CN111185917A - High-altitude intelligent operation lamp-changing robot - Google Patents
High-altitude intelligent operation lamp-changing robot Download PDFInfo
- Publication number
- CN111185917A CN111185917A CN202010070853.8A CN202010070853A CN111185917A CN 111185917 A CN111185917 A CN 111185917A CN 202010070853 A CN202010070853 A CN 202010070853A CN 111185917 A CN111185917 A CN 111185917A
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- CN
- China
- Prior art keywords
- hollow rod
- core rod
- screw head
- empty core
- intelligent operation
- 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.)
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Classifications
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- 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
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- 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
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01K—ELECTRIC INCANDESCENT LAMPS
- H01K3/00—Apparatus or processes adapted to the manufacture, installing, removal, or maintenance of incandescent lamps or parts thereof
- H01K3/32—Auxiliary devices for cleaning, placing, or removing incandescent lamps
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- 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)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Manufacturing & Machinery (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The invention relates to a high-altitude intelligent operation lamp-changing robot, and belongs to the field of unmanned aerial vehicles. The device comprises an unmanned aerial vehicle, wherein an operating platform is arranged above the unmanned aerial vehicle, two lamp positioning devices are arranged on two sides of the operating platform, and two screw screwing manipulators capable of moving around the operating platform are arranged on the periphery of the operating platform; the screw twisting manipulator comprises a slider seat, a first hollow rod is vertically fixed on the slider seat, a second hollow rod and a first swing motor are arranged at the upper end of the first hollow rod, the first swing motor can drive the second hollow rod to swing around the upper end of the first hollow rod, the other end of the second hollow rod is provided with a second swing motor and a third hollow rod, the second swing motor can drive the third hollow rod to swing around the upper end of the second hollow rod, the other end of the third hollow rod rotates and is connected with a screw head, the bottom of the slider seat is provided with a screw head driving motor, and the screw head driving motor and the screw head are connected through a flexible reinforcing bar which runs through the first hollow rod, the second hollow rod and the third hollow rod.
Description
Technical Field
The invention relates to a high-altitude intelligent operation lamp-changing robot, and belongs to the field of unmanned aerial vehicles.
Background
The lamp is traded in high altitude generally adopts artifical the change, belongs to the high-risk operation at present, and the easy emergence is electrocuted dangerously moreover, and along with unmanned aerial vehicle's development, many high altitude construction pass through unmanned aerial vehicle alright with solving, but because trade the lamp at present and need require strictly to the location of lamps and lanterns on the one hand, secondly trade the lamp and still need dismantle a plurality of screws of installation, this action is hardly realized through unmanned aerial vehicle.
In view of the problems in the prior art, the invention designs and manufactures the high-altitude intelligent operation lamp-changing robot by combining years of design and use experience of related fields and assisting with over-strong professional knowledge, so as to overcome the defects.
Disclosure of Invention
For the problems in the prior art, the high-altitude intelligent operation lamp-changing robot provided by the invention can solve the problem of high-altitude lamp changing and reduce the operation risk of workers.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: an intelligent high-altitude operation lamp-changing robot comprises an unmanned aerial vehicle, wherein an operation platform is arranged above the unmanned aerial vehicle, two lamp positioning devices are arranged on two sides of the operation platform, a camera is arranged between the two lamp positioning devices, and two screw screwing manipulators capable of moving around the operation platform are arranged on the periphery of the operation platform;
the lamp positioning device comprises a plurality of claws, each claw can be adjusted relative to the center distance of the lamp positioning device, and the centers of the claws are provided with suckers;
screw twisting manipulator includes the slider seat, the vertical first empty core rod that is fixed with on the slider seat, first empty core rod upper end is equipped with the empty core rod of second and first swing motor, first swing motor can drive the empty core rod of second winds the swing of first empty core rod upper end, the empty core rod other end of second is equipped with the empty core rod of second swing motor and third, second swing motor can drive the empty core rod of third winds the empty core rod upper end of second swings, the empty core rod other end of third rotates and is connected with the screw head, slider seat bottom is equipped with screw head driving motor, connect through flexible reinforcement between screw head driving motor and the screw head, flexible reinforcement runs through the empty core rod of first empty core rod, second and the empty core rod of third.
As a preferred technical scheme, four holding claws are arranged and are uniformly distributed around the center of the lamp positioning device.
According to the preferable technical scheme, a slide way and a rack are arranged on the periphery of the operating platform, a rotary driving motor is arranged on the sliding block seat, a gear is arranged on the rotary driving motor, and the rotary driving motor drives the sliding block seat to slide on the slide way through the gear and the rack.
As a preferable technical scheme, two dividing blocks are arranged on the slide way, and the two dividing blocks divide the slide way into halves so that each slide block seat slides on the respectively divided slide way.
Preferably, the center lines of the first swing motor and the second swing motor face the same side.
As the preferred technical scheme, bearings are arranged at two ends of the first hollow rod, the second hollow rod and the third hollow rod, and the flexible steel bars are in clearance fit with the bearings.
As the preferred technical scheme, the screw head driving motor and the flexible steel bar are connected through a coupler, and the other end of the flexible steel bar is connected with the screw head through a coupler.
As a preferred technical scheme, the screw head is replaceable, and the screw head is a magnetic screw head.
As an optimal technical scheme, a plurality of screw storage threaded holes are further formed in the middle of the two lamp positioning devices, and screws can be placed in the screw storage threaded holes.
The invention has the advantages that:
1. the lamp replacing position is identified through the unmanned aerial vehicle and the vision, and the damaged lamp is disassembled through the manipulator, so that the danger and the labor intensity of high-altitude operation are reduced, and the two lamp positioning devices and the two screw screwing manipulators can realize compact disassembly and assembly;
2. the flexible steel bar is utilized to realize long-distance rotation transmission, the swing of each hollow rod similar to a joint is not influenced, the load of the end part of the screwing manipulator is reduced, the driving control of the screwing manipulator is facilitated, and the control precision is indirectly improved.
Drawings
FIG. 1 is a schematic structural diagram of a high-altitude intelligent operation light-changing robot.
In the figure, 1, unmanned aerial vehicle, 2, operation platform, 3, lamps and lanterns positioner, 4, right claw, 5, sucking disc, 6, slider seat, 7, screw head driving motor, 8, first hollow rod, 9, the hollow rod of second, 10, first swing motor, 11, flexible steel bar, 12, the hollow rod of third, 13, screw head, 14, slide, 15, cut apart the piece.
Detailed Description
The present invention is further described below to facilitate understanding by those skilled in the art.
As shown in fig. 1, the high-altitude intelligent operation lamp-changing robot comprises an unmanned aerial vehicle 1, wherein an operating platform 2 is arranged above the unmanned aerial vehicle 1, two lamp positioning devices 3 are arranged on two sides of the operating platform 2, a camera is arranged between the two lamp positioning devices 3, two screw-screwing manipulators capable of moving around the operating platform 2 are arranged on the periphery of the operating platform 2, and the camera can specifically identify the position for disassembling a lamp and then specifically control the screw-screwing manipulators to disassemble or assemble screws on the lamp through a control system;
the lamp positioning device 3 comprises a plurality of claws 4, the four claws 4 are arranged, the four claws 4 are uniformly distributed around the center of the lamp positioning device 3, each claw 4 can be adjusted relative to the center distance of the lamp positioning device 3 to meet the positioning of lamps with different sizes, and the centers of the claws 4 are provided with suckers 5, so that the orientation problem of lamp positioning is ensured;
the screw screwing manipulator comprises a slider seat 6, a first hollow rod 8 is vertically fixed on the slider seat 6, a second hollow rod 9 and a first swing motor 10 are arranged at the upper end of the first hollow rod 8, the first swing motor 10 can drive the second hollow rod 9 to swing around the upper end of the first hollow rod 8, a second swing motor (not shown in the figure) and a third hollow rod 12 are arranged at the other end of the second hollow rod 9, the second swing motor can drive the third hollow rod 12 to swing around the upper end of the second hollow rod 9, the other end of the third hollow rod 12 is rotatably connected with a screw head 13, a screw head driving motor 7 is arranged at the bottom of the slider seat 6, the screw head driving motor 7 and the screw head 13 are connected through a flexible steel bar 11, the flexible steel bar 11 penetrates through the first hollow rod 8, the second hollow rod 9 and the third hollow rod 12 realize long-distance rotation transmission by utilizing the flexible steel bar 11, and do not influence the swing of each hollow rod similar to joints.
The center lines of the first swing motor 10 and the second swing motor face the same side, bearings are arranged at two ends of the first hollow rod 8, the second hollow rod 9 and the third hollow rod 12, the flexible steel bars 11 are in clearance fit with the bearings, the flexible steel bars 11 can be ensured to play a certain positioning and guiding role, and meanwhile, the problem that the flexible steel bars 11 cannot move radially relative to the bearings due to the fact that the flexible steel bars 11 are too tightly matched with the bearings can be avoided.
The periphery of the operation platform 2 is provided with a slideway 14 and a rack, the slider seat 6 is provided with a rotary driving motor, the rotary driving motor is provided with a gear, and the rotary driving motor drives the slider seat 6 to slide on the slideway 14 through the gear and the rack. The slide way 14 is provided with two dividing blocks 15, the two dividing blocks 15 divide the slide way 14 into two parts so that each slide block seat 6 slides on the respectively divided slide way 14, and the two dividing blocks 15 are preferably respectively arranged at the two sides of the center between the two lamp positioning devices 3.
In order to facilitate the connection of the flexible steel bar 11 and parts at two ends, the screw head driving motor 7 is connected with the flexible steel bar 11 through a coupler, and the other end of the flexible steel bar 11 is connected with the screw head 13 through the coupler. The screw head 13 can be changed according to different screw sizes, the screw head 13 is set to be a magnetic screw head, a plurality of screw storage threaded holes are further formed in the middle of the two lamp positioning devices 3, the sizes of the screw storage threaded holes are arranged according to a certain rule, screws can be placed in the screw storage threaded holes, the screws which are disassembled are placed into the screw storage threaded holes through secondary rotation of the magnetic screw head, or the screws are taken out from the screw storage threaded holes to install a new lamp.
It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.
Claims (9)
1. The utility model provides a high altitude intelligent operation trades lamp robot which characterized in that: the device comprises an unmanned aerial vehicle, wherein an operating platform is arranged above the unmanned aerial vehicle, two lamp positioning devices are arranged on two sides of the operating platform, a camera is arranged between the two lamp positioning devices, and two screw screwing manipulators capable of moving around the operating platform are arranged on the periphery of the operating platform;
the lamp positioning device comprises a plurality of claws, each claw can be adjusted relative to the center distance of the lamp positioning device, and the centers of the claws are provided with suckers;
screw twisting manipulator includes the slider seat, the vertical first empty core rod that is fixed with on the slider seat, first empty core rod upper end is equipped with the empty core rod of second and first swing motor, first swing motor can drive the empty core rod of second winds the swing of first empty core rod upper end, the empty core rod other end of second is equipped with the empty core rod of second swing motor and third, second swing motor can drive the empty core rod of third winds the empty core rod upper end of second swings, the empty core rod other end of third rotates and is connected with the screw head, slider seat bottom is equipped with screw head driving motor, connect through flexible reinforcement between screw head driving motor and the screw head, flexible reinforcement runs through the empty core rod of first empty core rod, second and the empty core rod of third.
2. The high-altitude intelligent operation light-changing robot as claimed in claim 1, wherein: the four holding claws are uniformly distributed around the center of the lamp positioning device.
3. The high-altitude intelligent operation light-changing robot as claimed in claim 1, wherein: the periphery of the operating platform is provided with a slide way and a rack, the slider seat is provided with a rotary driving motor, the rotary driving motor is provided with a gear, and the rotary driving motor drives the slider seat to slide on the slide way through the gear and the rack.
4. The high-altitude intelligent operation light-changing robot as claimed in claim 3, wherein: the sliding rail is provided with two dividing blocks, and the two dividing blocks divide the sliding rail equally so that each sliding block seat slides on the sliding rail divided equally.
5. The high-altitude intelligent operation light-changing robot as claimed in claim 1, wherein: the center lines of the first swing motor and the second swing motor face to the same side.
6. The high-altitude intelligent operation light-changing robot as claimed in claim 1, wherein: the hollow rod of first hollow rod, the hollow rod of second and the hollow rod of third both ends all are equipped with the bearing, flexible reinforcing bar with bearing clearance fit.
7. The high-altitude intelligent operation light-changing robot as claimed in claim 1, wherein: the screw head driving motor and the flexible steel bar are connected through a coupler, and the other end of the flexible steel bar is connected with the screw head through a coupler.
8. The high-altitude intelligent operation light-changing robot as claimed in claim 1, wherein: the screw head is replaceable, and the screw head is set to be a magnetic screw head.
9. The high-altitude intelligent operation light-changing robot as claimed in claim 1, wherein: and a plurality of screw storage threaded holes are also formed in the middle of the two lamp positioning devices, and screws can be placed in the screw storage threaded holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010070853.8A CN111185917A (en) | 2020-01-21 | 2020-01-21 | High-altitude intelligent operation lamp-changing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010070853.8A CN111185917A (en) | 2020-01-21 | 2020-01-21 | High-altitude intelligent operation lamp-changing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111185917A true CN111185917A (en) | 2020-05-22 |
Family
ID=70705047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010070853.8A Withdrawn CN111185917A (en) | 2020-01-21 | 2020-01-21 | High-altitude intelligent operation lamp-changing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111185917A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112060066A (en) * | 2020-08-24 | 2020-12-11 | 中国矿业大学徐海学院 | Robot capable of automatically replacing street lamp adapter |
| CN112372646A (en) * | 2020-11-10 | 2021-02-19 | 广东电网有限责任公司 | Liftable rotatory both arms electric power overhaul robot |
| CN114291256A (en) * | 2022-01-12 | 2022-04-08 | 青海交通职业技术学院 | Unmanned aerial vehicle for maintaining high-altitude lamp based on artificial intelligence means |
-
2020
- 2020-01-21 CN CN202010070853.8A patent/CN111185917A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112060066A (en) * | 2020-08-24 | 2020-12-11 | 中国矿业大学徐海学院 | Robot capable of automatically replacing street lamp adapter |
| CN112372646A (en) * | 2020-11-10 | 2021-02-19 | 广东电网有限责任公司 | Liftable rotatory both arms electric power overhaul robot |
| CN114291256A (en) * | 2022-01-12 | 2022-04-08 | 青海交通职业技术学院 | Unmanned aerial vehicle for maintaining high-altitude lamp based on artificial intelligence means |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200522 |
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| WW01 | Invention patent application withdrawn after publication |