sites and cell towers with robotic arms for performing operations |
| CN105314102B (en) * | 2015-12-04 | 2017-09-15 | 哈尔滨云控机器人科技有限公司 | A kind of unmanned plane for equipping mechanical arm |
| CN106217389B (en) * | 2016-08-21 | 2018-08-31 | 南京陶特思软件科技有限公司 | A kind of monitoring camera clean robot |
| CN106542092B (en) * | 2016-12-15 | 2018-02-27 | 济南舜风科技有限公司 | One kind can flight formula work high above the ground robot and its method |
| CN106585988B (en) * | 2017-01-14 | 2018-11-20 | 扬州市东马无人机科技有限公司 | A kind of explosive unmanned plane |
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Effective date of registration: 20201105 Address after: 2-6, 2 / F, venture building, Deqing science and Technology Park, 333 Changhong middle street, Fuxi street, Deqing County, Huzhou City, Zhejiang Province (Moganshan national high tech Zone) Patentee after: HUZHOU HONGJIN AUTOMATION TECHNOLOGY Co.,Ltd. Address before: 312000 Cauchy Industrial Zone, Keqiao District, Zhejiang, Shaoxing Patentee before: WONDERFUL-WALL NEW MATERIALS Corp.,Ltd. |
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