RU69010U1 - VIBRATOR WITH ONE MOBILE MASS - Google Patents

Abstract

The utility model relates to self-propelled vehicles. The essence of the utility model consists in the fact that a vibro-robot with one moving mass is driven by using a freely fixed moving mass in the design of the vibro-robot, which is a hollow metal cylinder with the possibility of free rolling on the surface of a flat platform-body of the robot. The moving mass is driven by a linear electric drive, which is a reversible DC motor with rack and pinion transmission.

Description

The utility model relates to self-propelled vehicles.

A vehicle is known (RF patent No. 2199814 IPC B65G 27/04, 2000), characterized in that the vibrational movement mechanism includes a transportable object with an inertial load mounted on a non-magnetic surface connected to a source of disturbing vibrational influences, while the inertial load is a piston freely mounted in a tank made in an object partially filled with ferromagnetic fluid. In the lower part of the object near the place of its contact with the vibrating surface, recesses are made with U-shaped permanent magnets installed in them, connected by channels to the reservoir.

The disadvantage of this vehicle is the complexity of the design containing the tank, partially filled with ferromagnetic fluid.

The objective of the utility model is to simplify the design of the vehicle, due to the use of a linear electric drive in the design, and one moving mass as an inertial load.

The problem is solved in that the vehicle contains: a flat platform-casing mounted on the platform mover in the form of a linear electric drive, one movable mass. The linear electric drive is a reversible DC motor with rack and pinion transmission, which converts the angular movement of the shaft of the reversible DC motor into linear translational motion of the movable mass freely fixed at the end of the rail, which is a hollow metal cylinder with the possibility of free rolling on the surface of a flat platform body. Rake and

gear shaft of a reversible DC motor form a rack and pinion transmission of a linear electric drive. Adjusting the angular speed of the gear shaft of the reversible DC motor, as well as the possibility of reversing the rotation of the gear shaft, allows you to change the linear displacement of the freely fixed moving mass of the robot relative to its platform body at a given speed. A linear electric drive with a freely fixed movable mass is mounted on the body of the vibrorobot in such a way as to ensure a symmetric distribution of their total mass relative to the longitudinal axis of the body of the vibrorobot.

In Fig.1 shows a vibro-robot with one moving mass. Figure 2 shows the timing diagram of the voltage supply to the linear electric drive of the vibro-robot to provide one cycle of movement of the vibro-robot with one moving mass.

The vibro-robot with one moving mass (Fig. 1) contains: a flat platform-housing 1, a linear electric drive mounted on the platform, consisting of a reversible DC motor 2 and a rack-and-pinion rack 3, a moving mass 4, guides 5 of a rack-and-pinion rack, engine mounting 6 .

Vibration robot with one moving mass works as follows.

When voltage is applied to the reversible direct current motor 2 of the linear electric drive, its pinion shaft begins to rotate, moving the rack-and-pinion gear 3 forward. Moving, the rack 3 changes the position of the freely fixed movable mass 4 relative to the platform-housing 1 of the vibro-robot. To move the rack 3 of the rack-and-pinion transmission of the linear electric motor in the opposite direction, the voltage supplied to the reversible DC motor 2 changes the polarity, and the gear shaft of the electric motor rotates in the opposite direction, moving the rack 3 back together with the freely fixed movable mass 4.

To ensure one cycle of movement of the vibro-robot (Fig. 2), the inverse voltage is first applied at the same time (corresponding to the direction of movement of the rack-and-pinion gear 3 with the freely movable mass 4 in the direction opposite to the necessary direction of movement of the platform-body 1 of the vibro-robot) to a reversible DC motor 2 vibrorobota during the time interval T _i, then - synchronous positive supply voltage (corresponding to the direction of movement of the rack gear rack 3 with freely fastened under izhnoy mass 4 in the direction of the desired direction of movement, the platform body 1 vibrorobota) for reversible DC motor 2 vibrorobota during the time interval T _p. In this case, the value of T _p is determined by the value of the time required for the rack of the rack and pinion transmission 3 to ensure linear movement of the freely fixed rolling mass 4 relative to the platform body 1 when a voltage of U _{d is} applied to the DC motor 2. The value of T _p must be greater than T _i , the values of T _p and T _{i are} determined experimentally. The level of voltage U _d supplied to the linear electric drive is constant and the same. When sequentially repeating this cycle of the movement of the vibratory robot between the platform-casing 1 of the vibratory robot and the displacement surface, asymmetric friction forces arise, which allows the vibratory robot to move stably along the surface.

Using a vibro-robot with one moving mass as a vehicle will allow transporting payloads on various surfaces with high accuracy of positioning.

Claims (1)

Vibrating robot with one moving mass, consisting of a flat platform-body and freely fixed moving mass, characterized in that the moving mass is a hollow metal cylinder with the possibility of free rolling on the surface of a flat platform-body of the robot, in addition, a mover is mounted on the platform-body in the form of a linear electric drive, which is a reversible DC motor with a rack and pinion transmission that converts the angular movement of the shaft of a reversible DC motor ka in the linear translational motion of the moving mass.