RU87686U1 - VIBROWORK WITH TWO MOBILE MASSES - Google Patents

Abstract

A vibratory robot with two moving masses, consisting of a horizontal section, inside which an electric drive is installed to control the movement of the inertial element and an inertial element moving in the horizontal plane, characterized in that an additional vertical section is installed on top of the horizontal section at an angle of 90 °, inside of which there is an electric drive for control the movement of the inertial element and the inertial element moving in a vertical plane by means of an electric vertical section Synchro with the movement of the inertial element of the horizontal section.

Description

The utility model relates to self-propelled vehicles.

A vehicle is known (RF patent No. 69010 U1 IPC B62D 57/00, 2007), characterized in that the vehicle propulsion device is a reversible DC motor with a rack and pinion gear that converts the angular displacement of the shaft of the reversible DC motor into linear translational motion fixed at the end of the rail inertial element, which is a hollow metal cylinder with the possibility of free rolling on the surface of a flat platform-body. The rack and pinion shaft of a reversible DC motor form a rack and pinion transmission of an electric drive. Adjusting the angular velocity 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 inertial element of the vehicle relative to its platform body at a given speed, whereby between the platform body of the vehicle and the surface displacements cause asymmetric friction forces, which allows the vehicle to move steadily over the surface.

The disadvantage of this vehicle is the low speed of movement, as well as the presence of slippage of the platform-housing of the vehicle relative to the movement surface.

The objective of the utility model is to eliminate slippage of the vehicle’s hull platform and increase its average speed.

The problem is solved in that the vehicle contains vertical and horizontal sections, in each of which are equally placed: propulsor in the form of an electric drive, inertial element.

The electric drive of each section of the vibro-robot 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 an inertial element freely mounted on the end of the rail, which is a metal cylinder with the possibility of free rolling on one of the flat surfaces of the section body . The rack and pinion shaft of a reversible DC motor form a rack and pinion transmission of an electric drive. Regulation of the angular velocity of the pinion shaft of the reversible DC motor, as well as the possibility of the reverse rotation of the pinion shaft, allows you to change the linear displacement of the freely fixed inertial element of the vibratory robot relative to its housing section at a given speed. The vertical section of the vibratory robot is mounted on top of the horizontal one at an angle of 90 ° so that the inertial element of the vertical section moves in the vertical plane. An electric drive with a freely fixed inertial element is installed in the housing sections of the vibratory robot in such a way as to ensure a symmetric distribution of their total mass relative to the longitudinal axis of the entire housing of the vibratory robot.

Figure 1 shows the vibro-robot with two moving masses. Figure 2-3 and figure 4-5 shows the timing diagram of the voltage supply to the electric drives of the vibro-robot to provide one cycle of movement of the vibro-robot forward and backward, respectively.

The vibrating robot (Fig. 1) consists of two identical sections, each of which contains: a housing section 1, an electric drive installed in a housing section, consisting of a reversible DC motor 2 and a rack and pinion rack 3, a freely fixed inertial element 4, guides 5 rack and pinion rails, mounting of engine 6 to the section housing.

Vibration robot works as follows.

When voltage is applied to the reversible DC motor 2 of the electric drive of each section of the vibrorobot, its gear shaft begins to rotate, moving the rack-and-pinion gear 3 forward. Moving, the rack 3 changes the position of the freely fixed inertial element 4 relative to the body-section 1 of the vibro-robot. For the rack 3 of the rack and pinion motor of the electric motor to move in the opposite direction, the voltage supplied to the reversing 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 inertial element 4. The movement of the inertial element 4 in the vertical section allows to eliminate slippage during movement and to increase the average speed of the vibratory robot by briefly changing the normal reaction force of the motion surface, vibrorobota constant to the housing. The engines in both sections operate synchronously.

To ensure one cycle of the movement of the vibro-robot forward (Fig.2-3), at the beginning there is a synchronous supply of inverse voltage (corresponding to the direction of movement of the rack-and-pinion gear 3 with a freely fixed inertial element 4 in the direction opposite to the necessary direction of movement of the inertial element 4) to reversible DC motors a vibratory robot for a period of time T _i then - synchronous supply of positive voltage (corresponding to the direction of movement of the rack rack 3 with freely fixed and with an inertial element 4 in the direction of the necessary direction of movement of the inertial element 4) to reversible DC motors for a period of time T _p (control voltage diagram U ₁ for the horizontal section motor, control voltage diagram U ₂ for the vertical section motor).

To ensure one cycle of movement of the vibro-robot backward (Fig.4-5), the polarity of the control voltage U ₁ changes, the time intervals T _i , T _p remain constant.

In this case, the value of T _p is determined by the value of the time required for the rack and pinion drive 3 to linearly move the freely fixed inertial element 4 relative to the casing section 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 electric drives is constant and the same. With successive repeated repetition of these cycles of the movement of the vibratory robot between the body of the entire vibratory robot and the displacement surface, asymmetric friction forces arise, which allows the vibratory robot to move stably along the surface.

Using a vibratory robot as a vehicle will allow transporting payloads on various surfaces with high positioning accuracy.

Claims (1)

A vibratory robot with two moving masses, consisting of a horizontal section, inside of which an electric drive is installed to control the movement of the inertial element and an inertial element moving in the horizontal plane, characterized in that an additional vertical section is installed on top of the horizontal section at an angle of 90 °, inside of which there is an electric drive for control the movement of the inertial element and the inertial element moving in a vertical plane by means of an electric vertical section Synchro with the motion of the inertial element of the horizontal section.