CN106863325B - Farm's ceiling lighting lamp replaces robot - Google Patents

Abstract

The invention discloses a kind of farm's ceiling lighting lamps to replace robot, the fuselage slid including the track that is arranged on external ceiling and in orbit, manipulator is provided on the fuselage, the manipulator includes taking lamp manipulator and dress lamp manipulator, the fuselage includes square shell and is fixed in square shell opposite sides and changes lamp guide rail, it is described by lamp manipulator and to fill the setting of lamp manipulator slip respectively and changed on lamp guide rail at two, it is equipped with driving in the fuselage and takes lamp manipulator and fills the driving mechanism that lamp manipulator slides back and forth on changing lamp guide rail.Farm's ceiling lighting lamp of the invention replaces robot, when changing lamp, by the setting for taking lamp manipulator, so that it may effectively take down light bulb, then again by dress lamp manipulator being installed to light bulb on lamp holder, this makes it possible to the displacements for effectively realizing a light bulb.

Description

Farm's ceiling lighting lamp replaces robot

Technical field

The present invention relates to a kind of robot, more particularly to a kind of farm's ceiling lighting lamp replaces robot.

Background technique

During aquaculture, in order to guarantee that aquatic biological can survive in full season, typically water is generated Object is put into raising shed and is cultivated, and keeps the temperature of raising shed to be in a kind of constant using electronic equipments such as lamps in canopy State, so that aquatic biological can be good at living.

And since the use of the lamp in raising shed is more frequent, thus it is easy to appear lamp damages during use Problem at this time just needs to replace the lamp damaged in raising shed, and existing carried out by the way of artificial replacement, But it is various by the lamp quantity in a raising shed, and the height of ceiling is higher, thus just need to make when artificial replacement With staircase, so it is easy for people occur during displacement throwing the problem for leading to people's injury from staircase.

Summary of the invention

In view of the deficiencies of the prior art, the present invention intends to provide a kind of can be good on raising shed Lamp is replaced, and farm's ceiling lighting lamp of people's injury is avoided to replace robot.

To achieve the above object, the present invention provides the following technical scheme that a kind of farm's ceiling lighting lamp replaces robot, The fuselage slid including the track that is arranged on external ceiling and in orbit is provided with manipulator, the machine on the fuselage Tool hand includes taking lamp manipulator and dress lamp manipulator, and the fuselage includes square shell and is fixed in square shell opposite sides Change lamp guide rail, it is described by lamp manipulator and to fill the setting of lamp manipulator slip respectively and changed on lamp guide rail at two, changing lamp It is slid back and forth on guide rail, driving is equipped in the fuselage and takes lamp manipulator and fills what lamp manipulator slid back and forth on changing lamp guide rail Driving mechanism, when changing lamp, driving mechanism, which first drives, takes lamp manipulator to be slid onto light bulb corresponding position by changing lamp guide rail, then takes Lamp manipulator takes down light bulb, rear drive mechanism driving dress lamp manipulator by changing lamp guide rail be slid onto the lamp holder to remove the bulb Light bulb is installed on lamp holder by corresponding position, described to change lamp manipulator and include slide and being fixed on slide by lamp manipulator On for catching the claw component of light bulb, the setting of the slide slip on changing lamp guide rail, and with driving mechanism link, by Driving mechanism driving slides back and forth on changing lamp guide rail, and described to change lamp guide rail growth strip, offering section thereon is " convex " word The sliding slot of shape, the slide be integrally in it is I-shaped, when slide be arranged when changing on lamp guide rail, the I-shaped of slide is embedded into below In sliding slot, the screw rod that the driving mechanism includes servo motor and is coaxially fixed in servo motor shaft, in the slide Portion offers threaded hole, and the servo motor is arranged in fuselage, and the shaft of screw rod one end and servo motor is coaxially fixed, another End be pierced by outside fuselage, and along change lamp guide rail length direction extend, the screw rod pass through threaded hole and with threaded hole screw thread Connection, the claw component include left splint, right splint and driving left clamp and the clamping close to each other or separate of right clamping plate Driving assembly, lifter plate is fixed with below the clamping driving assembly, and the lower section of the lifter plate is equipped on driving lifter plate The lifting column of lower lifting and the rotating electric machine of driving lifter plate rotation, the shaft of the rotating electric machine are fixedly connected with lifter plate, One end of the lifting column is fixedly connected with the fuselage downside of rotating electric machine, and the other end is fixedly connected with the upper side of slide, The lower section of the fuselage is equipped with for the sliding block that slides in orbit, offers through slot on the sliding block, the through slot it is opposite The cell wall of two sides constitutes the inverted "convex" shape passed through for track, the cell wall of the through slot close to the inside bending that is positioned against of notch The position of recess relative to "convex" shaped is equipped with the driving wheel for driving sliding block to slide in orbit, when taking lamp, takes lamp The lifting column driving lifter plate of manipulator rises so that left clamp and right clamping plate encase light bulb, and clamping driving assembly drives left clamp Close up with right clamping plate and clamp light bulb, rotating electric machine driving lifter plate rotation screws off light bulb, when filling lamp, fills the lifting of lamp manipulator Lifter plate is driven to rise for column so that the light bulb that left clamp and right clamping plate are clamped is put into lamp holder, and rotating electric machine drives lifter plate rotation Turn to screw in light bulb into lamp holder, light bulb is decontroled in clamping driving assembly driving left clamp and the separation of right clamping plate.

As a further improvement of the present invention, the rotation for driving fuselage to rotate is additionally provided between the fuselage and sliding block Component, the rotary components include rotary electric machine, and the fuselage of the rotary electric machine is fixedly connected with a slide block, and the fuselage, which is fixed on, to be turned In the shaft of dynamic motor, after taking lamp manipulator to take down light bulb, rotary electric machine rotates fuselage, by dress lamp manipulator rotation To the lower section of lamp holder.

As a further improvement of the present invention, the lifting column is in hollow columnar structures, the upside of one end and slide Face is fixedly connected, and electromagnet is fixedly connected on the end, in the lifting column slip be equipped with discoid lifting disk, The lifting disk is made by ferromagnetic material, and the lifting disk is fixedly connected with several liftings backwards to one end of electromagnet Bar, the elevating lever are fixedly connected backwards to one end of lifting disk with the fuselage of rotating electric machine, and when lifter plate rises, electromagnet is produced Magnetisation power is mutually repelled with lifting disk boosts lifting disk upwards.

As a further improvement of the present invention, the clamping driving assembly includes push rod and connecting rod, is opened in the lifter plate Equipped with push hole, the setting of the push rod slip offers swivelling chute on the position in the center of circle in the lifter plate in push hole, institute The one end for stating push hole is connected to swivelling chute, and the other end extends backwards to swivelling chute and is pierced by the side of lifter plate to be connected with the external world, Eccentric wheel is coaxially fixed in the shaft of the rotating electric machine, one end of push rod and the wheel side of eccentric wheel mutually contradict, described inclined Heart wheel has clamping wheel while with wheel is decontroled, and the shaft of the rotating electric machine penetrates into lifter plate, and eccentric wheel setting is rotating In slot, the upper surface of the lifter plate is fixedly connected with connection sheet, one end of the connecting rod and push rod on the position of proximal edge One end it is hinged, the connecting rod is made of two bodies of rod, and one end of two bodies of rod is wholely set, between two bodies of rod have folder Angle, one end and connection sheet that two bodies of rod are connected are hinged, the other end and left clamp or the right side of the connecting rod relative to push rod Boards wall connection, when needing to clamp light bulb when the rotation of the shaft of rotating electric machine, clamping wheel side and the push rod of eccentric wheel offset, Push rod is pushed outwardly, and then drive link is turned inside out backwards to one end of push rod towards lifter plate, left clamp and right clamping plate phase Mutually close to clamping light bulb, when need to decontrol light bulb and when the shaft rotation of rotating electric machine, relieving wheel side and the push rod phase of eccentric wheel Support, push rod inwardly moves, and then drive link backwards to one end of push rod towards side to overturn outside lifter plate, left clamp and right clamping plate phase Mutually far from relieving light bulb.

As a further improvement of the present invention, it is coaxially fixed with baffle on the push rod, is arranged with spring on the push rod, The side of one end of the spring is fixedly connected with the hole wall of push hole, and the other end is fixedly connected with baffle, when push rod is pushed outwards When out, spring is stretched, and when push rod inwardly moves, spring reset retracts push rod.

As a further improvement of the present invention, the side of the shaft of the rotating electric machine is equipped with close to the position of eccentric wheel Spill spin block offers turn hole on the center location of the swivelling chute, turn trough is offered on the hole wall of the turn hole, the turn trough is in Along the annular that turn hole hole wall extends, the turn trough has round end and clamping end, and the spill spin block is arranged in turn trough, works as rotation When rotating motor drives spill spin block to rotate from clamping end to round end, left clamp and right clamping plate is close to each other clamps light bulb works as rotation When motor driven spill spin block heads on the round end rotation of turn trough, lifter plate rotates together with rotating electric machine, and light bulb is taken down.

As a further improvement of the present invention, the left clamp and the opposite side of right clamping plate offer cambered surface, in cambered surface It is laid with foam-rubber cushion.

Beneficial effects of the present invention pass through the setting of fuselage and track, so that it may effective to realize that robot is moved to lamp On the position of damage, then by taking the setting of lamp manipulator, it can will be damaged when fuselage reaches corresponding position Light bulb lifted down from ceiling lamp holder, later by dress lamp manipulator setting, so that it may new light bulb is installed to and is dismantled On the lamp holder of the light bulb of damage, artificial ascending a height using staircase is not just needed so and changes lamp, people is avoided and falls from staircase The problem of getting off, and the setting by changing lamp guide rail and slide, may be implemented after fuselage in-position, to by lamp manipulator Further adjustment is done with the position of dress lamp manipulator, is gone wrong when avoiding changing lamp, and passes through servo motor and screw rod Setting using servo motor rotation angle and can enclose the principle that can control of number, recycle the transformation of screw rod, can be with It realizes the effect being defined to the shift position of slide, and passes through left splint, right splint, clamping driving assembly and lifter plate And the setting of lifting column, when taking lamp or changing lamp, so that it may drive lifter plate to be raised above by lifting column, so that Then left clamp and right clamping plate can drive left clamp and right clamping plate folder close to each other by clamping driving assembly close to light bulb Light bulb effectively can be lifted down or be installed by the rotation of rotating electric machine later by firmly light bulb.

Detailed description of the invention

Fig. 1 is the overall structure figure that farm's ceiling lighting lamp of the invention replaces robot；

Fig. 2 is to take lamp manipulator in Fig. 1 or fill the explosive view of lamp manipulator.

Specific embodiment

The present invention is described in further detail below in conjunction with embodiment given by attached drawing.

Shown in 2, a kind of farm's ceiling lighting lamp of the present embodiment replaces robot, including is arranged in outside Track on ceiling and the fuselage 1 slid in orbit are provided with manipulator on the fuselage 1, and the manipulator includes taking lamp Manipulator 21 and dress lamp manipulator 22, the fuselage 1 include square shell 11 and are fixed in 11 opposite sides of square shell Change lamp guide rail 12, it is described by lamp manipulator 21 and to fill the setting of the slip respectively of lamp manipulator 22 and changed on lamp guide rail 12 at two, It is slid back and forth on changing lamp guide rail 12, driving is equipped in the fuselage 1, lamp manipulator 21 and dress lamp manipulator 22 is taken to lead changing lamp The driving mechanism slid back and forth on rail 12, when changing lamp, driving mechanism, which first drives, takes lamp manipulator 21 to slide by changing lamp guide rail 12 To light bulb corresponding position, then lamp manipulator 21 is taken to take down light bulb, rear drive mechanism driving dress lamp manipulator 22 by changing Lamp guide rail 12 is slid onto the lamp holder corresponding position to remove the bulb, and light bulb is installed on lamp holder, described to change lamp manipulator 22 and take Lamp manipulator 21 includes slide 3 and is fixed on for catching the claw component 4 of light bulb on slide 3,3 slip of slide It is arranged on changing lamp guide rail 12, and links with driving mechanism, is driven mechanism driving and is slid back and forth on changing lamp guide rail 12, it is described It changing lamp guide rail 12 to grow up strip, offers the sliding slot 121 that section is "convex" shaped thereon, the slide 3 is whole in I-shaped, when Slide 3 is arranged when changing on lamp guide rail 12, and the I-shaped of slide 3 is embedded into sliding slot 121 below, and the driving mechanism includes watching The screw rod for taking motor and being coaxially fixed in servo motor shaft, the middle part of the slide 3 offer threaded hole 31, the servo Motor is arranged in fuselage 1, and the shaft of screw rod one end and servo motor is coaxially fixed, and the other end is pierced by outside fuselage 1, and along The length direction for changing lamp guide rail 12 extends, and the screw rod passes through threaded hole 31 and is threadedly coupled with threaded hole 31, the jaw set Part 4 includes left clamp 41, right clamping plate 42 and driving left clamp 41 and right clamping plate 42 clamping driving group close to each other or separate Part 43, the lower section of the clamping driving assembly 43 are fixed with lifter plate 44, and the lower section of the lifter plate 44 is equipped with driving lifter plate The rotating electric machine 46 that the lifting column 45 and driving lifter plate 44 of 44 oscilaltions rotate, the shaft and lifting of the rotating electric machine 46 Plate 44 is fixedly connected, and one end of the lifting column 45 is fixedly connected with the fuselage downside of rotating electric machine 46, the other end and slide 3 Upper side be fixedly connected, the lower section of the fuselage 1 is equipped with the sliding block 5 for sliding in orbit, offers on the sliding block 5 The cell wall of through slot 51, the opposite sides of the through slot 51 constitutes to fall for what track passed through close to the inside bending that is positioned against of notch The position of "convex" shaped, recess of the cell wall of the through slot 51 relative to "convex" shaped is equipped with for driving sliding block 5 in track The driving wheel 52 of upper sliding when taking lamp, drives lifter plate 44 to rise so that 41 He of left clamp by the lifting column 45 of lamp manipulator 21 Right clamping plate 42 encases light bulb, and clamping driving assembly 43 drives left clamp 41 and right clamping plate 42 to close up and clamps light bulb, rotating electric machine 46 Driving lifter plate 44 rotation light bulb is screwed off, fill lamp when, dress lamp manipulator 22 lifting column 45 drive lifter plate 44 rise so that The light bulb that left clamp 41 and right clamping plate 42 are clamped is put into lamp holder, and rotating electric machine 46 drives the rotation of lifter plate 44 to screw in light bulb Lamp holder, clamping driving assembly 43 drive left clamp 41 and the separation of right clamping plate 42 to decontrol light bulb, are using robot of the invention In the process, positioning of the robot fuselage 1 to light bulb can be realized using following two mode, a kind of mode is using coding Mode track encode and will encode along the light bulb of orbit distribution, such as track can be divided into side rail and master Rail, the setting that wherein backbone is parallel to each other is on ceiling, and side rail connects one end of all backbones, while backbone is encoded into A, B, C Equal English alphabets, encode the light bulb on every track using number 1,2,3 etc., the position of such light bulb is changing to A 3 signal lamp of track is held remote controler in people's hand, is being needed to A in this way, install control panel and remote control module on the fuselage 1 simultaneously When 3 signal lamp of track is replaced, good light bulb is placed on dress lamp manipulator 22 first, is then pressed and is changed using remote controler Button, while A track button and 3 signal lamp buttons thereon are pressed, such controller will drive fuselage 1 sliding on the rail of side It moves, the mode of sliding can be slid on A backbone, then in such a way that setting power wheel on the fuselage 1 or outside are pullled It slides, is slid on the position of 3 signal lamps on A backbone again, take lamp manipulator 21 to exist according to preset moving distance before later It changes on lamp guide rail 12 and slides, be slid onto the lower section of 3 signal lamps, it is then upward using the lift action driving lifter plate 44 of lifting column 45 Rise, after lifting plate 44 on left clamp 41 and right clamping plate 42 will encase light bulb, then clamp driving assembly 43 work, make It obtains left clamp 41 and right clamping plate 42 is close to each other, such left clamp 41 and right clamping plate 42 just can be good at clamping light bulb, so Rotating electric machine 46 is driven to rotate again afterwards, then lifter plate 44 will be with rotating together, left clamp 41 and right clamping plate 42 will be incited somebody to action The light bulb of damage is backed out, and then controller control lifting column 45 drives lifter plate 44 to decline, while dress lamp manipulator 22 being shifted To the lower section of lamp holder, the cooperation of above-mentioned lifting column 45 and rotating electric machine 46 is then utilized, good light bulb can be installed to lamp On seat, the displacement to lamp is so just effectively completed, and another way is directlyed adopt not by the way of coding Manual control driving fuselage 1 reaches corresponding position, since the higher human eye of ceiling can not accurately be seen clearly by 21 He of lamp manipulator Whether the position for filling lamp manipulator 22 is suitable, thus photoelectric sensing can be arranged on taking lamp manipulator 21 and dress lamp manipulator 22 Device similarly also installs photoelectric sensor on the position of each lamp, is by people's remote control fuselage when positioning 1 is moved to the close position of light bulb, then will take lamp manipulator 21 and dress lamp machine in the way of photoelectric sensor induction alignment Tool hand 22 is directed at light bulb, also can be good at realizing in this way and carries out positioning displaced effect to the light bulb of damage, compared to above Two ways, first way is easy to use, low in cost, so preferred first way in the present embodiment, but be also not excluded for Implement the second way.

As a kind of improved specific embodiment, it is additionally provided between the fuselage 1 and sliding block 5 for driving fuselage 1 to revolve The rotary components 13 turned, the rotary components 13 include rotary electric machine 131, and the fuselage and sliding block 5 of the rotary electric machine 131 are fixed to be connected It connecing, the fuselage 1 is fixed in the shaft of rotary electric machine 131, after taking lamp manipulator 21 to take down light bulb, rotary electric machine 131 rotate fuselage 1, by dress lamp manipulator 22 rotation to the lower section of lamp holder, after taking lamp manipulator 21 to take down light bulb just It needs so directly to drive cunning using rotary electric machine 131 to taking lamp manipulator 21 and the position of dress lamp manipulator 22 to replace The mode that block 5 rotates, so that it may realize and take lamp manipulator 21 and fill the Rapid replacement between lamp manipulator 22, and structure is simple It is easy to accomplish.

As a kind of improved specific embodiment, the lifting column 45 is in hollow columnar structures, one end and slide 3 Upper side be fixedly connected, and electromagnet 451 is fixedly connected on the end, slip is equipped with disk in the lifting column 45 The lifting disk 452 of shape, the lifting disk 452 are made by ferromagnetic material, and the lifting disk 452 is backwards to the one of electromagnet 451 End is fixedly connected with several elevating levers 453, and the elevating lever 453 is backwards to one end of lifting disk 452 and the machine of rotating electric machine 46 Body is fixedly connected, and when lifter plate 44 rises, electromagnet 451 generates magnetic force to be repelled lifting disk 452 upwards with 452 phase of lifting disk It boosts, is to be powered by controller to electromagnet 451, electromagnet 451 is just when needing to jack up lifter plate 452 Magnetic force can be generated, the magnetism for generating magnetic force by the electromagnet 451 being arranged in this present embodiment is identical as lifting disk 452, according to same Property the principle repelled each other, lifting disk 452 will be jacked up upwards by magnetic force, and then effectively realize lifting column 45 and drive lifter plate 44 The effect of rising, and compared to air cylinder structure and screw rod transmission structure is used, lack gas source required for air cylinder structure, has tied Structure is more succinct compared to screw rod transmission structure.

As a kind of improved specific embodiment, the clamping driving assembly 43 includes push rod 431 and connecting rod 432, institute It states and offers push hole 441 in lifter plate 44, the setting of 431 slip of push rod is 441 in push hole, 44 inner circle of lifter plate Swivelling chute is offered on the position of the heart, one end of the push hole 441 is connected to swivelling chute, and the other end extends and wears backwards to swivelling chute The side of lifter plate 44 is connected with the external world out, is coaxially fixed with eccentric wheel 461, push rod in the shaft of the rotating electric machine 46 431 one end and the wheel side of eccentric wheel 461 mutually contradict, and the eccentric wheel 461 has clamping wheel while with wheel is decontroled, the rotation The shaft of rotating motor 46 penetrates into lifter plate 44, and eccentric wheel 461 is arranged in swivelling chute, and the upper surface of the lifter plate 44 is leaned on Connection sheet 442 is fixedly connected on the position of proximal edge, one end of the connecting rod 432 and one end of push rod 431 are hinged, the company Bar 432 is made of two bodies of rod, and one end of two bodies of rod is wholely set, and has angle, two body of rod phases between two bodies of rod One end of connection and connection sheet 442 are hinged, the other end and left clamp 41 or right folder of the connecting rod 432 relative to push rod 431 Plate 42 is fixedly connected, when need to clamp light bulb and when the rotation of the shaft of rotating electric machine 46, the clamping wheel side of eccentric wheel 461 and push rod 431 offset, and push rod 431 is pushed outwardly, so drive link 432 backwards to one end of push rod 431 towards turning on one's side in lifter plate 44 Turn, left clamp 41 and right clamping plate 42 is close to each other clamps light bulb, when need to decontrol light bulb and when the shaft rotation of rotating electric machine 46, The relieving wheel side of eccentric wheel 461 offsets with push rod 431, and push rod 431 inwardly moves, and then drive link 432 is backwards to push rod 431 One end is located remotely from each other relieving light bulb towards the outer side to overturn of lifter plate 44, left clamp 41 and right clamping plate 42, rotates in rotating electric machine 46 During, the wheel side of eccentric wheel 461 can constantly alternately be contradicted with one end of push rod 431, when clamping wheel side and push rod 431 When conflict, push rod 431 will eject outward because of the effect of cam, so as to cause the inside overturning of connecting rod 432, then left Clamping plate 41 and 42 nature of right clamping plate will be close to each other, so just can be good at realizing the effect for clamping light bulb, and above-mentioned The power for the rotating electric machine 46 that process utilizes is completed, thus there is no need to additional one power sources of setting during use Drive left clamp 41 and right clamping plate 42, thus its structure more simplifies.

As a kind of improved specific embodiment, baffle 433, the push rod 431 are coaxially fixed on the push rod 431 On be arranged with spring, the side of one end of the spring is fixedly connected with the hole wall of push hole 441, and the other end and baffle 433 are fixed Connection, when push rod 431 is pushed outwardly, spring is stretched, and when push rod 431 inwardly moves, spring reset will Push rod 431 retracts, and using the mating reaction of baffle 433 and spring, can realize in the relieving wheel side of eccentric wheel 461 and push rod 431 it is inconsistent when, effectively push rod 431 can be retracted using the elastic force of spring, so realize connecting rod 432 it is turned-out Turn so that left clamp 41 and right clamping plate 42 are located remotely from each other the effect for decontroling light bulb.

As a kind of improved specific embodiment, the side of the shaft of the rotating electric machine 46 is close to eccentric wheel 461 Position is equipped with spill spin block 462, offers turn hole on the center location of the swivelling chute, offers and turns on the hole wall of the turn hole Slot, the turn trough are in the annular extended along turn hole hole wall, and the turn trough has round end and clamping end, the spill spin block 462 It is arranged in turn trough, when rotating electric machine 46 drives spill spin block 462 to rotate from clamping end to round end, left clamp 41 and right clamping plate 42 it is close to each other clamp light bulb, when rotating electric machine 46 drive spill spin block 462 head on turn trough round end rotation when, lifter plate 44 with Rotating electric machine 46 rotate together, light bulb is taken down, using the fit system of spill spin block 462 and shaft, may be implemented going up and down After column 45 jacks up lifter plate 44 upwards, it can be realized using the first step rotation of rotating electric machine and clamp light bulb, then again Carry out integrally rotated effect, so avoid the occurrence of left clamp 41 and right clamping plate 42 does not also clamp light bulb and lifter plate 44 will revolve The problem of turning, while its structure is simple, is relatively specific for the lesser occasion of working space, while installing lamp in dress lamp manipulator 22 When bubble, it is that spill spin block 462 first heads on round end rotation, is unclamped again after light bulb is backed out, therefore taking in the present embodiment 61 initial position of rotating electric machine of 21 part of lamp manipulator is that spill spin block 462 offsets with clamping end, first will rotation during taking lamp Switch block 462 is rotated to round end, is then rotated with lifter plate 44, is stopped together again after light bulb is taken down, wherein judging here Whether light bulb, which is taken down, only needs to set rotating electric machine 46 and rotates several circles, because the circle number of the installation and removal of light bulb is certain , and filling lamp manipulator 21 then is that initial position offsets for spill spin block 462 with round end, during filling lamp, first with lifting Plate 44 rotates together, then inverts again and unclamps light bulb, stops later, so just realizes left clamp 41 and right clamping plate well 42 effects clamped and decontroled.

As a kind of improved specific embodiment, the left clamp 41 and the opposite side of right clamping plate 42 offer arc Face is laid with foam-rubber cushion in cambered surface, by the setting of cambered surface can the more preferable structure that must cooperate light bulb, and pass through setting for foam-rubber cushion It sets, just can be good at, which prevents light bulb from sliding from left clamp 41 and right clamping plate 42, comes.

In conclusion the lamps and lanterns replacement robot of the present embodiment may be implemented to reach by the setting of fuselage 1 and track The position of bulb-damage, and by taking lamp manipulator 21 and filling the mating reaction of lamp manipulator 22, just can be good at realization will The effect that light bulb is installed after taking down, the displacement for the light bulb realized well.

The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims (7)

1. a kind of farm's ceiling lighting lamp replaces robot, it is characterised in that: including the track that is arranged on external ceiling and The fuselage (1) slid on track, is provided with manipulator on the fuselage (1), the manipulator include by lamp manipulator (21) and It fills lamp manipulator (22), the fuselage (1) includes square shell (11) and is fixed on changing in square shell (11) opposite sides Lamp guide rail (12), the setting by lamp manipulator (21) and dress lamp manipulator (22) slip respectively change lamp guide rail at two (12) it on, is slid back and forth on changing lamp guide rail (12), driving is equipped in the fuselage (1) and takes lamp manipulator (21) and dress lamp mechanical The driving mechanism that hand (22) slides back and forth on changing lamp guide rail (12), when changing lamp, driving mechanism, which first drives, takes lamp manipulator (21) Be slid onto light bulb corresponding position by changing lamp guide rail (12), then take lamp manipulator (21) light bulb is taken down, rear drive mechanism Driving dress lamp manipulator (22) is slid onto the lamp holder corresponding position to remove the bulb by changing lamp guide rail (12), and light bulb is installed to lamp On seat, described to change lamp manipulator (22) and take lamp manipulator (21) include slide (3) and being fixed on slide (3) for catching The claw component (4) of light bulb, the setting of slide (3) slip link on changing lamp guide rail (12), and with driving mechanism, by Driving mechanism driving slides back and forth on changing lamp guide rail (12), described to change lamp guide rail (12) growth strip, offers section thereon For the sliding slot (121) of "convex" shaped, the slide (3) is integrally in I-shaped, when slide (3) are arranged on changing lamp guide rail (12) When, the I-shaped of slide (3) is embedded into below in sliding slot (121), and the driving mechanism includes servo motor and is coaxially fixed on Screw rod in servo motor shaft offers threaded hole (31) in the middle part of the slide (3), and the servo motor is arranged in fuselage (1) in, the shaft of screw rod one end and servo motor is coaxially fixed, and the other end is pierced by fuselage (1) outside, and along changing lamp guide rail (12) length direction extends, and the screw rod passes through threaded hole (31) and is threadedly coupled with threaded hole (31), the claw component It (4) include left clamp (41), right clamping plate (42) and driving left clamp (41) and right clamping plate (42) folder close to each other or separate It holds driving assembly (43), is fixed with lifter plate (44) below the clamping driving assembly (43), under the lifter plate (44) Side is equipped with the lifting column (45) of driving lifter plate (44) oscilaltion and the rotating electric machine (46) of driving lifter plate (44) rotation, institute The shaft for stating rotating electric machine (46) is fixedly connected with lifter plate (44), one end and rotating electric machine (46) of the lifting column (45) Fuselage downside is fixedly connected, and the other end is fixedly connected with the upper side of slide (3), and the lower section of the fuselage (1), which is equipped with, to be used for The sliding block (5) slided in orbit offers through slot (51) on the sliding block (5), the slot of the opposite sides of the through slot (51) Wall constitutes the inverted "convex" shape passed through for track close to the inside bending that is positioned against of notch, and the cell wall of the through slot (51) is opposite The driving wheel (52) for driving sliding block (5) to slide in orbit is equipped in the position of the recess of "convex" shaped to take when taking lamp Lifting column (45) driving lifter plate (44) of lamp manipulator (21) rises so that left clamp (41) and right clamping plate (42) encase light bulb, Clamping driving assembly (43) driving left clamp (41) and right clamping plate (42), which close up, clamps light bulb, and rotating electric machine (46) drives lifter plate (44) rotation screws off light bulb, and when filling lamp, lifting column (45) driving lifter plate (44) of dress lamp manipulator (22) rises so that left The light bulb that clamping plate (41) and right clamping plate (42) are clamped is put into lamp holder, and rotating electric machine (46) drives lifter plate (44) rotation by lamp Bubble screws in lamp holder, and light bulb is decontroled in clamping driving assembly (43) driving left clamp (41) and right clamping plate (42) separation.

2. farm's ceiling lighting lamp according to claim 1 replaces robot, it is characterised in that: the fuselage (1) and cunning The rotary components (13) for driving fuselage (1) to rotate are additionally provided between block (5), the rotary components (13) include rotary electric machine (131), the fuselage of the rotary electric machine (131) is fixedly connected with sliding block (5), and the fuselage (1) is fixed on rotary electric machine (131) In shaft, after taking lamp manipulator (21) to take down light bulb, rotary electric machine (131) rotates fuselage (1), will fill lamp manipulator (22) it rotates to the lower section of lamp holder.

3. farm's ceiling lighting lamp according to claim 1 or 2 replaces robot, it is characterised in that: the lifting column It (45) is in hollow columnar structures, one end is fixedly connected with the upper side of slide (3), and is fixedly connected with electromagnetism on the end Iron (451), the interior slip of the lifting column (45) are equipped with discoid lifting disk (452), and the lifting disk (452) is by magnet Material is made, and the lifting disk (452) is fixedly connected with several elevating levers (453) backwards to the one end of electromagnet (451), The elevating lever (453) is fixedly connected backwards to the one end of lifting disk (452) with the fuselage of rotating electric machine (46), when lifter plate (44) When rising, electromagnet (451) generation magnetic force mutually repels with lifting disk (452) boosts lifting disk (452) upwards.

4. farm's ceiling lighting lamp according to claim 1 or 2 replaces robot, it is characterised in that: the clamping driving Component (43) includes push rod (431) and connecting rod (432), offers push hole (441), the push rod in the lifter plate (44) (431) setting of slip offers swivelling chute on the position in the interior center of circle of the lifter plate (44) in push hole (441), described One end of push hole (441) is connected to swivelling chute, and the other end extends backwards to swivelling chute and is pierced by the side and the external world of lifter plate (44) It is connected, is coaxially fixed with eccentric wheel (461) in the shaft of the rotating electric machine (46), one end of push rod (431) and eccentric wheel (461) wheel side mutually contradicts, and the eccentric wheel (461) has clamping wheel while with wheel is decontroled, the rotating electric machine (46) Shaft penetrates into lifter plate (44), and eccentric wheel (461) is arranged in swivelling chute, and near side (ns) is leaned in the upper surface of the lifter plate (44) It is fixedly connected on the position of edge connection sheet (442), one end of the connecting rod (432) and one end of push rod (431) are hinged, described Connecting rod (432) You Lianggen body of rod composition, one end of two bodies of rod are wholely set, and have angle, two bars between two bodies of rod One end that body is connected and connection sheet (442) hingedly, the other end and left clamp of the connecting rod (432) relative to push rod (431) (41) or right clamping plate (42) is fixedly connected, when need to clamp light bulb and when the rotation of the shaft of rotating electric machine (46), eccentric wheel (461) clamping wheel side offsets with push rod (431), and push rod (431) is pushed outwardly, and then drive link (432) is backwards to push rod (431) one end is turned inside out towards lifter plate (44), left clamp (41) and right clamping plate (42) is close to each other clamps light bulb, when needing Light bulb is decontroled when the rotation of the shaft of rotating electric machine (46), and relieving wheel side and the push rod (431) of eccentric wheel (461) offset, and push away Bar (431) inwardly moves, so drive link (432) backwards to push rod (431) one end towards lifter plate (44) outer side to overturn, it is left Clamping plate (41) and right clamping plate (42) are located remotely from each other relieving light bulb.

5. farm's ceiling lighting lamp according to claim 4 replaces robot, it is characterised in that: on the push rod (431) It is coaxially fixed with baffle (433), spring, the side and push hole (441) of one end of the spring is arranged on the push rod (431) Hole wall be fixedly connected, the other end is fixedly connected with baffle (433), and when push rod (431) is pushed outwardly, spring is drawn It stretches, when push rod (431) inwardly moves, spring reset retracts push rod (431).

6. farm's ceiling lighting lamp according to claim 5 replaces robot, it is characterised in that: the rotating electric machine (46) The side of shaft be equipped with spill spin block (462) close to the position of eccentric wheel (461), open up on the center location of the swivelling chute There is turn hole, turn trough is offered on the hole wall of the turn hole, the turn trough is in the annular extended along turn hole hole wall, the turn trough tool Have a round end and clamping end, the spill spin block (462) is arranged in turn trough, when rotating electric machine (46) driving spill spin block (462) from When clamping end is rotated to round end, left clamp (41) and right clamping plate (42) is close to each other clamps light bulb, when rotating electric machine (46) drive When dynamic spill spin block (462) are rotated from round end to clamping end, left clamp (41) and right clamping plate (42) are located remotely from each other relieving light bulb, when When rotating electric machine (46) driving spill spin block (462) heads on the round end rotation of turn trough, lifter plate (44) is with rotating electric machine (46) It rotates together, light bulb is taken down or loaded onto.

7. farm's ceiling lighting lamp according to claim 1 or 2 replaces robot, it is characterised in that: the left clamp (41) and the opposite side of right clamping plate (42) offers cambered surface, is laid with foam-rubber cushion in cambered surface.