CN101968109B - Automatic energy compensation type single pendulum device - Google Patents

Abstract

An energy automatic compensation type single pendulum device, the hollow slider is embedded into a certain position of the screw through a screw, the upper end of the screw is a free end, the lower end is coaxial with the stepping motor, and the drive control module is connected with the stepping motor through a swing sensor; when the pendulum When the body swings to the maximum displacement, the swing sensor triggers the drive control module to drive the stepper motor to rotate, thereby driving the slider to descend slowly and then rise rapidly. When the pendulum swings to the maximum displacement on the other side, the swing sensor triggers the same action again, thus Drive the pendulum to swing for a long time. The drive control module includes a power supply, a controller, and a driver. It controls the speed and rotation angle of the stepper motor through the frequency and number of pulses, which not only ensures that the upper and lower limits of the slider remain unchanged each time, but also realizes the process of slow falling and fast rising. , to effectively compensate for the energy loss during the swing of the pendulum. The device has the advantages of simple structure, stable performance and convenient use.

Description

A simple pendulum device with automatic energy compensation

technical field

The invention belongs to an energy compensation device, in particular to an automatic energy compensation device for a simple pendulum.

Background technique

The simple pendulum cannot swing for a long time due to energy loss in the process of automatic movement, but the current automatic control device of the simple pendulum mainly drives the long-term swing of the simple pendulum by the forced vibration method. Chinese patent No. ZL96235339.6 utility model patent discloses an automatic control device for simple pendulum movement, which uses electromagnetic properties to drive the pendulum to swing for a long time. However, according to the physical principle, internal force can increase the mechanical energy of the system. For example, when swinging on a swing, the requirement for the center of gravity of the person increases when the swing reaches the highest point, and the requirement for the center of gravity of the person decreases when the swing reaches the lowest point. The work done by the internal force can compensate the lost energy in the swing.

However, the simple pendulum produced according to this principle has the problem of matching the swing cycle with the center of gravity lifting cycle. If the cycle is slightly inconsistent, the swing amplitude will attenuate and cannot swing for a long time; the energy compensation process is prone to collision between the slider and the cycloid. As a result, energy is consumed, energy replenishment is affected, and it cannot swing for a long time.

Contents of the invention

The object of the present invention is to overcome the shortcomings in the energy compensation mentioned above, and provide a simple pendulum device with simple structure and automatic effective energy compensation.

The technical solution of the present invention: A single pendulum device with automatic energy compensation, including a support rod, a metal wire and a pendulum body, the pendulum body is fixed on the support rod through a metal wire; the pendulum body includes a balance beam, a screw rod, a stepping motor and a hollow Slider, the screw is engraved with a groove, its lower end is coaxial with the stepping motor, and the upper end is a free end, the balance beam and the stepping motor are fixed by connecting pieces; the hollow slider is assembled through a structure corresponding to the groove to the screw, the hollow slider cooperates with the connector to limit its rotation; the swing sensor is fixed on the pole where it can contact the metal wire, the drive control module is connected to the stepper motor through the swing sensor, and the drive control module is connected to the metal wire wire connection.

The drive control module includes a power supply, a driver and a controller, and controls the speed and direction of rotation of the stepper motor through pulse signals, thereby controlling the rise and fall of the slider.

The beneficial effects of the present invention are:

1) The combination of the hollow slider and the screw is adopted, and the stepper motor is controlled to rotate clockwise and counterclockwise through the drive control module, thereby driving the hollow slider to rise or fall, so as to maintain the continuous swing of the pendulum through internal force, and its structure is simple .

2) Using the swing sensor, when the pendulum is at the maximum displacement, trigger the controller to make the stepping motor drive the slider to move, and the stepping motor can drive the slider to rise and fall at the same distance by controlling the number of pulses to ensure the upper position of the slider The positions of the point and the lower point are fixed, which can ensure the constant amplitude of the pendulum.

3) Combining the drive control circuit with the swing sensor, the stepper motor can drive the slider to rise faster than the fall speed by controlling the pulse frequency, so as to overcome the problem that the energy compensation cycle is inconsistent with the swing cycle of the single pendulum, and can ensure the maintenance of the pendulum fixed amplitude.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Figure 1 is a diagram of the system installation.

FIG. 2 is an enlarged view of the structure of the pendulum system 5 in FIG. 1 .

Fig. 3 is an enlarged view of the front structure of the pendulum 9 in Fig. 1 .

FIG. 4 is an enlarged view of the side structure of the pendulum 9 in FIG. 1 .

Fig. 5 is a circuit connection diagram in Fig. 1 .

Among them 1. Power supply, 2. Controller, 3. Driver, 4. Data line, 5. Single pendulum system, 6. Strut, 7. Swing sensor, 8. Metal wire, 9. Pendulum body, 10. Balance beam, 11. Screw, 12. Helical groove, 13. Hollow slider, 14. Screw, 15. Stepper motor, 16. Connector.

Detailed ways

The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in Figures 1-2, the present invention includes a simple pendulum system 5 and a drive control module, and a swing sensor 7 is arranged on the simple pendulum system 5 . Wherein, the drive control module includes a power supply 1, a controller 2 and a driver 3; the power supply 1 is connected with the driver 3 through the controller 2, and the drive control module is connected with the swing sensor 7 and the stepper motor 15 in the single pendulum system 5 through the data line 4 Connected; the upper end of the single pendulum system 5 is a strut 6, which is supported or suspended, and the strut 6 is connected with the pendulum 9 through two metal wires 8.

As shown in Figure 3 and Figure 4, the screw rod 11 is coaxial with the stepper motor 15, the screw rod 11 is engraved with a spiral groove 12, the screw rod 11 passes through the hollow slider 13, and the center of the hollow slider 13 is equipped with a screw 14, the screw The part of 14 inside the hollow slide 13 is placed in the helical groove 12 of the screw 11 . The upper end of connector 16 is fixed with balance beam 10, and the lower end is fixed with stepper motor 15 shells, wherein hollow slider 13 is an elliptical cylinder, and there is a gap between it and connector 16, and the gap between hollow slider 13 and connector 16 The distance is less than the length of its semi-major axis, so as to ensure that when the screw rod 11 rotates, the hollow slider 13 cannot rotate but can only move up and down.

As shown in Figure 5, the power supply 1 is to convert 220V AC power into 24V DC power supply, the driver 3 model is 2024B2, and its pins B15 and B16 are connected to the output end of the power supply 1 by two wires; the controller 2 model CNC, which is connected with The 220V AC power supply is directly connected, and its pins CP0, DIR0 and OPTO are respectively connected to the pins B07-B09 of the driver 3; the pins OUT1 and GND of the controller 2 are connected to the metal wire 8 and the swing sensor 7 respectively, and the two parallel metal The wire 8 is connected at the balance beam 10 , when the swing sensor 7 contacts the metal wire 8 , the circuit is connected; the pins B11-B14 of the driver 3 are connected with the stepper motor 15 through the data line 4 .

The working principle of the single pendulum system is: connect the power supply 1, deviate the pendulum body 9 from the equilibrium position by about 10 degrees, after releasing it, when the pendulum reaches the maximum displacement, the metal wire 8 contacts the swing sensor 7, thereby conducting the drive control module , the controller 2 drives the driver 3 to drive the stepping motor 15 to rotate counterclockwise (viewed from the top), thereby driving the hollow slider 13 to descend slowly. After moving a certain displacement, the controller 2 controls the driver 3 to drive the stepping motor 15 clockwise Rotate (viewed from top to bottom), thereby driving the hollow slider 13 to rise rapidly. At this time, the pendulum 9 has not reached the maximum displacement on the other side; when the pendulum 9 reaches the maximum displacement on the other side, the metal wire 8 and the swing sensor 7 Contact, the trigger controller 2 controls the driver 3 to drive the stepper motor 15 to rotate counterclockwise or clockwise (viewed from the top), thereby driving the slider to drop slowly and then rise rapidly, and each time the pendulum 9 is triggered, a certain amount of energy can be obtained. Thus, long-term swing is realized.

In the present embodiment, in order to realize that the hollow slider 13 moves up and down, it is realized by the number of pulses of the controller 2 controlling the driver 3; its preferred scheme is that the controller 2 controls the driver 3 to send 250 pulses respectively, thereby driving the stepping motor 15 Clockwise and counterclockwise (viewed from above), since each pulse drives the screw 11 to rotate 7.5 degrees, that is, each rotation is 1875 degrees. Thereby driving the hollow slider 13 to move the same displacement, ensuring that the positions of the upper limit and the lower limit of the hollow slider 13 remain unchanged.

In the present embodiment, the rapid rise and slow decline of the hollow slider 13 are realized, and its realization is realized by controlling the pulse frequency of the driver 3 by the controller 2; the preferred method is that the controller 2 controls the driver 3 to send 1200 pulses per second. pulse, thereby driving the stepping motor 15 to rotate counterclockwise (viewed from the top), driving the hollow slider 13 to slowly descend; the controller 2 controls the driver 3 to send 2400 pulses per second, thereby driving the stepping motor to rotate clockwise ( Seen from top to bottom), drive the hollow slide block 13 to rise rapidly.

The rotation of the stepper motor 15 in this embodiment is related to the thread direction of the screw 11, as long as the slow rise and fast fall in the present invention can be realized through its rotation, it belongs to the protection scope of this patent.

In the present invention, the hollow slider is not limited to an elliptical cylinder, as long as it can be restricted by the connecting piece to rotate with the screw rod, it belongs to the protection scope of the present invention; if the following scheme can be adopted: it is fixed by two unconnected connecting pieces. The balance beam and the stepping motor are provided with protrusions on the outside of the hollow slider, and the protrusions are placed in the gaps of the connecting parts.

The working mode of the swing sensor of the present invention is not limited to what is mentioned in the embodiment, as long as it can trigger the drive control module to conduct when the pendulum swings to the maximum displacement, it belongs to the access protected by the present invention; if the following scheme can be used to realize: The material of the cycloid is not limited, and the swing sensor connects the two wires leading out of the drive control module through two parallel thin metal wires. When the pendulum moves to the maximum displacement, the parallel wires are connected to trigger the drive control module to conduct.

Claims (4)

1. A single pendulum device with automatic energy compensation, including a support rod (6), a metal wire (8) and a pendulum body (9), the pendulum body (9) is fixed on the support rod (6) through a metal wire (8) It is characterized in that: the pendulum (9) includes a balance beam (10), a screw (11), a stepping motor (15) and a hollow slider (13), and the screw (11) is engraved with a groove (12) , the lower end of which is coaxial with the stepper motor (15), and the upper end is a free end, the balance beam (10) and the stepper motor (15) are fixed by the connecting piece (16); the hollow slider (13) is connected with the groove (12) The corresponding structure is assembled on the screw rod (11), and the hollow slider (13) cooperates with the connector (16) to limit its rotation; the swing sensor (7) is fixed on the support rod (6) and can be connected with the metal wire ( 8) At the contact position, the drive control module is connected to the stepper motor (15) through the swing sensor (7), and the drive control module is connected to the metal wire (8); the drive control module includes a power supply (1), a controller (2) and the driver (3) control the speed and direction of rotation of the stepping motor (15) through pulse signals, and then control the rapid rise and slow fall of the hollow slider (13). 2. The energy automatic compensation type simple pendulum device according to claim 1, characterized in that: when the pendulum body (9) swings to a certain angle, it contacts the swing sensor (7), and the drive control circuit and stepper motor (15). 3. The energy self-compensating simple pendulum device according to claim 1, characterized in that: the hollow slider (13) is fixed with the screw (14) on it and the groove (12) of the screw (11) )assembly. 4. The energy self-compensating single pendulum device according to claim 1 or 3, characterized in that: the hollow slider (13) is in the shape of an ellipse, and the distance between its center and the connecting piece (16) is less than half of its length shaft length.

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