JP2004275885A - Oscillating type device for moving - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an oscillating type device for moving using moving mechanisms by vibration, which is suitable particularly for education and can intrude into a special space as well. <P>SOLUTION: This device has at least two moving force generating means 111 and 112 which are equipped with a number of moving elements each having the angle after pressure contact with a surface for pressure contact smaller than the angle before the pressure contact and are constituted by being provided with the number of the moving elements at specified orientation in a prescribed direction in relation to the surface for the pressure contact, oscillating means 121 and 122 which impart vibrations to the respective moving force generating means, a control means 14 which controls the respective oscillating means and a substrate on which the moving force generating means, the oscillating means and the control means are installed. The substrate has an installation position changing means (setting apertures) capable of changing the installation positions of the moving force generating means and the oscillating means on the substrate. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vibration type moving device using a moving mechanism by vibration, and more particularly to a vibration type moving device suitable for education and capable of entering a special space.
[0002]
[Technical background]
2. Description of the Related Art Conventionally, as a moving mechanism using vibration, a vibration type moving device used for a brush moving unit has been known (see Patent Document 1).
[0003]
In this vibration type moving device, a brush on which “hair” is laid is attached to the lower surface of the chassis, and a vibration means is provided on the upper surface of the chassis. When the vibrating means is driven, the vibration is transmitted to the brush, and the vibrating movement device moves in the direction opposite to the direction in which the “hair” of the brush lies.
[0004]
In Patent Literature 1, a rail receiver is formed at a lower portion of a chassis, and the vibration type moving device moves on a rail as a track.
However, in this vibration type moving device, the movement efficiency greatly changes depending on the arrangement of the brush, the position of the vibration means, the vibration frequency, the vibration amplitude, the center of gravity of the eccentric weight, the shape of the chassis, etc. Not configured. For this reason, it is not easy to understand the operation principle and the operation characteristics of the vibration type moving device.
[0005]
On the other hand, a device that is moved by a tire that moves in a pipe such as a water pipe is also known. This device may not be able to move due to tire slip or may not be able to move vertically.
[0006]
[Patent Document 1] Japanese Utility Model Laid-Open No. 5-82493
[Object of the invention]
It is an object of the present invention to provide a vibration type moving device using a moving mechanism by vibration which is suitable for education and can enter a special space.
[0008]
[Means for Solving the Problems]
The vibration type moving device of the present invention includes a large number of moving elements whose angle after pressing against the surface to be pressed is smaller than the angle before pressing, and the number of moving elements is predetermined with respect to the surface to be pressed. At least two moving force generating means, which are provided with a constant orientation in the direction, and are provided corresponding to at least two of the moving force generating means, respectively, and apply vibration to each moving force generating means. A vibration unit, a control unit for controlling each of the vibration units, the moving force generating unit, the vibration unit, and a substrate on which the control unit is mounted, wherein the substrate has the moving force It is characterized in that it has a mounting position changing means capable of changing the mounting position of the generating means and the vibration means on the substrate. The vibration-type moving device of the present invention can move on ice, and can move on stairs and inclined surfaces.
[0009]
The vibration-type moving device according to the present invention further includes a trajectory detection means for detecting a trajectory drawn on the surface to be pressed, and the control means controls each of the vibration means in accordance with a detection signal from the trajectory detection means. It can be configured as follows.
[0010]
The vibration type moving device of the present invention includes a large number of moving elements whose angle after pressing against the surface to be pressed is smaller than the angle before pressing, and the number of moving elements is predetermined with respect to the surface to be pressed. Moving force generating means provided with a constant orientation in the direction, vibration means for applying vibration to the moving force generating means, control means for controlling the vibration means, the moving force generating means, Vibration means and a substrate on which the control means is mounted, wherein the moving force generating means presses against the inside of the tube within the tube to support the substrate in the internal space of the tube, or And between the walls by pressing against both sides of the wall to support the substrate in the space between the walls.
[0011]
The vibration-type moving device of the present invention includes a moving element in which the angle after the pressing with respect to the pressing target surface is smaller than the angle before the pressing, and the moving element is fixed in a predetermined direction with respect to the pressing target surface. A moving unit comprising: moving force generating means provided in an orientation of; and vibrating means provided respectively corresponding to at least two of the moving force generating means and applying vibration to the moving force generating means. And a control means for controlling the vibration means of each of the moving units.
[0012]
In the vibration-type moving device of the present invention, the moving force generating means is a member in which “hairs” or “hair” -shaped projections as moving elements are inclined in a fixed direction with respect to a base. Or a member capable of moving the vibration type moving device by vibration, or a member in which a fin or a fin-like projection as a moving element is inclined in a fixed direction with respect to the base.
[0013]
In the present invention, the vibration-type moving device is moved without using a rotary drive mechanism such as wheels (that is, the vibration energy by the vibration means is transmitted to the moving force generation means via the substrate). It is unlikely to occur. Further, in the vibration type moving device of the present invention, when the vibration means and the moving force generating means are provided in a pair on the right and left, respectively, even when the right vibration means is driven, the left moving force generating means is interposed through the substrate. When the left vibration means is driven, some vibration is transmitted to the right moving force generation means via the substrate. Thereby, the moving performance of the vibration type moving device can be improved.
[0014]
In the vibration-type moving device of the present invention, the vibration means may be a motor having a vibration eccentric weight attached to a shaft. Other vibration means such as a vibration means using an element can be used. The oscillating-type moving device of the present invention can also move underwater or on water when fins or fin-like projections are used as moving elements.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a functional block diagram of the vibration type moving device according to the first embodiment of the present invention. In FIG. 1, the vibration type moving device 1 includes moving force generation units 111 and 112, vibration units 121 and 122, trajectory detection units 131 and 132, and a control unit 14.
[0016]
The moving force generating units 111 and 112 each include a large number of moving elements whose angle after pressing against the pressing target surface is smaller than the angle before pressing, and the moving elements are fixed in a predetermined direction with respect to the pressing target surface. Are provided in the orientation described above.
[0017]
The vibration units 121 and 122 apply vibration to the moving force generation units 111 and 112. The trajectory detection means 131 and 132 detect a line drawn on the surface to be pressed. The control unit 14 can control the vibration units 121 and 122 based on signals from the trajectory detection units 131 and 132.
[0018]
2 (A) and 2 (B) are an explanatory top plan view and a bottom plan view specifically showing the vibration type moving device of FIG. 2A and 2B, the vibration type moving device 2 includes wire brushes 211 and 212, motors 221 and 222, line sensors 231 and 232, a transistor circuit 24, a power switch 25, and a battery unit. 26 and a substrate 27.
[0019]
The wire brushes 211 and 212 correspond to the moving force generating means 111 and 112 in FIG. 1. As shown in detail in FIG. 3A, the base B has “hair” (wire: The moving element (W) of the present invention is provided at a predetermined angle orientated (laying down at a predetermined angle). Note that, instead of the wire brush 211, a moving force generating means 21A in which the lower surface of a soft member such as rubber is formed in a wavy shape as shown in FIG. 4A can be adopted, as shown in FIG. 4B. It is also possible to employ a moving force generating means 21B formed at the base with fins having a slant. These moving force generating means 21A and 21B can be configured so that the portions that are in contact with the surface to be pressed are less slippery (greater friction). For example, in the moving force generating means 21A of FIG. 4A, the soft member can be made of a material having a large coefficient of sliding friction, or a bump can be formed in the lower part. Then, as shown, the lower portion can be formed in a saw-tooth shape or the like.
[0020]
The motors 221 and 222 correspond to the vibration means 121 and 122 in FIG. 1, and as shown in FIG. 3B, eccentric weights 223 and 224 are attached to the rotating shaft. In the present embodiment, the motors 221 and 222 are arranged so as to open in a “C” shape with respect to the traveling direction, and the rotation directions of the motors 221 and 222 are opposite to each other, so that the movement performance is improved. Let me.
[0021]
The line sensors 231 and 232 correspond to the trajectory detection units 131 and 132 in FIG. 1, and each include a light emitting diode LED and a photo sensor PS.
The transistor circuit 24 corresponds to the control means 14 in FIG. 1, and is configured so that the transistor is turned on by a drive instruction of the corresponding motor from the line sensors 231 and 232.
[0022]
The power switch 25 is formed by a toggle switch, and when turned on, the transistor circuit 24 can be brought into an operating state.
The battery unit 26 can supply power to the motors 221 and 222 via the power switch 25 and the transistor circuit 24.
[0023]
Mounting holes are provided in the substrate 27 in a lattice point shape, and the motors 221 and 222, the transistor circuit 24, and the like are provided on the front side (see FIG. 2A) of the substrate 27 by using these mounting holes. The power switch 25 and the battery unit 26 are attached with screws BZ, and the wire brushes 211 and 212 and the line sensors 231 and 232 are attached with screws BZ on the back side of the substrate 27 (see FIG. 2B). ing.
[0024]
In the vibration type moving device 2 (corresponding to the vibration type moving device 1 in FIG. 1) in FIGS. 2A and 2B, when the power switch 25 is turned on, the motors 221 and 222 rotate the eccentric weights 223 and 224. Vibration occurs. This vibration is transmitted to the wire brushes 211 and 212 via the substrate 27. Vibration is transmitted to the wires W of the wire brushes 211 and 212. Thus, the vibration type moving device 2 moves in the direction opposite to the direction in which the wire W is inclined.
[0025]
FIGS. 5A and 5B are diagrams showing a state in which the vibration type moving device 2 moves by detecting the line L drawn on the pressing target surface by the line sensors 231 and 232. Here, a case where the width of the line L is smaller than the interval between the line sensors 231 and 232 is shown. Here, the line L is a black line, and the line sensors 231 and 232 output a drive instruction for the motors 221 and 222 to the transistor circuit 24 when the line L deviates from the line L, respectively. That is, the line sensor 231 outputs an instruction signal for driving the motor 221 to the transistor circuit 24 when the line sensor 231 is off the line L, and does not output the instruction signal to the transistor circuit 24 when the line sensor 231 enters the line L. . Similarly, the line sensor 232 outputs an instruction signal for driving the motor 222 to the transistor circuit 24 when the line sensor 232 is off the line L, and outputs the instruction signal to the transistor circuit 24 when the line sensor 232 enters the line L. do not do.
[0026]
In FIG. 5A, since the line sensors 231 and 232 are both in the line L, an instruction signal for driving the motors 221 and 222 is output to the transistor circuit 24, and the vibration type moving device 2 goes straight. In FIG. 5B, since the line sensor 231 is outside the line L, a drive instruction is output to the transistor circuit 24, and the motor 221 is driven. Since the line sensor 232 is within the line L, the drive instruction is given to the transistor circuit 24. Is not output and the motor 222 is not driven. Therefore, the vibration type moving device 2 proceeds along the curve of the line L.
[0027]
FIGS. 5A and 5B show a case where the width of the line L is smaller than the distance between the line sensors 231 and 232, but the present invention provides a method as shown in FIGS. 6A and 6B. , The width of the line L is larger than the distance between the line sensors 231 and 232. Here, the line L is a white line, and portions other than the line are black.
[0028]
In this case, the line sensors 231 and 232 do not output a driving instruction to the transistor circuit 24 when the line L is not detected, and output a driving instruction to the transistor circuit 24 when the line L is detected.
[0029]
In FIG. 6A, since the line sensors 231 and 232 both detect the line L, a drive instruction is output to the transistor circuit 24 to drive the motors 221 and 222, and the vibration type moving device 2 moves straight. In FIG. 6B, since the line sensor 231 does not detect the line L, it outputs a drive instruction to the transistor circuit 24 and the motor 222 is not driven. However, since the line sensor 232 detects the line L, the transistor circuit The motor 221 is driven by outputting a drive instruction to the motor 24. Therefore, the vibration type moving device 2 proceeds along the curve of the line L.
[0030]
According to the present invention, since the mounting holes are provided in the substrate 27, the mounting positions of the motors 221 and 222, the wire brushes 211 and 212, etc. can be changed as appropriate, whereby the operating principle of the vibration type moving device 2 is improved. It is easy to understand the operation and the operation characteristics.
[0031]
FIG. 7 is a functional block diagram of the vibration type moving device according to the second embodiment of the present invention. In FIG. 7, the vibration-type moving device 3 includes a moving force generation unit 31, a vibration unit 32, a control unit 34, and an interface 35.
[0032]
The vibrating means 32 includes a large number of moving elements in which the angle after pressing against the surface to be pressed is smaller than the angle before pressing, and the moving elements are provided with a fixed orientation in a predetermined direction with respect to the surface to be pressed. It is configured.
The moving force generating means 31 applies vibration to the moving force generating means 31. The control unit 33 can control the vibration unit 32 based on a signal from the communication unit 35.
[0033]
FIG. 8 is an external explanatory view specifically showing the vibration type moving device of FIG. 8, the vibration type moving device 4 shows only the wire brush forming plates 411 and 412 corresponding to the moving force generating means 11 corresponding to FIG. A motor provided with a vibration eccentric weight corresponding to the vibration means 32 in FIG. 7, a transistor circuit corresponding to the vibration means 32 in FIG. 7, and an interface corresponding to the communication means 35 in FIG. 7 are not shown. Although not shown, the power switch and the battery unit are mounted at appropriate places on the board 47.
[0034]
The wire brush forming plates 411 and 412 have an arc-shaped cross section, and the vibration type moving device 4 can move inside a gas pipe, a water pipe or the like by motor driving based on a control command from an interface. By forming the wire brush forming plates 411 and 412 in FIG. 8 with a flat plate, the vibration type moving device 4 can move between the walls.
[0035]
Although not shown in FIG. 8, a mounting hole similar to that shown in FIGS. 2A and 2B may be provided in the substrate 47 to change the mounting position of the motor.
[0036]
FIG. 9 is a functional block diagram of the vibration type moving device according to the third embodiment of the present invention. In FIG. 3, the vibration-type moving device 5 includes three moving units 5A, 5B, and 5C.
The moving unit 5A has moving force generating means 511, 512, vibrating means 521, 522, trajectory detecting means 531, 532, and control means 54. The moving force generating means 511 and 512 include a large number of moving elements whose angle after pressing against the pressing target surface is smaller than the angle before pressing, and the moving elements are fixed in a predetermined direction with respect to the pressing target surface. Are provided in the orientation described above.
[0037]
The vibration units 521 and 522 apply vibration to the moving force generation units 511 and 512. The trajectory detecting means 531 and 532 detect a line drawn on the surface to be pressed. The control unit 53 can control the vibration units 521 and 522 based on signals from the trajectory detection units 531 and 532.
[0038]
Each of the moving units 5B and 5C has a moving force generating means 51 and a vibration means 52. Like the moving force generating means 511 and 512, the moving force generating means 51 includes a large number of moving elements in which the angle after pressing against the surface to be pressed is smaller than the angle before pressing. It is provided in a predetermined orientation in the predetermined direction with respect to the surface. The vibration means 52 applies vibration to the moving force generation means 51.
[0039]
FIG. 10 is an external explanatory view specifically showing the vibration type moving device of FIG. 10, the mobile units 6A, 6B and 6C correspond to the mobile units 5A, 5B and 5C in FIG. 9, and the mobile units 6A and 6B and the mobile units 6B and 6C are pin-connected by a connecting member 67. .
[0040]
The moving unit 6A includes wire brushes 611 and 612, motors 621 and 622, line sensors 631 and 632, a transistor circuit 64, a power switch 65, and a substrate 68.
[0041]
The wire brushes 611 and 612 correspond to the moving force generating means 511 and 512 in FIG. The wire brushes 611 and 612 have the same configuration as the wire brushes 211 and 212 described in the first embodiment. Instead of the wire brushes 611 and 612, the lower surface of the soft member such as the rubber shown in the first embodiment is formed in a wavy shape so that the moving force generating means 21A (see FIG. 4A) or the inclined surface is provided. The moving fins 21B (see FIG. 4B) can be used by forming the fins on the base.
[0042]
The motors 621 and 622 correspond to the vibrating means 521 and 522 in FIG. 9, and have an eccentric weight attached to the motor rotation shaft as in the case of the first embodiment.
The line sensors 631 and 632 correspond to the trajectory detection units 531 and 532 in FIG. 9 and each include a light emitting diode and a photo sensor as in the first embodiment.
[0043]
The transistor circuit 64 corresponds to the control means 54 of FIG. 9, and is configured such that the transistor is turned on by a driving instruction from the line sensors 631 and 632 and drives the corresponding motor.
The power switch 65 is a toggle switch, and when turned on, the transistor circuit 64 can be operated.
[0044]
In FIG. 10, the moving unit 6B includes a wire brush 61, a motor 62, and a substrate 68, and the moving unit 6C includes a wire brush 61, a motor 62, a battery unit 66, and a substrate 68. Each motor 62 of the moving units 6B and 6C is controlled by a transistor circuit 64 of the moving unit 6A. The battery unit 66 of the mobile unit 6C can supply power to the motors 621 and 622 of the mobile unit 6A and the motor 62 of the mobile units 6B and 6C via the power switch 65 and the transistor circuit 64 of the mobile unit 6A.
[0045]
In the vibration-type moving device 6 shown in FIG. 10, when the power switch 65 is turned on, the motors 621 and 622 of the moving unit 6A and the motors 62 of the moving units 6B and 6C respectively rotate the eccentric weights, and vibration occurs. This vibration is transmitted to the wire brushes 611, 612 of the moving unit 6A and the wire brushes 61 of the moving units 6B, 6C via the substrates 68 of the moving units 6A, 6B, 6C. Thus, the vibration type moving device 6 moves in the direction opposite to the direction in which the wire is inclined.
[0046]
The mounting hole similar to that in the first embodiment can be provided in the substrate 68 of the moving unit 6A.
[0047]
In the first embodiment and the second embodiment, for example, as shown in FIGS. 11A and 11B, a wire brush 7 in which a wire W is formed around a cylindrical base B can be used. FIG. 11A is a cross-sectional view in the length direction of the wire brush 7, and FIG. 11B is a cross-sectional view in a direction perpendicular to the axis of the wire brush 7. In the wire brush 7 of FIGS. 11A and 11B, the inclination direction of the wire is opposite to the axial direction on one side of the central angle π and on the other side of the central angle π. . In the vibration type moving device using the wire brush 7, the shaft direction of the wire brush 7 can be changed by the shaft rotating mechanism to change the traveling direction of the vibration type moving device.
[0048]
【The invention's effect】
According to the present invention, it is possible to provide a vibration type moving device using a moving mechanism by vibration which is suitable for education and can enter a special space.
[Brief description of the drawings]
FIG. 1 is a functional block diagram of a vibration type moving device according to a first embodiment of the present invention.
FIGS. 2A and 2B are explanatory diagrams specifically showing the vibration type moving device of FIG. 1, wherein FIG. 2A is a top plan view and FIG. 2B is a bottom plan view.
3A is a diagram illustrating a moving force generating unit, and FIG. 3B is a diagram illustrating a vibration unit in which an eccentric weight is attached to a rotating shaft.
4A is a diagram showing a moving force generating means in which a lower surface of a soft member such as rubber is formed in a wavy shape, and FIG. 4B is a diagram showing a moving force generating means formed on a base having inclined fins; It is.
5A and 5B are diagrams illustrating a state in which a line sensor detects and moves a line having a width smaller than a sensor interval drawn on a surface to be pressed and pressed, and FIG. Is shown.
6A and 6B are diagrams illustrating a state in which a line sensor detects and moves a line wider than the sensor interval drawn on the surface to be pressed and pressed, and FIG. Is shown.
FIG. 7 is a functional block diagram of a vibration type moving device according to a second embodiment of the present invention.
FIG. 8 is an external explanatory view specifically showing the vibration type moving device of FIG. 7;
FIG. 9 is a functional block diagram of a vibration type moving device according to a third embodiment of the present invention.
FIG. 10 is an explanatory view showing the appearance of the vibration type moving device of FIG. 9;
FIGS. 11A and 11B are diagrams showing a wire brush used in the vibration type moving device of the present invention capable of changing direction, wherein FIG. 11A is a cross-sectional view in the length direction of the wire brush, and FIG. It is sectional drawing of a perpendicular direction.
[Explanation of symbols]
1, 2 Vibratory moving device 14 Control means 24 Transistor circuit 25 Power switch 26 Battery unit 27 Substrates 111, 112 Moving force generating means 121, 122 Vibrating means 131, 132 Trajectory detecting means 211, 212 Wire brush 221, 222 Motor 231 232 Line sensor B Base of wire brush L Line W Wire

Claims (6)

A large number of moving elements whose angle after pressing against the surface to be pressed is smaller than the angle before pressing are provided, and the plurality of moving elements are provided in the predetermined direction with respect to the surface to be pressed with a fixed orientation. At least two moving force generating means configured;
Vibrating means provided respectively corresponding to at least two of the moving force generating means, and applying vibration to each moving force generating means;
Control means for controlling each of the vibration means,
A vibration-type moving device including the moving force generation unit, the vibration unit, and a substrate on which the control unit is mounted,
The vibration type moving device, wherein the substrate has a mounting position changing unit that can change a mounting position of the moving force generating unit and the vibration unit on the substrate. The trajectory detection means for detecting a trajectory drawn on the surface to be pressed is further provided, and the control means controls each of the vibration means according to a detection signal from the trajectory detection means. The vibration type moving device according to the above. A large number of moving elements whose angle after pressing against the surface to be pressed is smaller than the angle before pressing are provided, and the plurality of moving elements are provided in the predetermined direction with respect to the surface to be pressed with a fixed orientation. A configured moving force generating means;
Vibrating means for applying vibration to the moving force generating means,
Control means for controlling the vibration means,
A vibration-type moving device including the moving force generation unit, the vibration unit, and a substrate on which the control unit is mounted,
The moving force generating means,
In the tube, the substrate is pressed against the inside of the tube to support the substrate in the internal space of the tube, or
A vibratory movement device, wherein the substrate is supported in a space between the walls by pressing against both sides of the wall between the walls. It is provided with a moving element in which an angle after the pressing with respect to the surface to be pressed is smaller than an angle before the pressing, and the moving element is provided in a predetermined orientation with respect to the surface to be pressed with a fixed orientation. Moving force generating means;
Vibrating means provided respectively corresponding to at least two of the moving force generating means, and applying vibration to each moving force generating means;
And a plurality of mobile units consisting of
Control means for controlling the vibration means of each moving unit,
A vibration-type moving device, comprising: The moving force generating means is a member in which a “hair” or “hair” -shaped projection as a moving element is inclined in a fixed direction with respect to a base, or a fin or a fin-shaped projection as a moving element is fixed in a fixed direction with respect to the base. The vibration type moving device according to claim 1, wherein the vibration type moving device is an inclined member. The vibration type moving device according to any one of claims 1 to 5, wherein the vibration means is a motor having a vibration eccentric weight attached to a shaft.

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