RU2110432C1 - Method of and device for building force providing inertia movement - Google Patents

Abstract

FIELD: transport engineering; inertia propellers of vehicles. SUBSTANCE: inertia force is created along axis of vehicle movement by installed 2n unbalance vibrators on common rigid axle at distance L from each other. Phase shift angle of momentary forces created by vibrator is equal to φ_i= -πL (i - 1)/τ where τ = V/2f is pole division; f = ω/2π - is vibration force frequency; i is ordinal number of unbalance vibrator; n is number of vibrator pairs; V is preset movement speed of inertia force; ω is angular rotation frequency of vibrators; k is integral number, even for off "n" and odd for even "n". To provide runout and braking, momentary force phase shift angle is changed. Maximum speed of movement of inertia force is provided by changing distance between vibrators. EFFECT: increased efficiency and reliability, increased range of control within wide range of speeds. 5 cl, 10 dwg

Description

 The invention relates to a method of obtaining inertial motion and a device for obtaining a force that causes movement, is intended to obtain translational motion in vehicles and can be used in various vehicles.

 A known method of obtaining inertial motion, implemented in a device in which the inertia is generated by two identical eccentrics that rotate in opposite directions synchronously and in phase (ed. St. USSR N 15124, MKI B 63 D 57/00, published in B I. N 20 for 1962).

 The disadvantage of this method is that vibration is transmitted to the vehicle body from the vibration pathogen.

 There is also a method of obtaining inertial motion implemented in the device, which consists in the fact that the vibrational force is created by a unbalanced vibrator containing two eccentrics, synchronously and in-phase rotating in opposite directions, followed by the transmission of the vibrational force to the movement mechanism using mechanical transmission (ed. St. USSR N 939817, MKI F 03 G 3/00, publ. 30.06.82. In B. I. N 24).

 The disadvantages of the known method and device made according to it are increased vibration transmitted to the vehicle, the complexity of the mechanical transmission, low efficiency and reliability. In addition, the known methods do not allow to obtain high speeds and to control the speed of movement in a wide range.

 A known method for obtaining the force causing the movement of the vehicle, implemented in the device and adopted as a prototype, containing 2 unbalanced vibrators mounted on a common rigid axis parallel to the longitudinal axis of the vehicle (French application N 2630784, F 03 G 3/00, with priority from 1989).

 In this method, a more advanced mechanism for transferring the acting force to the support.

 However, it has the same disadvantages as described previously.

 The invention is aimed at increasing efficiency, reliability, increasing the adjusting properties in a wide range of speeds, simplifying kinematic transmission and reducing vibration.

To achieve the specified result in the known method of obtaining inertial motion, namely, that the force is created using unbalanced vibrators containing two eccentrics, rotating in different directions synchronously and in phase, according to the invention, an inertia force is constantly directed along the axis of the vehicle due to the installation of unbalanced vibrators with two eccentrics rotating in opposite directions synchronously and in phase, mounted on the axis at a distance L from each other, and the phase angle strength created by unbalanced vibrators is
φ _i = -πL (i-1) / τ,
where L = τ k / n;
τ = V / 2f - pole division;
f = ω / 2π - vibration frequency of vibrational forces;
i - serial number of the unbalanced vibrator;
n is the number of pairs of vibrators;
V is the specified speed of the inertial wave;
ω is the angular frequency of rotation of the vibrators;
k is an integer even for odd "n" and odd for even "n".

 In an embodiment of the technical solution, the direction of the forces is reversed by changing the phase angle of the instantaneous forces created by the vibrators.

 In an embodiment of the method, the distance between the vibrators varies.

 In the known device for producing inertial motion, comprising an unbalanced vibrator consisting of two eccentrics rotating synchronously and in phase in different directions, according to the invention the eccentrics are mounted on pivoting levers and are movable relative to levers whose ends have stops and springs are installed between the stops and eccentrics .

 In an embodiment of the device, several vibrators are mounted in series, the plane of rotation of the eccentrics in which are located at an angle to each other.

 The process of obtaining a constant force directed along the common axis by arranging several unbalanced vibrators with pairs of eccentrics rotating synchronously and in phase and located at a certain distance from each other along the axis with a phase shift of the disturbing sinusoidal wave, determined by the distance between the vibrators between the vibrators, allows you to create unidirectional and time constant force. This reduces the vibration on the movement mechanism, increases the efficiency, eliminates the need for kinematic transmission to the supporting part of the vehicle, which increases the reliability of the system and improves the adjusting properties.

 In addition, since the proposed method has virtually no vibration, the method can be applied to various vehicles with an electric or thermal prime mover.

 An additional introduction to the method of changing the direction of movement and providing a coasting mode without stopping the vibrators increases the versatility of the system and efficiency.

 Changing the distance between the vibrators increases the adjusting properties of the system.

 The movable placement of the eccentrics on the levers and the installation of the springs between the stops and the eccentrics in the device for receiving a moving wave of forces acting on the support, allows to increase the smoothness of the system startup.

 The location of the rotation planes of the adjacent vibrators at a certain angle allows the manufacture of compact devices for driving force.

 In FIG. 1 shows the design of a device for obtaining inertial motion; in FIG. 2, 3 shows a structural element for changing the distance between the vibrators; in FIG. 4 is a circuit diagram of the control of unbalanced vibrators; in FIG. 5 and 6 show elements of coupling of the drive motor with unbalances; in FIG. 7 shows a variant of the device in which the planes of unbalanced vibrators are located at a certain angle with respect to each other; in FIG. 8 is a diagram of perturbing forces generated by vibrators; in FIG. 9 shows the direction of the forces created by the vibrators; in FIG. 10 there is a motion diagram of a force wave.

 A device for obtaining the force causing the movement by this method consists of a common tubular base 1, rigidly articulated in the left part with the vehicle body (not indicated in the drawing) and divided into sections 2, 3, 4, 5, 6, 7. On equal distance from each other, the sections are located symmetrically relative to the central axis of the console 8, 9, 10, 11, 12, 13 above and below the tubular base 1. At both ends 8 - 13, with the possibility of rotation, the eccentrics are mounted 14 and 15, respectively consoles 8; 16, 17 on consoles 9; 18, 19 on consoles 10; 20, 21 on consoles 11; 22, 23 on the consoles 12 and 24, 25 on the consoles 13. The eccentrics are located on the corresponding rotary levers 26, 27, 28, 20, 30, 31, 32, 33, 34, 35, 36 and 37. Moreover, the eccentrics themselves are mounted in pairs mirror opposite to each other. Thus, in FIG. 1 presents 6 unbalanced vibrators. The first vibrator is located on section 2 of the tubular base 1 with clowns 14 and 15, the second is located on section 3 with clowns 16 and 17, the third vibrator with clowns 18 and 19 is located on section 4, the fourth vibrator with clowns 20 and 21 on section 5, the fifth a vibrator with eccentrics 22 and 23 in section 6 and a sixth vibrator with eccentrics 24 and 25 in section 7.

 The distance between the vibrators (the axes passing through the centers of the consoles 8 - 13 is L = kτ / n (1), where n is the number of pairs of vibrators; k is an integer that is even for odd "n" and odd for even "n"; τ = V / 2f is the pole division; f = ω / 2π is the vibrational frequency of the vibrational force; ω is the angular frequency of rotation of the eccentrics; V is the specified speed of the inertial force.

The angles between the axles passing through the console and the axes passing through the levers and the center of gravity of the eccentrics are distributed as follows. If for the first unbalanced vibrator consisting of consoles 8, levers 26, 27 and eccentrics 14, 15, the specified angle is taken equal to 0, then for each subsequent unbalanced vibrator the angle is determined by the formula φ _i = -πL (i-1) / τ ( 2), counted down for the upper eccentrics clockwise, and for the lower ones counterclockwise, where i is the serial number of the vibrator (counting from the drawing from left to right). In this case, the movement of the inertial wave will be directed toward the last vibrator. In this case (Fig. 1), we take L = τ / 3, then φ ₂ = -π / 3 or -60 ^o , φ ₃ = -2π / 3 or -120 ^o , φ ₄ = -π or -180 ^o , φ ₅ = -4π / 3 or -240 ^o and φ ₆ = -5π / 3 or -300 ^o . Sections 2, 3, 4, 5, 6, and 7 are interconnected using threaded couplings 38, 39, 40, 41, 42, one of which 38 is shown in more detail in FIG. 2. Sections 2 and 3 have left-hand and right-hand threads, respectively, and the coupler 38 also has left-hand and right-hand threads that mesh with the corresponding sections (in this case, 2 and 3). All couplings are united by a common connecting shaft 43 extending inside the tubular base 1. The shaft 43 is connected to an electric motor 44 (FIG. 2) rigidly mounted on the vehicle body. The sections of the tubular base 1 have T-shaped channels 45, rigidly connected to the corresponding sections with the shelf down (Fig. 3) (not indicated in the drawing). Channel bars 45, with the possibility of longitudinal movement, are placed in a box-shaped base 46. The latter is rigidly fixed to the vehicle body. The first, second, third, fourth, fifth and sixth unbalanced vibrators are rotated using electric motors 48, 49, 50, 51, 52, 53, respectively (Fig. 4), powered by a common generator 54 rotated by the primary motor 55 and having a converter 56 Each electric motor is equipped with a speed controller 57, 58, 59, 60, 61, 62 and a pulse speed sensor 63, 64, 65, 66, 67, and 68, respectively. The control system includes a pulse forming unit (BFI) 69 and a pulse delay device ( Ultrasound) 70 and 71. BFI 69 and Ultrasound 70 and 71 receive signals from the command arata 72, and ultrasounds 70 and 71 also receive signals from the BFI 69. The signals from the BFI 69 directly go to the comparison blocks 73 and 74. The signal from the speed sensor 63 is sent to the comparison block 73, and the output of the comparison block 73 is connected to the speed controller 57 In turn, the comparison unit 74 receives signals from the speed sensor 66, and its output is connected to the control unit 60. To the comparison units 75 and 76, the signal is received from the ultrasound 70. The comparison unit 75 receives signals from the speed sensor 64, and its output is connected to the regulator 58. The comparison unit 76 is connected to the sensor 66, and its output connected to block 60. The signals from the ultrasound 71 are sent to the comparison blocks 77 and 78. The comparison block 77 also receives pulses from the speed sensor 65, and its output is connected to the control unit 59. The comparison block 78 receives signals from the speed sensor 68, and its output connected to the control unit 62.

 Each of the unbalanced vibrators is mechanically coupled to its engine as shown in FIG. 5 and 6 on the example of the first unbalanced vibrator. The electric motor 48 has a gear 77 mounted on its shaft. Gear 77, in turn, is engaged on the one hand with exactly the same gear 78 and gear 79, and gear 78 is engaged with gear 80. Wheels 79 and 80 are made identical and are provided with axles 81 and 82 rotating in bearings ( on the drawing are not indicated), mounted in consoles 8. On the axis 81 and 82, the levers 26 and 27 with the clowns 14 and 15 are specularly oppositely mounted.

 In a design embodiment, the eccentric can be mounted on the levers movably with the possibility of movement along the levers. In this case, the levers have stops 83 and 84, and compression springs 85 and 86 are installed between the eccentrics and limiters. The electric motor 48 is rigidly attached to the consoles 8 using brackets 87.

 In an embodiment of the technical solution, the planes of rotation of the unbalanced vibrators can be offset relative to each other by a certain angle, as shown in FIG. 7, where 88 is the projection of the plane of rotation of the eccentrics 14 and 15 of the first vibrator, 89 is the projection of the plane of rotation of the eccentrics 16, 17 of the second vibrator, 90 is the projection of the plane of rotation of the eccentrics 18 and 19 of the third vibrator. The rotation planes of the following vibrators coincide with those indicated in FIG. 7 in the following order: the projection of the rotation plane of the fourth vibrator coincides with the axis 88, the projection of the rotation plane of the fifth vibrator coincides with the axis 89, and the projection of the rotation plane of the sixth vibrator coincides with the axis 90.

 The plane of rotation of the first vibrator is parallel to the surface on which the vehicle is located. The plane displacement angle is determined from the calculation of eliminating the collisions of the eccentrics and so that the gyroscopic effect does not impede the maneuvers of the vehicle.

On the graph (Fig. 8), the number 91 indicates the nature of the change in the disturbing force created by the first unbalanced vibrator; 92 - the nature of the forces for the second vibrator; 93 - for the third vibrator; 94 - for the fourth vibrator; 95 for the fifth and 96 for the sixth. On the graph, two points in time are highlighted by vertical dashed lines and indicated by t ₀ and t ₁ . The instantaneous value of the forces shown in FIG. 8 for time t ₀ is indicated by the letter "a", and for time t _{1 the} letter "b". In this case, the instantaneous values of forces have the same designation as in FIG. 9, but with the addition of a stroke for time t ₀ and two strokes for time t ₁ .

In FIG. 10, the resulting wave of inertia forces for time t _{0 is} indicated by 97, and the other for time t _{1 is} indicated by 98.

A device for generating a force causing a movement acts as follows. Using electric motors 48, 49, 50, 51, 52, 53 (Figs. 3, 4, 5, 6), clowns 14, 15 of the first unbalanced vibrator; 16, 17 of the second unbalanced vibrator; 18, 19 of the third unbalanced vibrator; 20, 21 of the fourth unbalanced vibrator; 22, 23 of the fifth unbalanced vibrator and 24, 25 of the sixth unbalanced vibrator are rotated at the same speed and counterclockwise (Fig. 1). Since the eccentrics of the vibrators are offset relative to each other by a certain angle indicated earlier, as a result, alternating sinusoidal disturbing forces arise along a common tubular base 1, the nature of which is shown in FIG. 8. Consider the time t ₀ . Instantaneous forces will act on axis 1, the magnitude of which is reflected in FIG. 9, a. So from the first vibrator and the fourth vibrators, the forces 91 'and 94' are equal to the amplitude value and are directed in the opposite direction. The forces 92 'and 95' from the second and fifth vibrators are also directed counterclockwise, and their values are equal to 1/2 amplitude. The forces 93 'and 96' from the third and sixth vibrators also have values equal to half the amplitude, and are directed in the opposite direction. This force diagram can be displayed in the form of a wave 97 distributed along a common axis 1 (FIG. 10).

At time t ₁ according to the graph (Fig. 8), the axis 1 forces 91 "and 94" (Fig. 9) from the first and fourth vibrators are zero, and the forces 92 ", 93", 95 "and 96 '' from the second, third, fifth and sixth vibrators will be approximately equal to 0.866 and pairwise directed towards each other. The wave of distribution of forces will correspond to graph 98 (Fig. 10). From a comparison of 97 and 98 it can be seen that during the time from t ₀ to t _{1 the} wave of forces has shifted to the left of the first vibrator. Physically, this can be represented as compression and tensile waves moving along axis 1. If we consider the force diagram of FIG. 8, 9, from t ₀ to infinity, it can be noted that under the action of forces along the axis there will be a movement of the inertia wave. The wave velocity is determined from the formula v = 2fτ.

 For the example of FIG. 1, the pole division τ is equal to the distance between two neighboring points passing through 0, and is equal to 3L.

In order for the wave of the acting force moving along the axis to have a constant amplitude and move at a constant speed, which is a condition for eliminating spurious vibrations, the following conditions must be met: 1) pairs of vibrators must create counterpropagating and equal instantaneous forces along axis 1; 2) the distance between the vibrators should be equal to L = kτ / n; 3) the phase shift angle of the forces created by the vibrators should be equal to φ _i = -πL (i-1) / τ; 4) the number of vibrators must be even; 5) the minimum number of pairs of vibrators should be equal to two.

The perturbing force generated by one vibrator will be equal to F _i = F _m sin (ωt-φ _i ) (3), where F _m = 2mRω ² , m is the mass of one eccentric reduced to the radius of rotation R, t is time. The resulting translational force of the inertial wave will be equal to F _e = nF _m .

 To change the maximum speed of the inertial wave, in accordance with the equation V = 2f τ, it is necessary to change the pole division and the distance between the vibrators, which is implemented in FIG. 4. When the motor 44 is rotated, the couplings 38, 39, 40, 41 and 42 tighten or extend the sections 2, 3, 4, 5, 6, and 7 of the tubular base 1, changing both the pole division and the distance L between the unbalanced vibrators. The channels 45, shifting relative to 46 translationally, prevent the rotation of sections 2 - 7. Changes in the angle of phase shift of the eccentrics is not required.

 Vibration-free operation of the system is possible with exact phasing of the eccentrics, which is achieved as shown in FIG. 4 power system and control motors of vibrators. The control unit 73 has three operating positions: “forward”, “coast” and “braking”. At each of the operating positions, the signal frequency determined for the BFI 69 by the operator is set by the operator. In the "forward" mode, the pulses pass unhindered into the comparison blocks 73 - 78, where they are compared with the frequency of the pulses from the corresponding speed sensors 63 - 68. If it has If there is a mismatch in the number of pulses, then a command is sent from the comparison units to the corresponding control unit 57 - 62 to remove the mismatch. So, if the number of pulses of the speed sensor exceeds the number of pulses from the BFI, then a command is sent to reduce the rotational speed of the corresponding engine and vice versa, until this difference becomes equal to 0.

To ensure a system run-out, it is necessary, without stopping the inertial vibrators, to stop the movement of the inertial force. This requires that the phase angle of the third and fifth vibrators becomes equal to 0 ^o with respect to the first, and the phase angle of the second and sixth vibrators is the same as that of the fourth. This is achieved by the fact that when the command apparatus 73 is set to the “run-out” position, ultrasounds 70 and 71 receive instructions that the number of pulses from the BFI 69 should be removed so that the turn of the eccentrics 16, 17 and 22, 23 lags by an angle of 120 ^o , and for eccentrics 18, 19 and 24, 25 at an angle of 240 ^o . So, if the number of pulses of the speed sensor is 720 imp. / revolution, then the ultrasound 70 will remove 240 pulses, and the ultrasound 71 will be taken 480 pulses. When this signal is executed, the eccentrics will stand so that all three pairs of vibrators - the first and fourth, second and fifth, third and sixth - will generate counter inertia forces without phase shift, the resulting force will be 0 and the translational motion of the inertial wave will stop.

To obtain the inhibitory effect, it is necessary to create such a phase shift between the vibrational forces at which the resulting force will move in the opposite direction. Having set the command device 72 in the "braking" position, they send a command to the ultrasound so that part of the pulses for the second and fifth vibrators are removed, and they must be 120 ^degrees (240 imp.) Behind, and for the eccentrics 18, 19 and 24, 25 - at an angle of 120 ^o (240 imp.) Compared with the position "coast". This will cause a change in phase rotation in comparison with the "forward" position. The third and sixth vibrators will create a force with a shift of -240 ^o relative to the first and fourth vibrators, and the fifth and second vibrators with a shift of -120 ^o . The movement of inertia will be directed in the direction opposite to the direct movement. With the next installation of the command device 72 in the "forward" position, the next pulse delay will occur in the ultrasound scan 70 and 71 so that the eccentrics 18, 19 and 24, 25 first lag by an angle of -120 ^o , the eccentrics 16, 17 and 22, 23 by an angle of 240 ^o , which will correspond to the "coast" mode, and then there will be a transition to the "forward" movement with an additional lag of the mismatch angle for eccentrics 18, 19 and 24, 25 by an angle of -120 ^o , and for eccentrics 16, 17 and 22, 23 at an angle of -240 ^o . As can be seen from the description, the transition to the mode from a direct wave of inertial force motion to the reverse one and vice versa occurs through the “coast” mode, which ensures a smooth transition. By varying the rotation speed of electric motors 48 - 53, it is possible to ensure smooth start-up and braking.

In the embodiment of the technical solution, the eccentrics 14 - 25 have a movable joint with levers 25 - 37, respectively (Figs. 5 and 6). In the resting state, the springs 85, 86 move the eccentrics toward the center of rotation. During rotation, the eccentrics, due to the action of centrifugal forces, move towards the stops 83, 84. Depending on the frequency of rotation, the position of the eccentrics relative to the center of rotation also changes. Since the vibrational force depends on the ratio F _m = 2mR ω ² , the change in radius, in addition to the rotation speed, provides greater smoothness, especially when starting the system. By selecting the characteristic of the springs 85, 86, it is possible to provide any desired character of the increase in force F _m in the starting mode.

Application example. For a vehicle, a maximum speed of 50 km / h is required. (14 m / s) with a force of 1000 kg (9800 H). To simplify the design, we take a device for producing an inertial wave with the number of pairs of vibrators n = 2. The speed of the eccentrics is 3000 rpm (ω = 2πf = 314), the mass of the eccentrics is taken to be 0.2 kg. The amplitude of the force created by one vibrator F _m = F _e / n = 490 H. The radius of the eccentrics is determined by the formula (3) R = F _m / 2m ω ² = 490/2 • 314 • 0.2 = 0.124 m. The vibrator frequency f = 314/2 π = 50 Hz. Pole division (from the formula V = 2f τ, τ = 14/2 • 50 = 0.14 m. The distance between the vibrators at k = 1, L = 0.14 / 2 = 0.07 m. To avoid collisions of the eccentrics, we take k = 5, then L = 0.35 m. The total length of the device for receiving an inertial wave 0.35 • 3 = 1.03 m. The phase lag angle for the vibrators according to the formula (2): φ ₂ = 5π / 2 = -450 ^o = -90 ^o ; φ ₃ = -900 ^o = -180 ^o ; = φ ₄ - 1350 ^o = -270 ^o .

 The technical and economic advantages of the method for obtaining inertial motion and the device for obtaining the force causing the movement are as follows.

 1. Reduced vibration transmitted to the vehicle body.

 2. The efficiency of the system is increased, since spurious vibrations are minimized by the oncoming inclusion of pairs of vibrators.

 3. The adjusting properties are higher because the change in speed is achieved in three ways: by changing the speed of rotation of the vibrators, by changing the pole division and by changing the phase angle of the vibrational forces.

 4. Higher reliability since transmissions can be eliminated.

Claims (5)

1. The method of obtaining inertial movement of a vehicle based on the creation of a force constantly directed along the axis, causing the vehicle to move using at least two unbalanced vibrators mounted on a common rigid axis parallel to the longitudinal axis of the vehicle, characterized in that the force causing the movement vehicle, create using unbalanced vibrators with two eccentrics, rotating in different directions synchronously and in phase, installed at a distance L from each other a, and the phase angle of the instantaneous forces created by the vibrators is chosen equal
φ _i = -πL (i-1) / τ,
where = τk / n;
τ = V / 2f - pole division;
ω / 2π is the vibrational frequency of the vibrational force;
i - serial number of the unbalanced vibrator;
n is the number of pairs of vibrators;
V is the specified speed of the inertial force;
ω is the angular frequency of rotation of the vibrators;
k is an integer even for odd n and odd for even n.  2. The method according to claim 1, characterized in that for the movement in the opposite direction, the phase angle of the instantaneous forces created by the vibrators is changed.  3. The method according to claims 1 and 2, characterized in that the distance between the vibrators is changed.  4. A device for generating a force causing the movement of a vehicle, comprising 2n unbalanced vibrators mounted on a common rigid axis parallel to the longitudinal axis of the vehicle, characterized in that the unbalanced vibrators are made with eccentrics rotating in different directions synchronously and in phase, with the eccentrics installed on rotary levers and are movable relative to the levers, stops are installed on the ends of the levers, and springs are installed between the stops and eccentrics.  5. The device according to claim 4, characterized in that the plane of rotation of the adjacent vibrators are located at an angle to each other.

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