Розглянуто питання створення вібраційних трубчастих конвеєрів, запропоновано методику їх розрахунку. Вібраційні трубчасті конвеєри надають змогу розширити технологічні можливості шляхом забезпечення транспортування сипких продуктів та утворення на їх базі транспортувальних ліній. Розглянуто основні вимоги на етапі проектування цих вібраційних конвеєрів для забезпечення коливального руху та наведено різноманітні схеми кріплень пружних систем та експериментальні графічні залежності.

The analysis of operation of vibrating conveyers with nonparallel placement of flat springs is carried out. The motion of mechanical oscillating system is investigated. The structure of the supporting unit for flat springs fastening is propounded. This structure allows simplifying of setting-up of two-mass vibrating conveyers with the aim to ensure the effective operation. The models of conveyers with nonparallel placement of springs, providing the accurate calculations of rigidities and angles of flat springs inclinations, considerably simplify the structures of conveyers and their setting-up to ensure the prescribed angles of vibrations. The proposed structure of fastening of flat springs ends allows increasing of operation efficiency of the two-mass vibrating conveyer. Due to such setting-up of the equipment it is possible to compensate some of its theoretical and structural faults. On the basis of presented investigations, it is planned to develop the three-mass models of conveyers-separators with transporting of separated components in different directions.

The analysis of structure diagrams of the two-mass tubular conveyer with two-cycle electromagnetic drive is carried out in the article. Two methods of designing of the elastic system are considered; calculation formulas for elastic system computation are deduced according to different requirements for the operating parameters of conveyers; the comparative analysis of two types of elastic systems is conducted. The recommendations for designing the lengthy tubular vibrating conveyers are presented. According to the considered structural diagrams of the elastic system the models of the lengthy vibrating conveyers with the transporting distances l = 1,5 - 4 m are developed. On the basis of these models the lengthy vibrotransporting systems with the transporting distance l = 5 - 30 m were developed, manufactured and applied in industry. The considered systems ensures the transportation of loose materials (porcelain composition, sand etc.) with maximal speeds up to 800 mm/sec and productivities (for tubes with internal diameter D = 100 mm) up to 30 tons per hour for. It is reasonable to use both considered schemes of elastic systems for development of vibrating tubular conveyers with electromagnetic drive. The conveyers may be designed in two modifications: overhead and supporting. The obtained dependencies allow optimization of the structure and considering the important technical parameters of conveyers (maximal permissible oscillations amplitude, springs stresses, productivity etc.) in the design phase.

The operation of hopper devices, which are used in industry, civil engineering, agriculture and transport, is analyzed on the article. The external factors, which influence the process of charging, storing and discharging of loose cargo (freights) from hopper tanks, are overviewed. The subject of research of presented paper is the improvement of mechanisms of fracturing of products hangs-up (bridges) in hoppers at the stage of designing and setting up of hopper devices. In order to solve the stated problem the schemes of bridges fracturing and the structures of devices for debarment of products bridging and their uniform outflow from the hopper tank are proposed. The proposed schemes are based on the principles used in development of vibratory machinery with mechanical, cam and electromagnetic vibratory principles of structures forming. stiffness of elastic system and of the necessary forces for performing of technological process of bridges fracturing is presented and the recommendations for choosing of the stiffness of the system of elastic elements are suggested. For the hoppers with spring and electromagnetic blocks of bridges fracturing and of metered (batched) feeding of products the structural diagrams of devices are presented and the recommendations for usage of various modifications of devices are suggested. The influence of parameters of flat spring elements on the efficiency of devices operation is overviewed. The structural diagrams of devices with one-cycle and two-cycle electromagnetic vibration exciters and the modifications of elastic systems are considered. the structural diagram of the production prototype of the hopper feeder is presented. The materials of the article, the proposed structural diagrams, the operation scheme of the hopper feeder and the derived analytical formulas may be used by designers, researchers and technologists while improving of existent and developing of new devices.

The problem of substantiation of operational efficiency of vibratory separators designed on the basis of vibratory hopper feeders with electromagnetic vibrations exciters and with conic working bowls is considered in the article. The complex of factors influencing the accuracy and productiveness of separation of coins and disk-shaped products on two or more fractions is overviewed. New models of structures for the effective solution of separation problems are proposed. The design of a highly-efficient and high-performance separator with independent oscillations disturbance is described. The results of experimental investigations of vibratory transportation in elliptical modes of vibrations and of the study of separation efficiency are presented. The recommendations that developers and researchers of such devices may use are given.

Problem statement. Mobile robots are of significant interest among scientists and designers during the last several decades. One of the prospective drives of such robots is based on pneumatically operated walking (stepping) system with no use of electric, heat, magnetic or other types of energy. This allows the use of pneumatically-driven robots in the cases when the use of other energy sources is prohibited (e.g., in some gaseous or fluid mediums). At the same time, the walking (stepping) type of moving increases the manoeuvrability and cross-country capability of the mobile robot, and decreases the harmful effect of its interaction with the supporting surface (e.g., the fertile soil surface) in comparison with wheeled or caterpillar drives. Purpose. The main purpose of this research consists in substantiation of structure and parameters of pneumatic system of four-degree-of-freedom mobile robot with orthogonal walking drive and turning mechanism. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical experiment is conducted in MathCAD software; the computer simulation of the robot's motion is performed using SolidWorks software; the modelling of the pneumatic system operation is carried out in Festo FluidSim Pneumatic software. Findings (results) and originality (novelty). The improved structure of the mobile robot with orthogonal walking drive and turning mechanism is proposed. The pneumatically operated system ensuring the robot's curvilinear motion is substantiated. Practical value. The proposed design of walking robot can be used while designing industrial (production) prototypes of mobile robotic systems for performing various activities in the environments that are not suitable for using electric power or other types of energy sources. Scopes of further investigations. While carrying out further investigations, it is necessary to design the devices for changing motion speed of the robot and the height of lifting of its feet.