CN204576902U - A kind of club balance control device for experimental teaching - Google Patents
A kind of club balance control device for experimental teaching Download PDFInfo
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- CN204576902U CN204576902U CN201520146082.0U CN201520146082U CN204576902U CN 204576902 U CN204576902 U CN 204576902U CN 201520146082 U CN201520146082 U CN 201520146082U CN 204576902 U CN204576902 U CN 204576902U
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- balance
- balance stem
- club
- bead
- control device
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Abstract
The utility model discloses a kind of club balance control device for experimental teaching, this device comprises balance stem, be positioned at the bead on balance stem, detecting element, control assembly and adjustment component, detecting element can detect the position at bead place accurately, and by this information feed back to control assembly, control assembly is stabilized in the pivot angle size of balance stem on given position by computing bead of must sening as an envoy to, and export control signal to driving element, driving element drives adjusting lever deflection to need angle to adjust the pivot angle of balance stem, thus control the movement of bead, and make bead be stabilized on given position, realize the automatic control balance test of club, this device manufacturing cost is lower, the cost of whole experimental provision only has hundreds of unit.Adopt non-contact detecting element to realize little ball position to detect, more reliable without friction.Coordinate by what adopt steering wheel and adjusting lever the adjustment realized balance stem pivot angle, structure and manufacture craft are relatively simple, convenient understand and operate use.
Description
Technical field
The utility model belongs to automatic control technology field, is specifically related to a kind of club balance control device for experimental teaching.
Background technology
In the education experiment of the correlated curriculum such as " Automatic Control Theory " and " computing machine control ", the composition generally needing to adopt experimental provision to coordinate and explain automatically to control, structure, operation and actual effect, make student to having more deep, comprehensive and concrete understanding in course.
At present little for the experimental provision about course teaching, the Gu Gao company in Shenzhen is do in this respect reasonable.Gu Gao company typical products in this respect has various types of inverted pendulum, and self-balancing trolley, club control and ball panel control system.
Club control system is the experimental facilities designed for the education experiment of the base control courses such as Automatic Control Theory, this system covers many classics and modern method for designing, whole device is by club executive system, controller and DC power portion are grouped into, and this system is a kind of desirable empirical model concerning control system.Traditional club control device comprises the adjustment portion that support end, balance stem and driven equilibrium bar swing up and down, and bead rolls on balance stem.The gordian technique of this system detects the position of bead.The product of Gu Gao company is the balance stem adopting conductive resistance material to make, and bead is that metal makes, and just can form the system that is similar to linear potentiometer like this by Metal Ball.The principle of this system is simple, and club position is detected and adopted conductive guide to realize, and the control of balance stem then adopts servomotor and wheel bar (connecting rod) device to realize.But need custom-made, manufacture craft relative complex, manufacturing cost is higher.The weight of Metal Ball is comparatively large in addition, adds the difficulty of control, club control system price usually at about 30,000 yuan, somewhat expensive, and the funds of education experiment are limited, are difficult to buy high-quality and the experimental products of practicality.
In view of above problem, be necessary to propose more simple, the practical and experimental products of cheapness of a kind of structure, facilitate experimental implementation and control, be applicable to the use of education experiment.
Utility model content
In view of this, the utility model provides a kind of club balance control device for experimental teaching, the position at bead place can be detected accurately by arranging detecting element, adjustment component can according to the pivot angle of the position adjustment balance stem of bead, thus control the movement of bead, make bead be stabilized on given position, realize the automatic control balance test of club, and this device for mechanical structure and manufacture craft are relatively simple, manufacturing cost is very low.
According to a kind of club balance control device for experimental teaching that the purpose of this utility model proposes, comprise balance stem, described balance stem one end is provided with support component, described balance stem can with described support component for fulcrum swings up and down, the described balance stem other end is provided with the adjustment component of adjustment balance stem pivot angle, described balance stem is provided with the bead moved along balance stem;
Described club balance control device also comprises control assembly, and detects the detecting element of little ball position, and described control assembly is electrically connected with described detecting element and described adjustment component respectively;
Described adjustment component comprises the adjusting lever being articulated with described balance stem one end, and drives the driving element of described adjusting lever motion adjustment balance stem pivot angle, and described driving element is electrically connected with described control assembly.
Preferably, described driving element is the steering wheel be fixedly installed, described adjusting lever comprises the first adjusting lever and the second adjusting lever that are mutually hinged setting, one end of described first adjusting lever and described balance stem is hinged, described second adjusting lever is fixedly connected with the rotating shaft of described steering wheel, and described second adjusting lever and the first adjusting lever produce with the rotation of steering wheel rotating shaft the pivot angle swinging and adjust balance stem.
Preferably, described balance stem is U-shaped structure, the moving guide rail of the U-shaped Structure composing bead of balance stem.
Preferably, described detecting element is infrared electro range sensor, and described infrared electro range sensor is arranged at one end or the side of described balance stem.
Preferably, described detecting element is the photoelectrical position sensor rearranged by photosensitive tube.
Preferably, the bottom of U-shaped balance stem is provided with row's infrared ray photosensitive tube, and the top of described balance stem is provided with infrared light supply, and bead rolls between infrared ray photosensitive tube and infrared light supply.
Preferably, described detecting element is imageing sensor, and described imageing sensor is installed on above balance stem or side.
Preferably, described control assembly is the single-chip microcomputer with A/D function and PWM output function.
Preferably, described club balance control device also comprises communication module, and described communication module adopts Bluetooth wireless communication; Or the communication interface of described communication module is UART interface, described communication module turns by UART the USB interface that USB converter is connected to computing machine.
Preferably, described control assembly also have keyboard operation module and LCD MODULE.
Compared with prior art, the disclosed advantage for the club balance control device of experimental teaching of the utility model is:
This device comprises balance stem, be positioned at the bead on balance stem, detecting element, control assembly and adjustment component, detecting element can detect the position at bead place accurately, and by this information feed back to control assembly, control assembly is stabilized in the pivot angle size of balance stem on given position by computing bead of must sening as an envoy to, and export control signal to driving element, driving element drives adjusting lever deflection to need angle to adjust the pivot angle of balance stem, thus control the movement of bead, and make bead be stabilized on given position, realize the automatic control balance test of club, this device manufacturing cost is lower, the cost of whole experimental provision only has hundreds of unit.Adopt non-contact detecting element to realize little ball position to detect, more reliable without friction.
Coordinate by what adopt steering wheel and adjusting lever the adjustment realized balance stem pivot angle, structure and manufacture craft are relatively simple, convenient understand and operate use.
The position of bead is detected by arranging detecting element, the material of such balance stem and bead is then without the need to limiting, any materials can be adopted to make, balance stem can adopt plastics or shape in actual applications, bead can adopt table tennis etc., and low price is extremely easy to use, lighter weight, is convenient to control.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the club balance control device embodiment 1 for experimental teaching.
Fig. 2 is embodiment 1 mid-infrared light electrical distance sensor circuit figure.
Fig. 3 is the sectional view of the club balance control device embodiment 2 for experimental teaching.
Fig. 4 is the structural representation of the club balance control device embodiment 3 for experimental teaching.
Fig. 5 is control system Fig. 1.
Fig. 6 is control system Fig. 2.
The title of the numeral in figure or the corresponding component representated by letter:
1, balance stem 2, support component 3, detecting element 4, steering wheel 5, first adjusting lever 6, second adjusting lever 7, bead 31, infrared ray photosensitive tube
Embodiment
The gordian technique of club control system detects the position of bead.In prior art, product is the balance stem adopting conductive resistance material to make, and bead is that metal makes, and just can form the system that is similar to linear potentiometer like this by Metal Ball.The principle of this system is simple, but needs custom-made, and manufacture craft relative complex, manufacturing cost is higher.The weight of Metal Ball is comparatively large in addition, adds the difficulty of control, club control system price usually at about 30,000 yuan, somewhat expensive, and the funds of education experiment are limited, are difficult to buy high-quality and the experimental products of practicality.
The utility model is for deficiency of the prior art, provide a kind of club balance control device for experimental teaching, the position at bead place can be detected accurately by arranging detecting element, adjustment component can according to the pivot angle of the position adjustment balance stem of bead, thus control the movement of bead, make bead be stabilized on given position, realize the automatic control balance test of club, and this device for mechanical structure and manufacture craft are relatively simple, manufacturing cost is very low.
To be clearly and completely described the technical solution of the utility model by embodiment below.Obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Embodiment 1
Please also refer to Fig. 1, Fig. 2 and Fig. 5, a kind of club balance control device for experimental teaching, comprises balance stem 1, balance stem 1 one end is provided with support component 2, and balance stem 1 can with support component 2 for fulcrum swings up and down.Balance stem 1 other end is provided with the adjustment component of adjustment balance stem pivot angle, balance stem 1 is provided with the bead 7 moved along balance stem.
Club balance control device also comprises control assembly (not shown), and detects the detecting element 3 of little ball position, and control assembly is electrically connected with detecting element 3 and adjustment component respectively.
In the application, balance stem can adopt the making such as plastics or shape usually, and bead can select table tennis or ball for health etc. usually, low price, lighter weight, convenient control.
Adjustment component comprises the adjusting lever being articulated with balance stem 1 one end, and drives the driving element of adjusting lever motion adjustment balance stem pivot angle, and driving element is electrically connected with control assembly.The steering wheel that wherein in the application, driving element is preferably fixedly installed, adjusting lever comprises the first adjusting lever 5 and the second adjusting lever 6 being mutually hinged setting, first adjusting lever 5 is hinged with one end of balance stem 1, second adjusting lever 6 is fixedly connected with the rotating shaft of steering wheel 4, and the second adjusting lever 6 and the first adjusting lever 5 produce with the rotation of steering wheel rotating shaft the pivot angle swinging and adjust balance stem.
Steering wheel is widely used control executive component on Che Mo and model plane, the rotating shaft of steering wheel can be made to rotate given angle by control signal.Suitable steering wheel model can be selected as required in the utility model, make the output of steering wheel enough drive the weight of adjusting lever and balance stem, the pivot angle of adjustment balance stem, thus control the movement of bead, and bead is stabilized on given position, thus realize the control effects of expectation.Concrete model does not limit.
In the application, steering wheel generally adopts the FUTABA S3003D steering wheel that Japan produces, and except employing servo driving, motor also can be adopted to drive, or promotes the modes such as balance stem one end adjustment pivot angle by cylinder, specifically needs according to use and determines.
Detecting element is infrared electro range sensor, and infrared electro range sensor is arranged at one end or the side of balance stem.Detected the position of the distance determination bead of bead relative detecting element by infrared electro range sensor, after by this signal transmission to control assembly.
Common infrared electro range sensor metering circuit detecting distance is less, generally within 10cm.And the detecting distance of club balance control system requires at more than 30cm, need to improve metering circuit, to increase detecting distance for this reason.Testing circuit structure after improvement describes as shown in Figure 2.The ITR9908 that sensor in figure in dotted line frame adopts Yi Guang company to produce, also can adopt the product of other company or other model.
Infrared electro range sensor cost is lower, and price is usually between a few unit to dozens of yuan, and cheap, use cost is lower.
The application can also adopt reflective photoelectric sensor, and usually select the ITR9908 reflective photoelectric sensor that hundred million smooth companies produce, concrete model needs according to use and determines, and does not limit at this.
Control assembly is single-chip microcomputer, control assembly receives the bead position signalling that infrared electro range sensor sends, the pivot angle size of balance stem on given position is stabilized in by computing bead of must sening as an envoy to, and export control signal to driving element, driving element drives adjusting lever deflection to need angle to adjust the pivot angle of balance stem, thus control the movement of bead, and make bead be stabilized on given position, realize the automatic control balance test of club.
Wherein, this single-chip microcomputer is for having the single-chip microcomputer of A/D (analog to digital conversion) function and PWM (pulse-length modulation) output function, single-chip microcomputer model can be PIC30F4011 (micro-core Products) and MSP430F149 (TI Products), and concrete model does not limit.
This balance control device also comprises communication module, the positional information of bead and data is sent to other computing machines with display.The communication interface of communication module is UART (universal asynchronous receiving-transmitting transmitter) interface, and communication module turns by UART the USB interface that USB converter is connected to computing machine, carries out detailed observation and analysis to facilitate.The running status of ball-beam system can be shown in real time by the application software that MATLAB (matrix and laboratory two contaminations) writes.When real-time can be ensured (communication speed is enough fast with the needs can getting caught up in control), even directly can be controlled ball-beam system by communication module with MATLAB.
Communication module can also adopt Bluetooth wireless communication.The trouble of line can be avoided, be user-friendly to.
Control assembly also have keyboard operation module and LCD MODULE.When control assembly is used alone (not by communication module and multi-purpose computer online), also can by the running status of LCD MODULE display system, and by keyboard operation module change control parameter.
Principle of work of the present utility model is as follows:
Detecting element can detect the position at bead place accurately, and by this information feed back to control assembly, control assembly is stabilized in the pivot angle size of balance stem on given position by computing bead of must sening as an envoy to, and export control signal to driving element, driving element drives adjusting lever deflection to need angle to adjust the pivot angle of balance stem, thus control the movement of bead, and make bead be stabilized on given position, realize the automatic control balance test of club.
Embodiment 2
Refer to Fig. 3, all the other are identical with embodiment 1, and difference is, detecting element is the photoelectrical position sensor rearranged by photosensitive tube.Balance stem is U-shaped structure, the moving guide rail of the U-shaped Structure composing bead of balance stem.
The bottom of U-shaped balance stem is provided with row's infrared ray photosensitive tube 31, and the top of balance stem is provided with infrared light supply (not shown), and bead rolls between infrared ray photosensitive tube and infrared light supply.
Balance stem adopts plastics or metal section bar to make, and section bar is simultaneously as the guide rail that bead rolls.Installed row's infrared ray photosensitive tube (Q) in the bottom of section bar, the top of section bar is provided with infrared light supply.Infrared ray photosensitive tube is the PT333-6C that hundred million smooth companies produce, PT204-6B, and infrared light supply is the PT334-6B that hundred million photoproduction are produced, IR204C-A.Wherein infrared ray photosensitive tube and infrared light supply also can adopt the product of other company or other model, specifically do not limit.
Because bead can shut out the light, then by detecting the photosensitive tube signal of bottom, just can obtain the position of bead.The diameter of photosensitive tube is 3-5 millimeter, and this precision is enough for the little ball position of detection.
The photoelectrical position sensor cost rearranged by photosensitive tube is lower, and the price of infrared ray photosensitive tube is usually between 1-2 unit, and cheap, use cost is lower.
Embodiment 3
Refer to Fig. 4, all the other are identical with embodiment 1, and difference is, detecting element is imageing sensor, and imageing sensor is installed on above balance stem or side.
Imageing sensor can adopt camera popular at present.We use OV7670 camera module for intelligent vehicle road conditions information gathering, price only has dozens of yuan, and cost is lower.
In addition to the implementation, detecting element also can be other in order to determine the sensor of little ball position, does not specifically limit.Also can use the camera (as shown in Figure 6) that directly can connect notebook computer or desktop computer, by computer, image be processed, obtain the position of bead.Control command is sent to single-chip microcomputer again by communication interface.Can carry out more flexible control like this, be more suitable for using as teaching equipment, embodiment does not limit.
The utility model discloses a kind of club balance control device for experimental teaching, this device comprises balance stem, be positioned at the bead on balance stem, detecting element, control assembly and adjustment component, detecting element can detect the position at bead place accurately, and by this information feed back to control assembly, control assembly is stabilized in the pivot angle size of balance stem on given position by computing bead of must sening as an envoy to, and export control signal to driving element, driving element drives adjusting lever deflection to need angle to adjust the pivot angle of balance stem, thus control the movement of bead, and make bead be stabilized on given position, realize the automatic control balance test of club, this device manufacturing cost is lower, the cost of whole experimental provision only has hundreds of unit.Adopt non-contact detecting element to realize little ball position to detect, more reliable without friction.
Coordinate by what adopt steering wheel and adjusting lever the adjustment realized balance stem pivot angle, structure and manufacture craft are relatively simple, convenient understand and operate use.
The position of bead is detected by arranging detecting element, the material of such balance stem and bead is then without the need to limiting, any materials can be adopted to make, balance stem can adopt plastics or shape in actual applications, bead can adopt table tennis etc., and low price is extremely easy to use, lighter weight, is convenient to control.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the utility model.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from spirit or scope of the present utility model, can realize in other embodiments.Therefore, the utility model can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. the club balance control device for experimental teaching, it is characterized in that, comprise balance stem, described balance stem one end is provided with support component, described balance stem can with described support component for fulcrum swings up and down, the described balance stem other end is provided with the adjustment component of adjustment balance stem pivot angle, described balance stem is provided with the bead moved along balance stem;
Described club balance control device also comprises control assembly, and detects the detecting element of little ball position, and described control assembly is electrically connected with described detecting element and described adjustment component respectively;
Described adjustment component comprises the adjusting lever being articulated with described balance stem one end, and drives the driving element of described adjusting lever motion adjustment balance stem pivot angle, and described driving element is electrically connected with described control assembly.
2. as claimed in claim 1 for the club balance control device of experimental teaching, it is characterized in that, described driving element is the steering wheel be fixedly installed, described adjusting lever comprises the first adjusting lever and the second adjusting lever that are mutually hinged setting, one end of described first adjusting lever and described balance stem is hinged, described second adjusting lever is fixedly connected with the rotating shaft of described steering wheel, and described second adjusting lever and the first adjusting lever produce with the rotation of steering wheel rotating shaft the pivot angle swinging and adjust balance stem.
3., as claimed in claim 1 for the club balance control device of experimental teaching, it is characterized in that, described balance stem is U-shaped structure, the moving guide rail of the U-shaped Structure composing bead of balance stem.
4., as claimed in claim 1 for the club balance control device of experimental teaching, it is characterized in that, described detecting element is infrared electro range sensor, and described infrared electro range sensor is arranged at one end or the side of described balance stem.
5., as claimed in claim 3 for the club balance control device of experimental teaching, it is characterized in that, described detecting element is the photoelectrical position sensor rearranged by photosensitive tube.
6. as claimed in claim 5 for the club balance control device of experimental teaching, it is characterized in that, the bottom of U-shaped balance stem is provided with row's infrared ray photosensitive tube, and the top of described balance stem is provided with infrared light supply, and bead rolls between infrared ray photosensitive tube and infrared light supply.
7., as claimed in claim 1 for the club balance control device of experimental teaching, it is characterized in that, described detecting element is imageing sensor, and described imageing sensor is installed on above balance stem or side.
8., as claimed in claim 1 for the club balance control device of experimental teaching, it is characterized in that, described control assembly is the single-chip microcomputer with A/D function and PWM output function.
9. as claimed in claim 1 for the club balance control device of experimental teaching, it is characterized in that, described club balance control device also comprises communication module, and described communication module adopts Bluetooth wireless communication; Or the communication interface of described communication module is UART interface, described communication module turns by UART the USB interface that USB converter is connected to computing machine.
10., as claimed in claim 1 for the club balance control device of experimental teaching, it is characterized in that described control assembly also has keyboard operation module and LCD MODULE.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520146082.0U CN204576902U (en) | 2015-03-13 | 2015-03-13 | A kind of club balance control device for experimental teaching |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520146082.0U CN204576902U (en) | 2015-03-13 | 2015-03-13 | A kind of club balance control device for experimental teaching |
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| CN204576902U true CN204576902U (en) | 2015-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520146082.0U Expired - Fee Related CN204576902U (en) | 2015-03-13 | 2015-03-13 | A kind of club balance control device for experimental teaching |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105700456A (en) * | 2016-02-04 | 2016-06-22 | 苏州健雄职业技术学院 | Balance controlling device having automatic feedback function |
| CN106246981A (en) * | 2016-09-27 | 2016-12-21 | 南京苗苗智能科技有限公司 | A kind of balance method of Internet of Things pipeline balance control equipment |
| CN108510865A (en) * | 2018-03-20 | 2018-09-07 | 南京铁道职业技术学院 | A kind of balanced ball rolling control teaching system device |
| CN109557952A (en) * | 2018-12-19 | 2019-04-02 | 深圳市宇名电子有限公司 | A kind of rotary shaft ball balance system and control method based on machine vision |
-
2015
- 2015-03-13 CN CN201520146082.0U patent/CN204576902U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105700456A (en) * | 2016-02-04 | 2016-06-22 | 苏州健雄职业技术学院 | Balance controlling device having automatic feedback function |
| CN106246981A (en) * | 2016-09-27 | 2016-12-21 | 南京苗苗智能科技有限公司 | A kind of balance method of Internet of Things pipeline balance control equipment |
| CN108510865A (en) * | 2018-03-20 | 2018-09-07 | 南京铁道职业技术学院 | A kind of balanced ball rolling control teaching system device |
| CN109557952A (en) * | 2018-12-19 | 2019-04-02 | 深圳市宇名电子有限公司 | A kind of rotary shaft ball balance system and control method based on machine vision |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150819 Termination date: 20180313 |