CN107161331A - A kind of automatic replacing fluorescent tube unmanned plane - Google Patents
A kind of automatic replacing fluorescent tube unmanned plane Download PDFInfo
- Publication number
- CN107161331A CN107161331A CN201710392994.XA CN201710392994A CN107161331A CN 107161331 A CN107161331 A CN 107161331A CN 201710392994 A CN201710392994 A CN 201710392994A CN 107161331 A CN107161331 A CN 107161331A
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- handgrip
- horizontal
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- 238000006243 chemical reaction Methods 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 13
- 229920001195 polyisoprene Polymers 0.000 claims description 10
- RRHGJUQNOFWUDK-UHFFFAOYSA-N Isoprene Chemical compound CC(=C)C=C RRHGJUQNOFWUDK-UHFFFAOYSA-N 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 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)
- Toys (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention provides a kind of automatic replacing fluorescent tube unmanned plane, and the present invention utilizes unmanned aerial vehicle platform, and to complete a whole set of dismounting and the Renewal process of fluorescent tube, technical scheme used in the present invention is：A kind of automatic replacing fluorescent tube unmanned plane, including body, horn, motor extending shaft, the first motor, propeller, column, mechanical arm, the joint of mechanical arm first, mechanical arm second joint, it is characterised in that：Described body is rectangular shape, body both sides are symmetrically installed four horns, motor extending shaft is installed on horn top, the first motor is installed on motor extending shaft top, propeller and radome fairing are installed on the motor shaft of the first motor, drives propeller rotational to provide lift for unmanned plane by the first motor, two battery flats is symmetrical arranged below body, the present invention using unmanned plane as main carrying platform, with translational speed is fast, landing flexibly, safe operation the characteristics of.
Description
Technical field
Equipment the present invention relates to the installation of indoor suspended ceiling fluorescent tube with changing, and in particular to a kind of to change fluorescent tube automatically
Unmanned plane.
Background technology
In national product, fluorescent lamp be present in we life each place, classroom, corridor, office, library with
And museum etc., it is even more largely to be illuminated using fluorescent lamp especially in the big place of flow of the people.But, the life-span of fluorescent lamp
It is limited, in order to change the fluorescent lamp that ceiling height is higher in time, such as waiting room, meeting room hall, hospital hall
Place, it is pretty troublesome manually to go to change, and existing temporal problem, the life security for also having staff and ground staff is asked
Topic, in consideration of it, the invention provides a kind of automatic replacing fluorescent tube unmanned plane, the extra high daylight of replacing is solved well
The problem of fluorescent tube, not only saved time but also possibility that reduction personnel cause danger.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of automatic replacing fluorescent tube unmanned plane, the present invention is put down using unmanned plane
Platform, installing/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 dismounting and the Renewal process of fluorescent tube, technical scheme used in the present invention is：
A kind of automatic replacing fluorescent tube unmanned plane, including body, horn, motor extending shaft, the first motor, propeller, column, machinery
Arm, the joint of mechanical arm first, 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, the 3rd motor fixing seat, the 3rd motor, the 3rd motor gear, first level d-axis are left
Axle, 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 base, the 5th motor,
One rocking arm, horizontal brace rod, junction button, the second rocking arm, handgrip operating desk, handgrip operating desk firm banking, the 6th motor are fixed
Plane on seat, the 6th motor, the 6th motor gear, the 3rd electric cylinders base, the 3rd electric cylinders, handgrip operating desk, handgrip mounting seat,
Groove slide rail base, semicolumn roller bearing, fixed seat, fixing hole and built-in motor, handgrip fixture, handgrip, elastic caoutchouc support
Axle, the 7th built-in motor and output gear, new fluorescent tube placing clamp, old fluorescent tube placing clamp, battery compartment and foot stool, the 5th motor are installed
Hole, the 8th servomotor, it is characterised in that：Described body is rectangular shape, and body both sides are symmetrically installed four horns,
Motor extending shaft is installed on horn top, and described motor extending shaft is fixed on below horn top straight down, in motor extension
Axle bottom is installed and installs propeller on the first motor, the motor shaft of the first motor, is by the first motor drive propeller rotational
Unmanned plane provides lift, two battery flats is symmetrical arranged below body, described battery flat is cubic shaped, in battery flat
V-arrangement foot stool is installed in bottom, and the 5th motor installing hole is set in horn top upper surface；
Two columns are installed side by side above body, and the first electric cylinders and mechanical arm are set respectively column both sides are Y-shaped；
The piston rod front end of the first described electric cylinders carries hinge, and the first axle of front end is accurately controlled by adjusting collapsing length
The position of connecting element, described mechanical arm is by the mechanical arm of the second motor control angle, by driving the second main motor, the
Two auxiliary-motors are to change the joint of mechanical arm first, the relative angle of mechanical arm second joint come accurate adjustment rear end first axle connect
The position of element is connect, the second described main motor is fixed on mechanical arm second joint, shaft end direct drive mechanical arm first is closed
Section rotation, the second described auxiliary-motor is fixed on mechanical arm fixed arm, direct drive mechanical arm second joint rotation, described
The first electric cylinders front end hinge front end and mechanical arm upper horizontal at be respectively provided with first axle connecting element, in two first axles
First d-axis and the second d-axis are set in connecting element mounting hole, and spur rack is set two d-axis sides;
On the two ends of two d-axis respectively slide set conversion axle sleeve, described conversion axle sleeve be by two in vertical state
The 3rd motor mount is set by the axle sleeve that mounting hole is constituted, conversion axle sleeve, the 3rd described motor mount is that have motor peace
Fill hole, one end be semicolumn, one end is cubical mounting seat, and installs in the 3rd motor mount the 3rd motor, the
The output shaft end of three motors is mounted with gear, gear and d-axis spur rack engaged gears, and then it is straight to drive transaxle to be enclosed on first
Moved on axle and the second d-axis；
Horizontal d-axis is installed on transaxle set in hole, and spur rack is provided with horizontal d-axis side, and in horizontal d-axis two
The embedded movable operating platform in end, at medial surface is mounted with that rectangle protrudes button, described square in the top groove of movable operating platform
Shape protrusion button manages and protects frame clip for pressing fluorescent lamp, and shield frame is removed, and the 3rd motor is set by movable operating platform
Mounting seat, and the 3rd motor of installation in the 3rd motor mount, the output shaft end of the 3rd motor are mounted with gear, gear and water
Straight axle spur rack engaged gears driving movable operating platform is moved on horizontal d-axis；
In left side, the middle part of horn sets new fluorescent tube rack, and on right side, the middle part of horn sets old fluorescent tube rack, described
Fluorescent tube rack is the hollow out rack for being provided with the vertical fixed frame in two ends, is installed in the 5th motor installing hole on horn top
5th motor, the 5th motor drives the first rocking arm, the rotation of the second rocking arm, drives horizontal brace rod to make level lateral movement, level
Connecting rod and the first rocking arm, the second rocking arm are connected by junction button, and two bases, submounts are symmetrical arranged above horizontal brace rod
The 4th motor is mounted with, the electrical axis of the 4th motor are parallel with horizontal brace rod length direction, the 4th motor drives the second electricity
Cylinder bottom end is rotated, and the second axle connecting element is installed on the expansion link top of the second electric cylinders, is installed on same horizontal brace rod
Second horizontal d-axis is installed in two the second axle connecting element holes, and spur rack is provided with the second horizontal d-axis side, the
Handgrip operating desk is installed on two horizontal d-axis（, the 8th servomotor is set in the second horizontal d-axis shaft end, the second water is directly driven
Straight axle rotation；
6th motor mount is set under handgrip fixed seat base platform, and described handgrip firm banking is one porose solid
Fixed platform, and install in the 6th motor mount the 6th motor, the output shaft end of the 6th motor is mounted with gear, gear and the
Two horizontal d-axis spur rack engaged gears driving handgrip operating desks are moved on the second horizontal d-axis, on handgrip fixed seat base
Three ball pivot seats are installed, and a piece elastic caoutchouc support shaft is installed in three ball pivot seat center positions, are installed on ball pivot seat
Plane on 3rd electric cylinders, the 3rd electric cylinders and elastic caoutchouc support shaft upper end connection handgrip operating desk, matches somebody with somebody by the way that three electric cylinders are flexible
Close to control the angle of pitch of plane on handgrip operating desk to act, handgrip mounting seat is set on handgrip operating desk in plane,
Groove slide rail base is set in handgrip mounting seat, and there is described groove slide rail base medial surface slide rail gear to arrange and with limited
Position button, installs in semicolumn roller bearing, described semicolumn roller bearing in groove slide rail base and sets the 7th built-in motor and output
Gear simultaneously installs limit buckle, and the 7th described built-in motor and output gear with the slide rail gear in groove slide rail base by arranging
Occlusion driving semicolumn roller bearing rotation, so as to drive top grip portion rotation, fixed seat is set in semicolumn roller bearing plane,
Fixing hole is set in fixed seat, and described fixing hole can select to install according to fluorescent tube demand, and described built-in motor is direct
The rotation of handgrip fixture axle is driven out of hole, handgrip fixture is installed in fixing hole, handgrip is installed on handgrip fixture.
Further, described handgrip is rotated by the servo driving on handgrip fixture.
Beneficial effect of the present invention：
1. the present invention uses unmanned plane as main carrying platform, with translational speed is fast, landing is flexible, safe operation spy
Point.
2. by setting multistage retractable rod to be broadened the scope of work when unmanned plane pinpoints flight, reduce because of unmanned plane frequency
The potential safety hazard that numerous moving belt comes.
3. by setting the work in succession simultaneously of two two sets of handgrips, operating efficiency can be improved and ensure quality.
Brief description of the drawings
Fig. 1 is front 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 operating desk schematic diagram one of the invention.
Fig. 8 is handgrip operating desk 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- bodies, 2- horns, 3- motors extending shaft, the motors of 4- first, 5- propellers, 6- columns, 7- machineries
Arm, the joint of 701- mechanical arms first, 702- mechanical arms second joint, the main motors of 703- second, the auxiliary-motors of 704- second, 705- machines
Tool arm fixed arm, the electric cylinders of 8- first, the first electric cylinders of 801- fixing axle, the first electric cylinders of 802- cylinder body, 803- hinge axis, 804- hinges
Secondary end, 9- first axles connecting element, 10- conversions axle sleeve, the d-axis of 11- first, the d-axis of 12- second, 1200- the second d-axis straight-tooth
Article, the motor fixing seats of 13- the 3rd, the motors of 14- the 3rd, the motor gears of 15- the 3rd, 16- first level d-axis left axle, 1601-
One horizontal d-axis spur rack, 17- movable operating platforms, 18- rectangles protrusion button, 19- first level d-axis right axle, the water of 20- second
The horizontal d-axis spur rack of straight axle, 2001- second, 21- first axles connecting element, the electric cylinders of 2201- second, the motors of 2202- the 4th,
The second electric cylinders of 2203- base, the motors of 2301- the 5th, the rocking arms of 2302- first, 2303- horizontal brace rods, 2304- junction buttons,
The rocking arms of 2305- second, 24- handgrips operating desk, 2401- handgrip operating desks firm banking, the motor fixing seats of 2402- the 6th, 2403-
6th motor, the motor gears of 2404- the 6th, the electric cylinders bases of 2405- the 3rd, the electric cylinders of 2406- the 3rd, on 2407- handgrip operating desks
Plane, 2408- handgrips mounting seat, 2409- groove slide rails base, 2410- semicolumns roller bearing, 2411- fixed seats, 2412- are solid
Determine hole and built-in motor, 2413- handgrips fixture, 2414- handgrips, 2415- elastic caoutchoucs support shaft, the in-built electricals of 2416- the 7th
Machine and the new fluorescent tube placing clamp of output gear, 2501-, the old fluorescent tube placing clamps of 2502-, 26- battery compartments and foot stool, the motors of 27- the 5th
Mounting hole, the servomotors of 28- the 8th.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment
It is a kind of automatic to change fluorescent tube unmanned plane as shown in Fig. 1 to 12, 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
802nd, 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, the 3rd motor fixing seat 13, the 3rd motor 14, the 3rd motor gear 15, first level d-axis left axle
16th, first level d-axis spur rack 1601, movable operating platform 17, rectangle protrusion 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 base 2203, the 5th motor 2301, the first rocking arm 2302, horizontal brace rod 2303, junction button 2304, the second rocking arm
2305th, handgrip operating desk 24, handgrip operating desk firm banking 2401, the 6th motor fixing seat 2402, the 6th motor the 2403, the 6th
Motor gear 2404, the 3rd electric cylinders base 2405, the 3rd electric cylinders 2406, plane 2407, handgrip mounting seat on handgrip operating desk
2408th, groove slide rail base 2409, semicolumn roller bearing 2410, fixed seat 2411, fixing hole and built-in motor 2412, handgrip are fixed
Part 2413, handgrip 2414, elastic caoutchouc support shaft 2415, the 7th built-in motor and output gear 2416, new fluorescent tube placing clamp
2501st, old fluorescent tube placing clamp 2502, battery compartment and foot stool 26, the 5th motor installing hole 27, the 8th servomotor 28, its feature exist
In：Described body 1 is rectangular shape, and the both sides of body 1 are symmetrically installed four horns 2, and motor extension is installed on the top of horn 2
Axle 3, described motor extending shaft is fixed on below the top of horn 2 straight down, and the first motor is installed in the bottom of motor extending shaft 3
4, propeller 5 is installed on the motor shaft of first motor 4, drives propeller 5 to rotate by the first motor 4 and is provided liter for unmanned plane
Power, is symmetrical arranged two battery flats 26 below body, and described battery flat is cubic shaped, and V is installed in battery flat bottom
Shape foot stool, the 5th motor installing hole 27 is set in the top upper surface of horn 2；
Two columns 6 are installed side by side in the top of body 1, and the first electric cylinders 8 and mechanical arm are set respectively the both sides of column 6 are Y-shaped
7；
The piston rod front end of the first described electric cylinders 8 carries hinge, and accurately the first of front end is controlled by adjusting collapsing length
The position of axle connecting element 9, described mechanical arm 7 is by the mechanical arm of the second motor control angle, by driving the second main electricity
Machine 703, the second auxiliary-motor 704 are to change the first joint of mechanical arm 701, the relative angle of mechanical arm second joint 702 comes accurate
The position of the first axle connecting element 9 of rear end is adjusted, the second described main motor 703 is fixed on mechanical arm second joint 702,
Shaft end the first joint of direct drive mechanical arm 701 is rotated, and the second described auxiliary-motor 704 is fixed on mechanical arm fixed arm 705,
Direct drive mechanical arm second joint 702 rotates, hinge front end and the top of mechanical arm 7 in the front end of the first described electric cylinders 8
First axle connecting element 9 is respectively provided with level, the first d-axis 11 and second is set in two mounting holes of first axle connecting element 9
D-axis 12, and spur rack 1200 is set two d-axis sides;
Slided respectively on the two ends of two d-axis and conversion axle sleeve 10 is set, described conversion axle sleeve 10 is by two perpendicular shapes
The axle sleeve that the mounting hole of state is constituted, the side of conversion axle sleeve 10 sets the 3rd motor mount 13, the 3rd described motor mount 13
It is to have motor installing hole, one end to be semicolumn, one end is cubical mounting seat, and is installed in the 3rd motor mount 13
3rd motor 14, the output shaft end of the 3rd motor is mounted with gear 15, and gear 15 is engaged with d-axis spur rack gear 1200, and then
Driving conversion axle sleeve 10 is moved 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 spur rack 1601 is provided with sideways in horizontal d-axis 16, and
Horizontal d-axis two ends are embedded in movable operating platform 17, movable operating platform top groove to be mounted with medial surface rectangle protrusion by
Button 18, described rectangle protrusion button 18 manages and protects frame clip for pressing fluorescent lamp, and shield frame is removed, in movable operating platform
17 sides set the 3rd motor mount 13, and the 3rd motor 14 of installation, the output shaft of the 3rd motor in the 3rd motor mount
End is mounted with gear 15, and gear 15 drives movable operating platform 17 in horizontal d-axis 16 with the horizontal engaged gears of d-axis spur rack 1601
Upper movement；
In left side, the middle part of horn 2 sets new fluorescent tube rack 2501, and on right side, the middle part of horn 2 sets old fluorescent tube rack
2502, described fluorescent tube rack 25 is the hollow out rack for being provided with the vertical fixed frame in two ends, the 5th electricity on the top of horn 2
5th motor 2301 is installed, the 5th motor 2301 drives the first rocking arm 2302, the second rocking arm 2305 to rotate, band in machine mounting hole 27
Dynamic horizontal brace rod 2303 makees level lateral movement, and the rocking arm 2302 of horizontal brace rod 2303 and first, the second rocking arm 2305 are by even
Connect button 2304 to connect, horizontal brace rod 2303 is symmetrical arranged two bases 2203 above, the 4th electricity installed above of base 2203
Machine 2202, the electrical axis of the 4th motor 2202 are parallel with the length direction of horizontal brace rod 2303, and the 4th motor 2202 drives the
The bottom of two electric cylinders 2201 rotates, and the second axle connecting element 21 is installed on the expansion link top of the second electric cylinders 2201, in same water
Installed on flushconnection bar 2303 and second horizontal d-axis 20 is installed in two holes of the second axle connecting element 21, and in the second horizontal d-axis
20 sides are provided with spur rack 2001, and handgrip operating desk is installed on the second horizontal d-axis 20（24, in the second horizontal d-axis shaft end
8th servomotor 28 is set, and the second horizontal d-axis 20 of direct drive rotates；
6th motor mount 2402 is set under the platform of handgrip fixed seat base 2401, and described handgrip firm banking 2401 is
One porose fixed platform, and the 6th motor 2403 of installation, the output shaft of the 6th motor in the 6th motor mount 2402
End is mounted with gear 2404, and the horizontal engaged gears of d-axis spur rack 2001 of gear 2404 and second drive handgrip operating desk 24 the
Moved on two horizontal d-axis 20, three ball pivot seats 2405 are installed on handgrip fixed seat base 2401, and in three ball pivot seats
2405 center positions install an elastic caoutchouc support shaft 2415, and the 3rd electric cylinders 2406, the 3rd are installed on ball pivot seat 2405
Plane 2407 in electric cylinders 2406 and the upper end of elastic caoutchouc support shaft 2415 connection handgrip operating desk, passes through three electric cylinders expansion fits
To control the angle of pitch of plane 2407 on handgrip operating desk to act, set handgrip that bottom is installed in plane 2407 on handgrip operating desk
Seat 2408, sets groove slide rail base 2409, the described medial surface of groove slide rail base 2409 in handgrip mounting seat 2408
Arranged with slide rail gear and with limit buckle, semicolumn roller bearing 2410, described semicircle are installed in groove slide rail base 2409
7th built-in motor and output gear 2416 are set in post roller bearing and limit buckle is installed, the 7th described built-in motor and output gear
Wheel 2416 is rotated by being engaged driving semicolumn roller bearing 2410 with the slide rail gear row in groove slide rail base, so as to drive top
Grip portion is rotated, and fixed seat 2411 is set in the plane of semicolumn roller bearing 2410, and fixing hole 2412, institute are set in fixed seat
The fixing hole 2412 stated can select to install according to fluorescent tube demand, and described built-in motor 2412 directly drives handgrip to consolidate out of hole
Determine the rotation of the axle of part 2413, handgrip fixture 2413 is installed in fixing hole 2412, handgrip is installed on handgrip fixture 2413
2414。
Further, described handgrip 2414 is rotated by the servo driving on handgrip fixture 2413.
Operation 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 is resetted, and the first rocking arm 2302, the second rocking arm 2305 reset, and conversion axle sleeve 10 is resetted, and movable operating platform 17 is answered
Position, handgrip operating desk 24 and its part 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 3rd motor 14 driving conversion axle sleeve 10, movable operating platform 17 move and adjust position
Put, adjust the collapsing length of the first electric cylinders 8 and closed by adjusting the first joint of mechanical arm 701 of mechanical arm 7, mechanical arm second
The 702, second main motor 703, the second auxiliary-motor 704 are saved, the groove of movable operating platform 17 is embedded in fluorescent lamp shield frame frame, by square
Shape protrusion button 18 is ejected, you can is buckled shield frame and is pressed and remove shield frame, and the rectangle protrusion button 18 of ejection can clamp shield frame
Stabilize it；Now unmanned plane is moved to the left, and the 5th motor 2301 starts the second horizontal d-axis 20 of adjustment and arrives suitable distance, second
Electric cylinders 2201, which start, to be pushed up the second horizontal d-axis 20 and contacts fluorescent tube, the driving handgrip operating desk movement of the 6th motor 2403
To correct position, fluorescent tube is caught by handgrip 2414, semicolumn roller bearing 2410 is driven by the 7th motor 2416, handgrip 2414 is driven
Fluorescent tube is removed in rotation, and the 5th motor 2301, the second electric cylinders 2201 are recovered and coordinate the 4th motor 2202, the 8th servomotor 28
Fluorescent tube is moved at old 2502 mouthfuls of fluorescent tube rack, handgrip 2414 discharges fluorescent tube, 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, and the 4th motor 2202 starts rotation
Second electric cylinders 2201, the second electric cylinders 2201, which start, inwardly promotes the second horizontal d-axis 20, the 5th motor 2301, the 8th servo electricity
Machine 28 starts the second horizontal d-axis 20 of rotation so that handgrip drives close to the new exit of fluorescent tube rack 2501, the 7th motor 2416
Dynamic semicolumn roller bearing 2410, driving handgrip 2414 rotates clamps taking-up, the 4th motor 2202, the 7th motor by new fluorescent tube
2416th, the 8th servomotor 28 resets, and the 5th motor 2301 drives the first rocking arm 2302, the second rocking arm 2305, adjusts the second water
Straight axle 20 arrives suitable distance, and the second electric cylinders 2201, which start, to be pushed up the second horizontal d-axis 20 and contact tube face, by the
Six motors 2403 driving handgrip operating desk is moved to correct position, and fluorescent tube is put into lamp socket by handgrip 2114, and by the 7th motor
2416 driving semicolumn roller bearings 2410, driving handgrip 2414, which rotates, screws new fluorescent tube, the release fluorescent tube of handgrip 2414, repeats this
Process completes all fluorescent tubes to change；Unmanned plane is mobile to centre, release rectangle protrusion button 18, and shield frame is installed into corresponding positions
Put, unmanned plane landing manually removes old fluorescent tube, is put into new fluorescent tube, prepares subsequent operation.
Claims (2)
1. a kind of automatic replacing fluorescent tube unmanned plane, including body（1）, horn（2）, motor extending shaft (3), the first motor
(4), propeller (5), column (6), mechanical arm（7）, the joint of mechanical arm first (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）, the 3rd motor fixing seat（13）, the 3rd electricity
Machine（14）, the 3rd 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 base
(2203), the 5th motor (2301), the first rocking arm (2302), horizontal brace rod (2303), junction button (2304), the second rocking arm
(2305), handgrip operating desk (24), handgrip operating desk firm banking (2401), the 6th motor fixing seat (2402), the 6th motor
(2403), the 6th motor gear (2404), the 3rd electric cylinders base (2405), the 3rd electric cylinders (2406), plane on handgrip operating desk
(2407), handgrip mounting seat (2408), groove slide rail base (2409), semicolumn roller bearing (2410), fixed seat (2411), solid
Determine hole and built-in motor (2412), handgrip fixture (2413), handgrip (2414), elastic caoutchouc support shaft (2415), in the 7th
Put motor and output gear (2416), new fluorescent tube placing clamp (2501), old fluorescent tube placing clamp (2502), battery compartment and foot stool
（26）, the 5th motor installing hole（27）, the 8th servomotor（28）, it is characterised in that：Described body（1）For cuboid
Shape, body（1）Both sides are symmetrically installed four horns（2）, in horn（2）Top is installed by motor extending shaft（3）, described motor prolongs
Major axis is fixed on horn straight down（2）Below top, in motor extending shaft（3）Bottom is installed by the first motor（4）, the first motor
（4）Motor shaft on propeller is installed（5）, pass through the first motor（4）Drive propeller（5）Rotate and provide lift for unmanned plane,
Two battery flats are symmetrical arranged below body（26）, described battery flat is cubic shaped, and V-arrangement is installed in battery flat bottom
Foot stool, in horn（2）Top upper surface sets the 5th motor installing hole（27）；
In body（1）Top is installed by two columns side by side（6）, and in column（6）Both sides are Y-shaped to set the first electric cylinders respectively（8）
With mechanical arm (7)；
The first described electric cylinders (8）Piston rod front end carry hinge, control the of front end by adjusting collapsing length come accurate
One axle connecting element（9）Position, described mechanical arm (7) is, by the mechanical arm of the second motor control angle, to pass through driving the
Two main motors (703), the second auxiliary-motor (704) change the joint of mechanical arm first (701), mechanical arm second joint（702）'s
Relative angle carrys out the first axle connecting element of accurate adjustment rear end（9）Position, the second described main motor（703）It is fixed on machine
Tool arm second joint（702）On, shaft end direct drive mechanical arm first joint（701）Rotation, the second described auxiliary-motor（704）
It is fixed on mechanical arm fixed arm（705）On, directly drive mechanical arm second joint（72）Rotation, in the first described electric cylinders（8）
Front end hinge front end and mechanical arm（7）First axle connecting element is respectively provided with upper horizontal（9）, in two first axle connections
Element（9）First d-axis is set in mounting hole（11）With the second d-axis（12）, and spur rack is set two d-axis sides
（1200）;
Slided respectively on the two ends of two d-axis and conversion axle sleeve (10) is set, described conversion axle sleeve (10) is in vertical by two
The 3rd motor mount (13), the 3rd described motor are set by the axle sleeve that the mounting hole of straight state is constituted, conversion axle sleeve (10)
Mounting seat (13) is that have motor installing hole, one end to be semicolumn, and one end is cubical mounting seat, and installed in the 3rd motor
Seat（13）The 3rd motor of middle installation（14）, the output shaft end of the 3rd motor is mounted with gear（15）, gear（15）With d-axis straight-tooth
Bar gear（1200）Occlusion, and then drive conversion axle sleeve（10）In the first d-axis（11）With the second d-axis（12）Upper movement；
In conversion axle sleeve（10）Horizontal d-axis is installed in upper hole（16）, and in horizontal d-axis（166）Side is provided with spur rack
（1601）, and it is embedded in movable operating platform at horizontal d-axis two ends（17）, pacify in the top groove of movable operating platform at medial surface
Rectangle protrusion button is filled（18）, described rectangle protrusion button (18) manages and protects frame clip for pressing fluorescent lamp, and will protect
Frame is removed, and the 3rd motor mount (13), and the installation the 3rd in the 3rd motor mount are set by movable operating platform (17)
Motor (14), the output shaft end of the 3rd motor is 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, the middle part of horn (2) sets new fluorescent tube rack (2501), and on right side, the middle part of horn (2) sets old fluorescent tube to put
Put frame (2502), described fluorescent tube rack（25）It is the hollow out rack for being provided with the vertical fixed frame in two ends, in horn（2）Top
5th motor installing hole at end（27）The 5th motor of interior installation（2301）, the 5th motor（2301）Drive the first rocking arm（2302）、
Second rocking arm（2305）Rotation, drives horizontal brace rod（2303）Make level lateral movement, horizontal brace rod（2303）With first
Rocking arm（2302）, the second rocking arm（2305）By junction button（2304）Connection, horizontal brace rod（2303）Two are symmetrical arranged above
Base（2203）, base（2203）4th motor installed above（2202）, the 4th motor（2202）Electrical axis and level
Connecting rod（2303）Length direction is parallel, the 4th motor（2202）Drive the second electric cylinders（2201）Bottom rotates, in the second electric cylinders
（2201）Expansion link top install the second axle connecting element (21), in same horizontal brace rod（2303）It is upper to install two the
Two axle connecting elements（21）Second horizontal d-axis is installed in hole（20）, and in the second horizontal d-axis（20）Side is provided with spur rack
（2001）, in the second horizontal d-axis（20）Upper installation handgrip operating desk（24）, in the second horizontal d-axis shaft end, the 8th servo is set
Motor（28）, horizontal d-axis (20) rotation of direct drive second；
6th motor mount (2402), described handgrip firm banking are set under handgrip fixed seat base (2401) platform
(2401) it is a porose fixed platform, and the 6th motor (2403) of installation, the 6th in the 6th motor mount (2402)
The output shaft end of motor is mounted with gear (2404), and gear (2404) drives with the second horizontal d-axis spur rack (2001) engaged gears
Dynamic handgrip operating desk (24) is moved on the second horizontal d-axis (20), in handgrip fixed seat base（2401）Three ball pivots of upper installation
Seat（2405）, and in three ball pivot seats（2405）Center position installs an elastic caoutchouc support shaft（2415）, in ball pivot seat
（2405）The 3rd electric cylinders of upper installation（2406）, the 3rd electric cylinders（2406）With elastic caoutchouc support shaft（2415）Upper end connection handgrip behaviour
Make plane on platform（2407）, plane on handgrip operating desk is controlled by three electric cylinders expansion fits（2407）Pitching angular motion
Make, the plane on handgrip operating desk（2407）Upper setting handgrip mounting seat（2408）, in handgrip mounting seat（2408）On set
Put groove slide rail base（2409）, described groove slide rail base（2409）There is medial surface slide rail gear to arrange and with limited location
Button, in groove slide rail base（2409）Interior installation semicolumn roller bearing（2410）, described semicolumn roller bearing is interior to be set built in the 7th
Motor and output gear（2416）And limit buckle, the 7th described built-in motor and output gear are installed（2416）By with groove
Slide rail gear row occlusion driving semicolumn roller bearing in slide rail base（2410）Rotation, so that top grip portion rotation is driven,
In semicolumn roller bearing（2410）Fixed seat is set in plane（2411）, fixing hole is set in fixed seat（2412）, described consolidates
Determine hole（2412）It can be selected to install according to fluorescent tube demand, described built-in motor（2412）Directly handgrip is driven to fix out of hole
Part（2413）Axle rotates, in fixing hole（2421）Interior installation handgrip fixture（2413）, in handgrip fixture（2413）It is upper to install
Handgrip（2414）.
2. a kind of wall covering according to claim 1 safeguards unmanned plane, it is characterised in that：Handgrip（2414）By installed in
Handgrip fixture（2413）On servo driving rotation.
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| CN201710392994.XA CN107161331B (en) | 2017-05-27 | 2017-05-27 | A kind of automatic replacement fluorescent tube unmanned plane |
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| CN201710392994.XA CN107161331B (en) | 2017-05-27 | 2017-05-27 | A kind of automatic replacement fluorescent tube unmanned plane |
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| CN107161331A true CN107161331A (en) | 2017-09-15 |
| CN107161331B CN107161331B (en) | 2019-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN108429216A (en) * | 2018-04-01 | 2018-08-21 | 周佰平 | A kind of high-tension line deicing unmanned plane |
| 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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|---|---|
| CN107161331B (en) | 2019-08-20 |
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