CN2072894U

CN2072894U - Miniature remote-control manipulators

Info

Publication number: CN2072894U
Application number: CN 90207512
Authority: CN
Inventors: 魏平源; 王元殿
Original assignee: Individual
Current assignee: Individual
Priority date: 1990-05-24
Filing date: 1990-05-24
Publication date: 1991-03-13

Abstract

The utility model relates to a miniature remote-control manipulator comprising a remote control transceiver, a manipulator controller and a manipulator device. A controlled miniature motor is arranged in the manipulator and connected with a straight reciprocating motion mechanism through a gear reducing mechanism, and the straight reciprocating motion mechanism can be a screw rod mechanism or a gear rack mechanism. The straight reciprocating motion mechanism can realize forward delocalization movement and automatic resetting under the function of the controller, and press buttons and similar devices can be remotely controlled. The utility model has the advantages of simple structure, strong interchangeability, wide application range of operation distance, etc. Without changing the internal structure of the existing controlled device, remote control can be realized.

Description

Miniature remote-control manipulators

The utility model relates to a kind of miniature remote controlled manipulator.

Present multiple household electrical appliance adopt infrared telecontrol switch, bring great convenience to operation, but this remote control switch belong to pure character of circuit, do not have mechanical operating function, and the special plane special use, and interchangeability is poor, generally can only realize on new product.Manipulator is progressively promoted the use of in science and technology and industrial department, but this assembling structure complexity, the cost height still is unsuitable for civilian at present and general industry is used.

The purpose of this utility model is to provide a kind of miniature remote controlled manipulator, can operate the press button of household electrical appliance and the push-and-pull of other equipment, realizes straighforward operation.

Task of the present utility model is achieved in that a manipulator of being made up of motor and mechanical transmission mechanism is connected through the receiving unit of manipulator controller with the remote control signal transceiver, wherein

1, direct current generator drives the rectilinear motion operating mechanism through the mechanical reduction transmission mechanism, and the rectilinear motion operating mechanism also is provided with the back limit sensors.

2, controller comprises motor two-way push circuit, and the limit switch circuit is formed behind upset circuit for regulating and controlling and the straight-line motion mechanism.Motor two-way push circuit is formed by triggering prime and symmetry tubes symmetry tubes negative circuit, trigger prime input termination receiver of remote-control sytem output, DC micromotor is serially connected with symmetry tubes and exports between two-tube mid point and half high potential power, the input signal of circuit for regulating and controlling is taken from negative circuit motor forward running switching tube emitting stage, its output loading is a relay coil, relay normally open contact is serially connected with the conducting locked loop that triggers prime, the normally closed switch serial connection negative circuit motor antiport switching tube loop of back limit sensors.

The reducing gear of manipulator can adopt worm and gear or multiple sets of teeth wheel deceleration transmission.Straight-line motion mechanism is made up of dead axle transmission wheel and reciprocating movement rod, and the dead axle transmission wheel is connected with the final stage of deceleration transmission, and reciprocating front end stretches out outside the casing, is provided with the spacing motion sensor in back on the frame at this bar rear portion.Described straight-line motion mechanism can be screw body or pinion and rack.The front end of reciprocating movement rod also can be connected with a lever changement, to change direction of operating.

The remote control transceiver can adopt common Digiplex, IR remote controller or remote-control at audiofrequency device.

The working mechanism of this manipulator is the high level output signal triggering controller prime conducting from remote controller, the motor forward running switching tube conducting in two-way push loop, electric current flows to negative pole through motor from high potential half power supply, circuit for regulating and controlling is in magnifying state, the relay adhesive, its normally opened contact closure will trigger prime and be locked in conducting state.

When travelling forward, leading screw is obstructed after (putting in place), motor load obviously increases, the circuit for regulating and controlling final stage is ended, and relay contact is opened, and triggers the conducting locking release of prime, make the negative circuit upset, electric current by high potential through motor to half high potential conducting, the leading screw counter motion, until the back spacing triggering, disconnect electric motor loop, finish an operation cycle.

With regard to accompanying drawing and embodiment the utility model is described in detail below.

Fig. 1 is the utility model theory diagram.

Fig. 2 is a kind of transmission mechanism structure diagram of manipulator.

A kind of circuit diagram of Fig. 3 controller.

Fig. 4 and Fig. 5 are that two kinds of manipulators are installed and used schematic diagram.

Fig. 1 shows manipulator master unit operation principle, comprises remote-control receiver, controller, power supply and Robot actions device, the remote control transmitter not included.The figure middle controller receives the output signal from receiver of remote-control sytem, via controller drive motors (1), it is reciprocating to drive leading screw (3) by mechanical reduction gear (2), back limit sensors (4) provides the back spacing signal to controller, circuit for regulating and controlling control in the controller triggers prime conducting locking or release ends, to touch the negative circuit upset.Power supply has three output E_, E1 and E2, and wherein E1 is half high potential power, and voltage is 1/2nd of E2.

Fig. 2 shows a kind of concrete structure of manipulator, the employing worm and gear slows down, the spindle nose of motor (1) is provided with worm screw (5), mesh with worm gear (6), the medium pore of worm gear (6) and screw mandrel (7) engagement, leading screw has chute on (7), is slidingly connected with leading screw support set (8) feather key, be provided with sleeve member (9) between splicing sleeve (8), back limit switch (4) and circuit power equipment (11) also are housed in the frame (10).

Fig. 3 is manipulator controller and a kind of circuit theory diagrams.BG1 is for triggering prime, and by high level input signal triggering and conducting, and through the normally opened contact K1 of relay J, control conducting locking or release end.BG2-BG5, travel switch K2 and motor D J etc. constitute motor two-way push circuit, and this circuit adopts the complementary negative circuit of direct current, finishes conducting one by upset.BG6, BG7, diode D and relay J etc. constitute circuit for regulating and controlling.When the BG1 conducting, trigger the BG3 conducting, make motor forward rotation switching tube, the BG5 conducting is by among the figure of electric current institute of motor D J shown in the solid line electric current arrow.BG6 obtains motor D J operate as normal signal from the emitting stage of BG5, and BG6 and BG4 are in direct current and amplify attitude, the relay J adhesive, and the K1 closure is with the conducting state locking of BG1.After motor load obviously increases, pressure drop on the BG5 emitting stage resistance R 8 is risen, the BG6 conducting, BG7 ends, and the K switch 1 of relay J is opened, and BG1 ends, the negative circuit upset, shown in empty arrow among the figure, motor D J reflection is opened until back limit switch K2, and motor reversing plug pipe BG4 is opened circuit through the sense of current of motor D J.

Fig. 4 shows a kind of application example of the present utility model, and robot device (12) is connected with camera (14) through L type bearing (13), and shutter (15) is aimed in screw mandrel (7) operating side.When robot device (12) receives remote control signal, screw mandrel (7) moves down, and is pressed until shutter (15).Leading screw (7) moves drawback movement certainly then, finishes an operation cycle.

Because the action forward of this manipulator has the delocalization limit function, only need change mounting bracket, the just action need of applicable different displacements of the lines, for example electrical appliance button operation or door latch spring pin are the push-and-pull operation etc.

The straight-line motion mechanism of robot device among Fig. 5 (12) is tooth bar (16), and (18), robot device (12) is installed in door lock (19) rear portion through lever (17) driving gate lock pin.

The characteristics such as the internal structure that the utility model can not change existing controlled device realizes straighforward operation as an annex to controlled device, has simple in structurely, and interchangeability is strong, and operational stroke flexibly and the scope of application is big.

Claims

1, a kind of miniature remote controlled manipulator comprises remote control signal emission, receiver, manipulator controller and mechanical motion mechanism, it is characterized in that:

(1), described mechanical motion mechanism is by direct-flow micromachine, gear reduction transmission mechanism and straight-line motion mechanism are formed, motor shaft drives straight-line motion mechanism through the gear reduction transmission mechanism,

(2) described straight-line motion mechanism is made up of dead axle moving runner and reciprocating movement rod, and the dead axle moving runner is connected with the final stage of reduction gearing mechanism, and the reciprocating movement rod front end stretches out outside the casing, limit sensors after being provided with reciprocating movement rod on the frame at the rear portion of this bar,

(3), described manipulator controller is by motor two-way push circuit, upset circuit for regulating and controlling and retreat sensor circuit and form, complementary negative circuit is adopted in the upset of two-way push, the triggering prime input signal of this negative circuit is taken from described receiver of remote-control sytem output, motor joining is between the output of complementary circuit symmetry two-tube mid point and half high potential power, the input signal of upset circuit for regulating and controlling is taken from motor forward rotation switching tube emitter stage, its output loading is a relay coil, the trigger electrode conducting locked loop of this relay normally open contact serial connection two-way push circuit, the normally closed switch serial connection motor reversing plug tube loop of the back limit sensors of described parts moving linearly.

2,, it is characterized in that described straight-line motion mechanism is made up of the leading screw screw that rotates and the screw mandrel of moving linearly by the described miniature remote controlled manipulator of claim 1.

3, by the described miniature remote controlled manipulator of claim 1, it is characterized in that described straight-line motion mechanism is gear-rackwork.

4, by the described miniature remote controlled manipulator of claim 1, it is characterized in that the operational tip of described straight-line motion mechanism is connected with a lever changement.