CN107902079A - A kind of unmanned plane that rubbish is picked up on Yushan Hill - Google Patents
A kind of unmanned plane that rubbish is picked up on Yushan Hill Download PDFInfo
- Publication number
- CN107902079A CN107902079A CN201711339020.1A CN201711339020A CN107902079A CN 107902079 A CN107902079 A CN 107902079A CN 201711339020 A CN201711339020 A CN 201711339020A CN 107902079 A CN107902079 A CN 107902079A
- Authority
- CN
- China
- Prior art keywords
- telescopic rod
- mechanical arm
- rubbish
- unmanned plane
- control room
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 26
- 230000029058 respiratory gaseous exchange Effects 0.000 claims abstract description 21
- 238000003860 storage Methods 0.000 claims abstract description 16
- 230000005611 electricity Effects 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 239000002699 waste material Substances 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
- B64D47/08—Arrangements of cameras
-
- 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
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of with the unmanned plane that rubbish is picked up on Yushan Hill,It is related to unmanned plane field,Including wing,Control room,Mechanical arm and gripper,The control room is arranged on the lower section of wing,Storage battery and the camera being electrical connected with storage battery are provided with control room,A stent is fixed with control room bottom,The telescopic mechanical arm of horizontal shaft connection is provided with below the stent,Brushless electric machine is fixed among the horizontal shaft,The brushless electric machine is electrical connected with storage battery,The mechanical arm includes the first telescopic rod set gradually from top to bottom,Second telescopic rod and the 3rd telescopic rod,The transverse direction shaft is connected with the top of the first telescopic rod,3rd telescopic rod bottom is provided with vacuum breathing apparatus,The vacuum breathing apparatus is electrical connected with storage battery,Gripper is provided with below the 3rd telescopic rod.The present invention solves the problems, such as that cleaning intermountain rubbish difficulty is larger and dangerous.
Description
Technical field
The invention belongs to electrical insulating material field, and in particular to a kind of unmanned plane that rubbish is picked up on Yushan Hill.
Background technology
As present people's economy is become better and better, more and more people start out on tours, wherein mountain-climbing is most common
It is most popular tour itineraries.Although national quality is constantly being lifted, many is still suffered from during mountain-climbing not
The phenomenon of civilization, such as littering, rubbish, which is discarded on mountain, can not only influence landscape but also can damage to scenic environment, because
This has been born " cleaner on precipice ", these cleaners clear up rubbish by being suspended in intermountain " walking ", its work not only ten
Divide dangerous and less efficient.
Multi-rotor unmanned aerial vehicle technology itself has developed more mature at present, its application in daily life generally needs to tie
Other components are closed to complete, such as and holder capture apparatus is implemented in combination with high-altitude investigation shooting function and flusher is implemented in combination with
The function of farmland plant protection.Also there are related scholar and researcher to propose to combine by rotor wing unmanned aerial vehicle and paw or mechanical arm at present
More complicated function is completed, this kind of flying robot of early stage is mostly to be combined rotor wing unmanned aerial vehicle and paw, but this kind of machine
The work capacity of device people's system is extremely limited, and since no mechanical arm system, work capacity are very limited.
Mechanical arm common at present is chiefly used in industrial production, it is intended to the assembly work of high accuracy, high complexity is performed, so that
Substitute artificial, raising production efficiency.This kind of general cost of mechanical arm is high, volume is larger, and purposes is relatively fixed, and range of movement has
Limit, motion mode can only be by programme-control prepared in advance, it is difficult to the movement instruction outside dynamic response.With industrial machinery arm phase
Right, another kind of small-sized machine arm is used for the sides such as teaching demonstration, product prototype design, scientific research verification based on desktop level application
Face, this kind of mechanical arm is mostly using stepper motor as driving, also because of body while stepper motor brings preferable driving effect
Product and weight are larger so that mechanical arm system use scope is restricted, while this kind of mechanical arm system also has response speed and power
Limited, the inflexible limitation of response mode is spent, needs to be connected with computer and power supply when in use to obtain movement instruction.No matter
It is that technical grade mechanical arm or small-sized machine arm fail to realize comparatively ideal effect, i.e., current machinery in terms of human-computer interaction
Arm technology can only generally be controlled according to programmed instruction prepared in advance, and this control mode is not natural enough and flexible.
The content of the invention
It is an object of the present invention to for the problem that there is many rubbish to remain on many mountains, cleaning difficulty is big and dangerous, carries
A kind of unmanned plane for picking up rubbish on Yushan Hill.
The present invention specifically uses following technical scheme to achieve these goals：
A kind of unmanned plane that rubbish is picked up on Yushan Hill, including wing, control room, mechanical arm and gripper, the control
Room is arranged on the lower section of wing, storage battery and the camera being electrical connected with storage battery is provided with control room, in control room
Bottom is fixed with a stent, the telescopic mechanical arm of horizontal shaft connection is provided with below the stent, in institute
State and brushless electric machine is fixed among horizontal shaft, the brushless electric machine is electrical connected with storage battery, and the mechanical arm is included from upper
The first telescopic rod, the second telescopic rod and the 3rd telescopic rod set gradually under, the transverse direction shaft and the top of the first telescopic rod
End connection, vacuum breathing apparatus is provided with the 3rd telescopic rod bottom, and the vacuum breathing apparatus is electrical connected with storage battery,
Gripper is provided with below 3rd telescopic rod.
Further, the vacuum breathing apparatus, which is included in, is arranged on several equidistant arrangements of the upper end of vacuum breathing apparatus
Exhaust outlet, the fan below exhaust outlet and the air inlet for being arranged on vacuum breathing apparatus bottom, the fan top is set
Motor is equipped with, the fan is connected with motor, motor surrounding is provided with a circle supporting structure, the support is filled with vacuum suction
(8) inner wall is put to fix.The rubbish of discarding based on beverage bottle and plastic garbage bag, intermountain often blow or unmanned plane fly
Also outflow can be produced during row, plastic garbage bag is only captured by gripper, tends to be blown away, causes secondary dirt
Dye, wastes work, vacuum breathing apparatus is it is possible to prevente effectively from polybag comes off.
Further, second telescopic rod is set in the first telescopic rod, and the 3rd telescopic rod is set in second and stretches
In contracting bar, in the first sliding groove that the first telescopic rod internal symmetry is provided with, the two telescopic rods internal symmetry is provided with
Two sliding slots, are equipped with the both sides external of the second telescopic rod and are equipped with the first sliding groove raised line A, the both sides external of the 3rd telescopic rod
With the raised line B of the second sliding slot clamping.
Further, the first of mechanical arm the flexible club head is equipped with the first limit that the second telescopic rod is fixed on to the first sliding groove
Position hole, the second flexible club head are equipped with the second limit hole that the 3rd telescopic rod is fixed on to the second sliding slot.Mechanical arm, which is provided with, to be stretched
Contracting bar can solve the pickup of the deeper rubbish of portion.
Further, the wing is more rotors.Its operation of the unmanned plane of more rotors is sensitiveer, is more convenient.
Beneficial effects of the present invention are as follows：
1. the present invention is provided with camera and mechanical arm on unmanned plane, the operation that camera can increase operator regards
Open country, can also facilitate the observation to capturing object, mechanical arm, which is arranged to telescopic mechanical arm, can increase the flexible of mechanical arm
Property, brushless electric machine is provided with below control room, it is possible to achieve mechanical arm is in vertical direction operating space as big as possible.
2. being arranged on the vacuum breathing apparatus of mechanical arm bottom, when capturing rubbish positioned at the surface of rubbish, pass through suction
Gas can the effective lighter weight such as adsorption plastic refuse bag, the larger rubbish of area, caused by can effectively preventing that rubbish from coming off
Secondary pollution.
3. mechanical arm is provided with telescopic rod can increase the operating space of mechanical arm with the vertical direction.
Brief description of the drawings
Fig. 1 is profile of the present invention；
Fig. 2 is schematic diagram of the present invention；
Fig. 3 is vacuum breathing apparatus profile；
Fig. 4 is the schematic diagram of mechanical arm.
Embodiment
In order to which those skilled in the art are better understood from the present invention, below in conjunction with the accompanying drawings with following embodiments to the present invention
It is described in further detail.
Embodiment 1
As Fig. 1~2 provide a kind of unmanned plane that rubbish is picked up on Yushan Hill, including wing 1, control room 2, mechanical arm 6
With gripper 7, the control room 2 is arranged on the lower section of wing 1, and storage battery and electrical with storage battery is provided with control room 2
Connected camera 3, is fixed with a stent 4 in 2 bottom of control room, horizontal shaft is provided with below the stent 4
The mechanical arm 6 of 9 connections, brushless electric machine 5, the brushless electric machine 5 and the electrical phase of storage battery are fixed among the horizontal shaft 9
Even, the transverse direction shaft is connected with the top of the first telescopic rod 6-1, and gripper 7 is provided with below the 3rd telescopic rod 6-3.
The wing 1 is more rotors.
The present embodiment is provided with camera and mechanical arm on unmanned plane, and the operation that camera can increase operator regards
Open country, can also facilitate the observation to capturing object, mechanical arm, which is arranged to telescopic mechanical arm, can increase the flexible of mechanical arm
Property, brushless electric machine is provided with below control room, it is possible to achieve mechanical arm is in vertical direction operating space as big as possible.
Embodiment 2
The present embodiment is that further improvement is made on the basis of embodiment 1, is specifically：
As shown in figure 3, be provided with vacuum breathing apparatus 8 in the 3rd telescopic rod 6-3 bottoms, the vacuum breathing apparatus 8 with
Storage battery is electrical connected, and the vacuum breathing apparatus 8, which is included in, is arranged on several equidistant arrangements of the upper end of vacuum breathing apparatus 8
Exhaust outlet 8-1, the fan 8-4 below exhaust outlet 8-1 and the air inlet 8-5 for being arranged on 8 bottom of vacuum breathing apparatus, institute
State fan 8-4 tops and be provided with motor 8-3, the fan 8-4 is connected with motor 8-3, and motor 8-3 surroundings are provided with a circle branch
Support structure 8-2, the support 8-2 are fixed with 8 inner wall of vacuum breathing apparatus.
The present embodiment by air-breathing can the effective lighter weight such as adsorption plastic refuse bag, the larger rubbish of area, effectively
Prevent rubbish come off caused by secondary pollution.
Embodiment 3
The present embodiment is that further improvement is made on the basis of Examples 1 and 2, is specifically：
As shown in figure 4, the mechanical arm 6 includes the first telescopic rod 6-1, the second telescopic rod 6- set gradually from top to bottom
2 and the 3rd telescopic rod 6-3, the second telescopic rod 6-2 are set in the first telescopic rod 6-1, and the 3rd telescopic rod 6-3 is arranged
In the second telescopic rod 6-2, in the first sliding groove 6-1-2 that the first telescopic rod 6-1 internal symmetries are provided with, described two is flexible
Bar 6-2 internal symmetries are provided with the second sliding slot 6-2-2, are equipped with and the first sliding groove 6- in the both sides external of the second telescopic rod 6-2
The both sides external of 1-2 raised lines A6-2-3, the 3rd telescopic rod 6-3 are equipped with the raised line B6-3-2 with the second sliding slot 6-2-2 clampings.
First telescopic rod 6-1 heads of mechanical arm 6, which are equipped with, is fixed on the second telescopic rod 6-2 the of the first sliding groove 6-1-2
One limit hole 6-2-1, the second telescopic rod 6-2 heads, which are equipped with, is fixed on the 3rd telescopic rod 6-3 the second of the second sliding slot 6-2-2
Limit hole 6-3-1.
The present embodiment effectively can increase mechanical arm by the vertical direction by the way that mechanical arm is arranged to scalable mechanical arm
Operating space.
The above, is only presently preferred embodiments of the present invention, is not intended to limit the invention, patent protection model of the invention
Enclose and be subject to claims, the equivalent structure change that every specification and accompanying drawing content with the present invention is made, similarly
It should include within the scope of the present invention.
Claims (5)
1. a kind of unmanned plane that rubbish is picked up on Yushan Hill, it is characterised in that including wing (1), control room (2), mechanical arm (6)
With gripper (7), the control room (2) is arranged on the lower section of wing (1), be provided with the control room (2) storage battery and with storage
The camera (3) that battery is electrical connected, a stent (4) is fixed with control room (2) bottom, is set below the stent (4)
The telescopic mechanical arm (6) connected by horizontal shaft (9) is equipped with, brushless electricity is fixed among the horizontal shaft (9)
Machine (5), the brushless electric machine (5) are electrical connected with storage battery, and the mechanical arm (6) includes first set gradually from top to bottom
Telescopic rod (6-1), the second telescopic rod (6-2) and the 3rd telescopic rod (6-3), the transverse direction shaft and the first telescopic rod (6-1)
Top connects, and vacuum breathing apparatus (8), the vacuum breathing apparatus (8) and electric power storage are provided with the 3rd telescopic rod (6-3) bottom
Pond is electrical connected, and gripper (7) is provided with below the 3rd telescopic rod (6-3).
A kind of 2. unmanned plane that rubbish is picked up on Yushan Hill according to claim 1, it is characterised in that the vacuum suction
Device (8) is included in the exhaust outlet (8-1) for several equidistant arrangements of upper end for being arranged on vacuum breathing apparatus (8), positioned at exhaust
Fan (8-4) below mouthful (8-1) and the air inlet (8-5) for being arranged on vacuum breathing apparatus (8) bottom, the fan (8-4)
Top is provided with motor (8-3), and the fan (8-4) is connected with motor (8-3), and motor (8-3) surrounding is provided with a circle branch
Support structure (8-2), the support (8-2) are fixed with vacuum breathing apparatus (8) inner wall.
3. a kind of unmanned plane that rubbish is picked up on Yushan Hill according to claim 1, it is characterised in that described second is flexible
Bar (6-2) is set in the first telescopic rod (6-1), and the 3rd telescopic rod (6-3) is set in the second telescopic rod (6-2),
The first sliding groove (6-1-2) that first telescopic rod (6-1) internal symmetry is provided with, two telescopic rod (6-2) internal symmetry
The second sliding slot (6-2-2) is provided with, is equipped with and the first sliding groove (6-1-2) raised line A in the both sides external of the second telescopic rod (6-2)
(6-2-3), the both sides external of the 3rd telescopic rod (6-3) are equipped with the raised line B (6-3-2) with the second sliding slot (6-2-2) clamping.
4. a kind of unmanned plane that rubbish is picked up on Yushan Hill according to claim 3, it is characterised in that mechanical arm (6)
First telescopic rod (6-1) head is equipped with the first limit hole (6- that the second telescopic rod (6-2) is fixed on to the first sliding groove (6-1-2)
2-1), the second telescopic rod (6-2) head is equipped with is fixed on the second spacing of the second sliding slot (6-2-2) by the 3rd telescopic rod (6-3)
Hole (6-3-1).
A kind of 5. unmanned plane that rubbish is picked up on Yushan Hill according to claim 1, it is characterised in that the wing (1)
For more rotors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711339020.1A CN107902079A (en) | 2017-12-14 | 2017-12-14 | A kind of unmanned plane that rubbish is picked up on Yushan Hill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711339020.1A CN107902079A (en) | 2017-12-14 | 2017-12-14 | A kind of unmanned plane that rubbish is picked up on Yushan Hill |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107902079A true CN107902079A (en) | 2018-04-13 |
Family
ID=61868925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711339020.1A Pending CN107902079A (en) | 2017-12-14 | 2017-12-14 | A kind of unmanned plane that rubbish is picked up on Yushan Hill |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107902079A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110336979A (en) * | 2019-06-24 | 2019-10-15 | 盛皓月 | A kind of mountain forest intelligent garbage monitoring governing system |
| CN110884661A (en) * | 2019-12-06 | 2020-03-17 | 湖南浩天翼航空技术有限公司 | Transportation unmanned aerial vehicle convenient to press from both sides express delivery and get |
| CN111483722A (en) * | 2020-04-30 | 2020-08-04 | 清华苏州环境创新研究院 | Garbage cleaning unmanned aerial vehicle based on garbage classification |
| CN112896882A (en) * | 2021-01-15 | 2021-06-04 | 江苏中车环保设备有限公司 | Kitchen waste treatment protection device and use method |
| CN113184203A (en) * | 2021-06-01 | 2021-07-30 | 余天越 | Transportation unmanned aerial vehicle with firm structure of snatching |
| CN113771055A (en) * | 2021-09-14 | 2021-12-10 | 深圳市国匠数控科技有限公司 | Environment-friendly automatic grabbing equipment based on material taking of gravure electronic engraving machine |
-
2017
- 2017-12-14 CN CN201711339020.1A patent/CN107902079A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110336979A (en) * | 2019-06-24 | 2019-10-15 | 盛皓月 | A kind of mountain forest intelligent garbage monitoring governing system |
| CN110884661A (en) * | 2019-12-06 | 2020-03-17 | 湖南浩天翼航空技术有限公司 | Transportation unmanned aerial vehicle convenient to press from both sides express delivery and get |
| CN111483722A (en) * | 2020-04-30 | 2020-08-04 | 清华苏州环境创新研究院 | Garbage cleaning unmanned aerial vehicle based on garbage classification |
| CN112896882A (en) * | 2021-01-15 | 2021-06-04 | 江苏中车环保设备有限公司 | Kitchen waste treatment protection device and use method |
| CN113184203A (en) * | 2021-06-01 | 2021-07-30 | 余天越 | Transportation unmanned aerial vehicle with firm structure of snatching |
| CN113771055A (en) * | 2021-09-14 | 2021-12-10 | 深圳市国匠数控科技有限公司 | Environment-friendly automatic grabbing equipment based on material taking of gravure electronic engraving machine |
| CN113771055B (en) * | 2021-09-14 | 2022-05-10 | 深圳市国匠数控科技有限公司 | Environment-friendly automatic grabbing equipment based on material taking of gravure electronic engraving machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180413 |
|
| WD01 | Invention patent application deemed withdrawn after publication |