Remotely-operable reciprocating compactor

• US 9,580,879 B1
• Filed: 05/02/2016
• Issued: 02/28/2017
• Est. Priority Date: 05/02/2016
• Status: Active Grant

• Current Assignee: Jason A. Williams
• Original Assignee: Jason A. Williams
• Inventors: Williams, Jason A.
• Primary Examiner(s): Addie, Raymond W
• Application Number:
  US15/144,103
• Time in Patent Office: 302 Days
• Field of Search: 404/133.05
• US Class Current: 1/1
• CPC Class Codes: E01C 19/32 Hand-held hand-actuated rammers or tampers
• CPC Class Codes: E01C 19/35 Hand-held or hand-guided tools E01C19/36 - E01C19/40 take precedence
• CPC Class Codes: E02D 3/046 by tamping or vibrating, e.g. with auxiliary watering of the soil E02D3/026, E02D3/08 take precedence; generating or transmitting mechanical vibrations for performing mechanical work in general B06B; tamping or vibrating apparatus for working ballast or railways E01B27/00, for consolidating paving materials E01C19/30, for consolidating concrete in general E04G21/06
• CPC Class Codes: E02D 3/074 Vibrating apparatus operating with systems involving rotary unbalanced masses E02D3/054 takes precedence

Abstract

Embodiments of the present disclosure include a remotely-operable percussion compactor comprising: a primary power source; a plurality of electric motors coupled to the primary power source and attached to the compactor body; a plurality of reaction wheels coupled to respective electric motors; an inertial measurement unit (IMU); a remote control interface; and a controller configured to: receive one or more commands from the remote-control interface and a feedback signal from the IMU, and set a desired operating condition for at least one of the electric motors based on at least one of the feedback signal and the one or more commands. In some embodiments, the controller can be configured to determine an angular disturbance relative to at least one rotational axis of the compactor; and set the desired operating condition for one or more electric motors to generate a reactive force to at least partially counteract the angular disturbance.

Claims

1. A remotely-operable percussion compactor, comprising:

a primary power source;

a plurality of electric motors, each coupled to the primary power source and attached to the body of the percussion compactor;

a plurality of reaction wheels coupled to respective ones of the electric motors;

an inertial measurement unit;

a remote control interface; and

a controller configured by execution of programmable instructions to;

receive one or more commands from the remote-control interface;

receive a feedback signal from the inertial measurement unit; and

set a desired operating condition for at least one of the electric motors based on at least one of;

i) the one or more commands; and

ii) the feedback signal.

2. The percussion compactor of claim 1, further comprising a remote-control unit capable of communicating with the remote-control interface.

3. The percussion compactor of claim 2, wherein the remote control unit comprises one or more user input devices.

4. The percussion compactor of claim 1, wherein the one or more commands pertain to at least one of the following:

i) position, velocity, and/or acceleration of the compactor relative to a lateral surface of a working area; and

ii) angular displacement, velocity, and/or acceleration relative to at least one rotational axis of the percussion compactor.

5. The percussion compactor of claim 1, wherein the feedback signal comprises at least one of the following:

i) linear position, velocity, and/or acceleration of the compactor relative to a reference frame; and

ii) angular displacement, velocity, and/or acceleration relative to at least one rotational axis of the percussion compactor.

6. The percussion compactor of claim 1, wherein:

the primary power source comprises an internal combustion engine; and

the electric motors are coupled to the internal combustion engine via an electric generator.

7. The percussion compactor of claim 1, further comprising a frame attached to the body of the percussion compactor, wherein at least one or more of the electric motors are attached to the frame.

8. The percussion compactor of claim 7, wherein the frame is rigid.

9. The percussion compactor of claim 8, wherein:

the frame comprises two frame portions arranged at substantially right angles to each other;

at least one electric motor is attached to each frame portion; and

both frame portions are attached to the compactor body.

10. The percussion compactor of claim 7, wherein:

the frame comprises two co-planar frame portions disposed around a center member, said center member attached to the body of the percussion compactor; and

each frame portion comprises an end member disposed opposite the attachment to the center member, to which an electric motor is attached.

11. The percussion compactor of claim 10, wherein:

each end member is coupled to a spring that is further coupled by a movable member to the end member comprising the other frame portion; and

the two frame portions are movable relative to each other within their common plane.

12. The percussion compactor of claim 1, wherein the body of the percussion compactor comprises one or more recesses, each recess configured to attach one of the electric motors to the body.

13. The percussion compactor of claim 1, wherein the desired operating condition for at least one of the electric motors comprises at least one of:

i) input current level;

ii) output rotational speed and direction; and

iii) output torque magnitude and direction.

14. The percussion compactor of claim 1, wherein the plurality of electric motors comprise brushless DC motors.

15. The percussion compactor of claim 1, wherein the controller is configured to:

determine, based on the feedback signal, a disturbance relative to at least one rotational axis of the percussion compactor; and

set the desired operating condition for at least one of the electric motors so as to generate a reactive force intended to at least partially counteract the disturbance.

16. The percussion compactor of claim 15, further comprising a plate configured to:

contact the ground at one or more points during operation; and

apply the generated reactive force as a torque about at least one of the ground contact points.

17. The percussion compactor of claim 1, wherein the plurality of electric motors are attached to the compactor body so as at least one of their respective reaction wheels acts as a counterweight to at least a portion of the other respective reaction wheels.