CN106335038A - Full-automatic bulb replacement manipulator - Google Patents
Full-automatic bulb replacement manipulator Download PDFInfo
- Publication number
- CN106335038A CN106335038A CN201610936787.1A CN201610936787A CN106335038A CN 106335038 A CN106335038 A CN 106335038A CN 201610936787 A CN201610936787 A CN 201610936787A CN 106335038 A CN106335038 A CN 106335038A
- Authority
- CN
- China
- Prior art keywords
- rod
- slide block
- main shaft
- lower body
- inner chamber
- 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.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000013016 damping Methods 0.000 claims description 9
- 238000003475 lamination Methods 0.000 claims description 5
- 210000003746 feather Anatomy 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 230000002265 prevention Effects 0.000 claims 1
- 206010014357 Electric shock Diseases 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 abstract 1
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000008602 contraction Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J1/00—Manipulators positioned in space by hand
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
The invention relates to an electric manipulator, in particular to a full-automatic bulb replacement manipulator. The full-automatic bulb replacement manipulator comprises an extension rod and multiple clamping rods which are mounted at the upper end of the extension rod and can relatively extend and contract. The extension rod comprises an upper rod body and a lower rod body which are coaxially inserted together and are relatively rotatable. The clamping rods are mounted at the upper end of the upper rod body through hanging lugs. The middle segments of the clamping rods are connected with pull wires. A sliding block connected to the pull wires is arranged in an inner cavity of the upper rod body. The upper end of the lower rod body is connected with the upper rod body through a gear box. The upper rod body is connected with a drive motor in a transmission manner. A handle for driving the sliding block to move in the axial direction is mounted on the lower rod body. The manipulator is compact in structure, convenient to use and free of the risk of electric shock and the climbing requirement in use and solves the problems about bulb replacement by the aged.
Description
Technical field
The present invention relates to a kind of electric manipulator, specifically a kind of full-automatic machine hand for changing bulbs.
Background technology
The installation site of bulb is higher, and ordinary people cannot directly more change the bulb.More changed the bulb using the method that ladder is ascended a height
Be not suitable for old man or weakling again.In addition, directly more being changed the bulb with handss also there is the danger of electric shock.These factors make to change the bulb
Become in a lot of families and compare pain in the neck feelings, need special messenger's help to change the bulb.
Content of the invention
It is an object of the invention to provide a kind of do not exist Danger Electric shock risk, need not ascend a height, easy to use automatically changing the bulb
Mechanical hand.
The present invention be the technical scheme is that by solving technical problem
Full-automatic machine hand for changing bulbs of the present invention include expansion link, be arranged on expansion link upper end and can relative constriction multiple
Gripper jaw, described expansion link includes trocar sheath and the upper body of rod, the lower body of rod, the lower end hinge of the upper end of described trocar sheath and gripper jaw
Connect；The described upper body of rod, the lower body of rod are the tubular structure being rotatably installed in overcoat tube cavity, the lower end of the upper body of rod with
It is provided with clutch between the upper end of the body of rod, in the inner chamber of the upper body of rod, slide block is slidably fitted with by feather key, arc spring lamination
One end is hinged on the upper surface of slide block, the other end is hinged on the stage casing of gripper jaw；The lower end of trocar sheath is fixedly connected gear-box, under
The lower end of the body of rod extends in the inner chamber of gear-box, be provided with the inner chamber of described gear-box intermeshing driving bevel gear and
Passive bevel gear, described driving bevel gear is fixedly mounted on main shaft, and described main shaft is vertical with the axis of the lower body of rod；Described passive
Bevel gear is fixedly mounted on the lower end of the lower body of rod；Described main shaft and motor be in transmission connection and main shaft on traction be installed slide
The haulage gear of block movement.
The wheel disc that described haulage gear includes being arranged on main shaft by damping unit, one end are connected to drawing on wheel disc
Rope, the other end of described drag-line is connected to the lower end of slide block.
Described clutch is the dental inlay being correspondingly arranged at body of rod lower end and lower body of rod upper end, sets in the upper end of the upper body of rod
It is equipped with the end cap ring stoping slide block from skidding off upwards, the inner chamber of the lower body of rod is provided with the spring protruding the ring-type of wall in lower beam body
Seat, is provided with spring between described spring base and slide block.
After technique scheme, this robot manipulator structure is compact, easy to use, only can complete machinery with a motor
The contraction of handss is held with a firm grip the action such as bulb and forward and reverse rotation, there is not Danger Electric shock risk, need not ascend a height during use, solves old
The difficult problem that people changes the bulb.
Brief description
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is that gripper jaw shrinks the mplifying structure schematic diagram gripping bulb.
Specific embodiment
As shown in Figure 1 and Figure 2, full-automatic machine hand for changing bulbs of the present invention includes expansion link, is arranged on expansion link upper end
And can relative constriction multiple gripper jaws 1,2, expansion link is the prolongation of the arm of people, ascends a height without instruments such as ladders
Get at the bulb of eminence, multiple gripper jaws 1,2 can be held bulb when contraction, complete the work changing the bulb, supporting rod 1,2
Quantity preferably 3, be ringwise distributed, during its contraction, just can hold globular bulb, can also be in order to increase frictional force
The medial surface of supporting rod 1,2 sticks the precoat of softness.
Described expansion link includes trocar sheath 3 and the upper body of rod 4, the lower body of rod 5, the upper end of described trocar sheath 3 and gripper jaw 1,2
Lower end hinged；The described upper body of rod 4, the lower body of rod 5 are the tubular structure being rotatably installed in trocar sheath 3 inner chamber, upper boom
Body 4 can rotate in trocar sheath 3 inner chamber and can also move axially, and the outer wall of the lower body of rod 5 is provided with locating ring clamping outside
On the inwall of sleeve pipe 3, so that the lower body of rod 5 can only be rotated and can not move axially naturally it is also possible to arrange on the outer wall of the lower body of rod 5
Annular recess, on the inwall of trocar sheath 3, setting is connected to the slip ring in annular recess simultaneously, so can also make the lower body of rod 5
Can only rotate and can not move axially.
It is provided with clutch, the effect of clutch makes both divide between the upper end of the lower end of the upper body of rod 4 and the lower body of rod 5
From when can relative to rotating alone, and both with reference to when under the body of rod 5 can drive the upper body of rod 4 synchronous rotary.
In the inner chamber of the upper body of rod 4, slide block 11 is slidably fitted with by feather key, makes the slide block 11 can only be in the inner chamber of the upper body of rod 4
Move axially and can not rotate, this feather key can be the bar shaped projection of axially distribution on slide block 11 outer wall, corresponding upper boom
It is provided with the bar-shaped trough mating this bar shaped projection, bar shaped projection is arranged in bar-shaped trough and can be in bar-shaped trough in the inner chamber of body 4
Middle slip；It is of course also possible to bar shaped projection is arranged in the inner chamber of the upper body of rod 4 bar-shaped trough is arranged on the outer wall of slide block 11
On；It can in addition contain the slide block 11 using multiedge cylinder structure, the upper body of rod 4 adopts the inner chamber of same cross-sectional shape, so same
Slide block 11 can be made can only to move axially in the inner chamber of the upper body of rod 4 and can not rotate, band when going up the body of rod 4 rotation in other words
Movable slider 11 synchronous rotary.
As shown in Fig. 2 drive supporting rod 1,2 shrink arc spring lamination 12,13 one end be hinged on slide block 11 upper surface,
The other end is hinged on the stage casing of gripper jaw 1,2, so, when slide block 11 moves axially just can by arc spring lamination 12,
13 drive supporting rod 1,2 to swing, and realize the gripping action to globular bulb.
The lower end of trocar sheath 3 is fixedly connected gear-box 9, and the lower end of the lower body of rod 5 extends in the inner chamber of gear-box 9, described
It is provided with intermeshing driving bevel gear 7 and passive bevel gear 8, the fixing peace of described driving bevel gear 7 in the inner chamber of gear-box 9
It is contained on main shaft 10, described main shaft 10 is vertical with the axis of the lower body of rod 5；Described passive umbrella tooth 8 is fixedly mounted under the lower body of rod 5
End；Described main shaft 10 and motor 14 be in transmission connection and main shaft 10 on the haulage gear of traction slide block 11 movement is installed.
While the lower body of rod 5 rotation being driven by driving bevel gear 7, passive bevel gear 8 when motor 14 work, also by leading
Drawing mechanism pulls slide block 11 to move axially.This motor 14 using can forward and reverse rotation either-rotation motor, can be used for installing
Bulb can be used for bulb dismounting.
The wheel disc 15 that described haulage gear includes being arranged on main shaft 10 by damping unit, one end are connected on wheel disc 15
Drag-line 16, the other end of described drag-line 16 is connected to the lower end of slide block 11.When main shaft 10 and wheel disc 15 rotation, drag-line 16
It is wrapped on wheel disc 15, pull slide block 11 descending.This drag-line 16 can adopt steel wire rope, it would however also be possible to employ band steel band.
Described damping unit can be damping friction piece on installing hole and main shaft 10 contact surface of wheel disc 15 or
Other can make to produce the mechanism of specific damping force between wheel disc 15 and main shaft 10.This specific damping force should be more than pulling slide block
The pulling force of 11 axial movements, when so that slide block 11 is moved axially, wheel disc 15 will not skid with main shaft 10 synchronous rotary, should simultaneously
Specific damping force is less than the moment of torsion of motor 14 output again, can go downwards to extreme position wheel disc 15 by drag-line in slide block 11
When 16 pullings are motionless, skid between wheel disc 15 and main shaft 10, main shaft 10 still can be in the drive backspin of motor 14
Turn.
Above-mentioned clutch is the dental inlay being correspondingly arranged at the body of rod 4 lower end and the lower body of rod 5 upper end, upper in the upper body of rod 4
End is provided with the end cap ring 20 stoping slide block 11 from skidding off upwards, and this end cap ring 20 limits the up extreme position of slide block 11, with
When drive a upper body of rod 4 up segment distance when slide block 11 can also be made up, and separate with the lower body of rod 5.End cap ring 20 is
It is provided with the ring bodies of centre bore, its internal diameter is less than the diameter of slide block 11, thus stop slide block 11 from therefrom coming off, end cap ring simultaneously
Centre bore can allow arc spring lamination 12,13 to pass through, in order to be connected on slide block 11 again.The inner chamber of the lower body of rod 5 is arranged
There is the spring base of the ring-type protruding the lower body of rod 5 inwall, between described spring base and slide block 11, be provided with spring 18.Due to spring base
Center be provided with through hole, drag-line 16 can be allowed to pass through.In addition, coming off from the lower end of the upper body of rod 4 for anti-limited slip block 11,
Can also be in the lower end setting lower end bezel ring, 21 of the upper body of rod 4, the shape of lower end bezel ring, 21 is identical with end cap ring, can stop slide block
11 come off from the lower end of the upper body of rod 4, and the centre bore of lower end bezel ring, 21 can allow spring 18 and drag-line 16 to pass through again simultaneously.
During use, in the setting of the lower end of gear-box 9, the handle 18 of battery 17 can also be installed, handle 18 is arranged just,
Reversion button, battery 17, button and motor 14 collectively form circuit part.This circuit structure is known technology, and here is no
Need to repeat.When motor 14 is idle, spring 18 makes slide block 11 and the upper body of rod 4 be up to extreme position, under the upper body of rod 4
Clutch between end and the lower body of rod 5 separates, and gripper jaw 1,2 is in open configuration.The first stage of motor 14 work,
Main shaft 10 drives the lower body of rod 5 to rotate by bevel gear, now wheel disc 15 in the presence of damping force with main shaft 10 synchronous rotary, draw
Rope 16 is wrapped on wheel disc 15, and drag-line 16 overcomes the resistance of spring 18 to pull slide block 11 descending, under the love action of gravity of the upper body of rod 4 or
Person also moves down under the pressure effect of bulb, and finally engages with the lower body of rod 5；After the upper body of rod 4 is engaged with the lower body of rod 5,
Motor 14 enters the second working stage, and now slide block 11 and the upper body of rod 4 have gone downwards to extreme position, and wheel disc 15 cannot continue
Continuous rotation, starts to skid on main shaft 10, but main shaft 10 drives the lower body of rod 5 to rotate still through bevel gear, due to the upper body of rod 4
Engaged with the lower body of rod 5 by clutch, while now descending the body of rod 5 rotation, drive the upper body of rod 4, slide block 11, gripper jaw 1,2 one
Play synchronous rotary, the spherical threaded mouth bulb that gripper jaw 1,2 is gripped is backed out or is contained on lamp socket.Motor 14 reversely revolves
When turning, ibid, only correspondingly the direction of rotation of gripper jaw 1,2 is contrary for operation principle.
Claims (3)
1. full-automatic machine hand for changing bulbs, including expansion link, be arranged on expansion link upper end and can relative constriction multiple gripper jaws
(1,2) it is characterised in that: described expansion link includes trocar sheath (3) and the upper body of rod (4), the lower body of rod (5), described trocar sheath (3)
Upper end hinged with the lower end of gripper jaw (1,2)；The described upper body of rod (4), the lower body of rod (5) are and are rotatably installed in trocar sheath
(3) tubular structure in inner chamber, is provided with clutch between the lower end of the upper body of rod (4) and the upper end of the lower body of rod (5), the upper body of rod
(4) in inner chamber, slide block (11) is slidably fitted with by feather key, one end of arc spring lamination (12,13) is hinged on the upper of slide block (11)
Surface, the other end are hinged on the stage casing of gripper jaw (1,2)；The lower end of trocar sheath (3) is fixedly connected gear-box (9), the lower body of rod (5)
Lower end extend in the inner chamber of gear-box (9), be provided with intermeshing driving bevel gear in the inner chamber of described gear-box (9)
(7) and passive bevel gear (8), described driving bevel gear (7) is fixedly mounted on main shaft (10), described main shaft (10) and the lower body of rod
(5) axis is vertical；Described passive bevel gear (8) is fixedly mounted on the lower end of the lower body of rod (5)；Described main shaft (10) and driving electricity
Machine (14) be in transmission connection and main shaft (10) on be provided with traction slide block (11) movement haulage gear.
2. according to claim 1 full-automatic machine hand for changing bulbs it is characterised in that: described haulage gear is included by damping
Wheel disc (15) that device is arranged on main shaft (10), one end are connected to the drag-line (16) on wheel disc (15), described drag-line (16)
The other end is connected to the lower end of slide block (11).
3. full-automatic machine hand for changing bulbs according to claim 1 or claim 2 it is characterised in that: described clutch be correspondence set
Put the dental inlay in the upper body of rod (4) lower end and the lower body of rod (5) upper end, the upper end of the upper body of rod (4) be provided with prevention slide block (11) to
On the end cap ring that skids off, the inner chamber of the lower body of rod (5) is provided with the spring base of the ring-type of the body of rod (5) inwall under protruding, described
It is provided with spring (18) between spring base and slide block (11).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610936787.1A CN106335038B (en) | 2016-11-01 | 2016-11-01 | Full-automatic machine hand for changing bulbs |
| CN201810680596.2A CN108818490B (en) | 2016-11-01 | 2016-11-01 | Manipulator for replacing bulb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610936787.1A CN106335038B (en) | 2016-11-01 | 2016-11-01 | Full-automatic machine hand for changing bulbs |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810680596.2A Division CN108818490B (en) | 2016-11-01 | 2016-11-01 | Manipulator for replacing bulb |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106335038A true CN106335038A (en) | 2017-01-18 |
| CN106335038B CN106335038B (en) | 2019-01-18 |
Family
ID=57840630
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810680596.2A Expired - Fee Related CN108818490B (en) | 2016-11-01 | 2016-11-01 | Manipulator for replacing bulb |
| CN201610936787.1A Active CN106335038B (en) | 2016-11-01 | 2016-11-01 | Full-automatic machine hand for changing bulbs |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810680596.2A Expired - Fee Related CN108818490B (en) | 2016-11-01 | 2016-11-01 | Manipulator for replacing bulb |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108818490B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863325A (en) * | 2017-03-15 | 2017-06-20 | 浙江省海洋水产养殖研究所 | Plant's ceiling lighting lamp changes robot |
| CN107892468A (en) * | 2017-12-29 | 2018-04-10 | 山东华鹏玻璃股份有限公司 | A kind of glass draws the upper fixture alignment device of jimcrow |
| CN108609063A (en) * | 2018-04-19 | 2018-10-02 | 广州俊天科技有限公司 | A kind of logistics transportation equipment |
| CN108749941A (en) * | 2018-04-19 | 2018-11-06 | 广州正辉科技有限公司 | A kind of follow-on livestock-raising device |
| CN108749942A (en) * | 2018-04-19 | 2018-11-06 | 广州正辉科技有限公司 | A kind of livestock-raising device |
| CN108772820A (en) * | 2018-04-19 | 2018-11-09 | 广州俊天科技有限公司 | A kind of novel logistics transportation equipment |
| CN108925440A (en) * | 2018-04-19 | 2018-12-04 | 广州正辉科技有限公司 | A kind of novel livestock-raising device |
| CN111451991A (en) * | 2020-05-07 | 2020-07-28 | 临海市启致灯具有限公司 | Remote energy-saving bulb replacing equipment |
| CN115229756A (en) * | 2022-07-20 | 2022-10-25 | 云南电网有限责任公司红河供电局 | Electric power is with insulating telescopic nest instrument of drawing |
| CN116461420A (en) * | 2023-04-28 | 2023-07-21 | 蔚来汽车科技(安徽)有限公司 | Article fixing device and vehicle |
| CN116787394A (en) * | 2023-06-15 | 2023-09-22 | 中建八局第二建设有限公司 | A new type of lighting installation auxiliary device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110625638B (en) * | 2019-10-12 | 2021-03-02 | 北京工业大学 | An open and close mechanical gripper driven by steel wire rod |
| CN111571628B (en) * | 2020-05-22 | 2022-03-11 | 三门核电有限公司 | Adjustable portable manipulator device for disassembling and assembling fire detector |
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| CN2043165U (en) * | 1988-10-29 | 1989-08-23 | 佟庆毅 | Magic hand for changing screw-plug bulb at a height place or gripping the thing at high or low place |
| CN2070230U (en) * | 1989-04-14 | 1991-01-30 | 刘传普 | Loading and unloading manipulator for coverless lamp |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863325A (en) * | 2017-03-15 | 2017-06-20 | 浙江省海洋水产养殖研究所 | Plant's ceiling lighting lamp changes robot |
| CN107892468A (en) * | 2017-12-29 | 2018-04-10 | 山东华鹏玻璃股份有限公司 | A kind of glass draws the upper fixture alignment device of jimcrow |
| CN108609063A (en) * | 2018-04-19 | 2018-10-02 | 广州俊天科技有限公司 | A kind of logistics transportation equipment |
| CN108749941A (en) * | 2018-04-19 | 2018-11-06 | 广州正辉科技有限公司 | A kind of follow-on livestock-raising device |
| CN108749942A (en) * | 2018-04-19 | 2018-11-06 | 广州正辉科技有限公司 | A kind of livestock-raising device |
| CN108772820A (en) * | 2018-04-19 | 2018-11-09 | 广州俊天科技有限公司 | A kind of novel logistics transportation equipment |
| CN108925440A (en) * | 2018-04-19 | 2018-12-04 | 广州正辉科技有限公司 | A kind of novel livestock-raising device |
| CN111451991A (en) * | 2020-05-07 | 2020-07-28 | 临海市启致灯具有限公司 | Remote energy-saving bulb replacing equipment |
| CN115229756A (en) * | 2022-07-20 | 2022-10-25 | 云南电网有限责任公司红河供电局 | Electric power is with insulating telescopic nest instrument of drawing |
| CN116461420A (en) * | 2023-04-28 | 2023-07-21 | 蔚来汽车科技(安徽)有限公司 | Article fixing device and vehicle |
| CN116787394A (en) * | 2023-06-15 | 2023-09-22 | 中建八局第二建设有限公司 | A new type of lighting installation auxiliary device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108818490A (en) | 2018-11-16 |
| CN108818490B (en) | 2021-08-20 |
| CN106335038B (en) | 2019-01-18 |
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Effective date of registration: 20191209 Address after: Room 314-1, dantaihu building (Wuluo Science Park), No.9, Taihu East Road, Wuzhong District, Suzhou, Jiangsu Province Patentee after: Suzhou ruipengcheng Technology Co., Ltd Address before: 266000 Shandong province Qingdao City, No. 37 Lianyungang Road, Wanda business building A room 626 Patentee before: Qingdao Yijianuo aily Chemical Co., Ltd. |