CN206558116U - Inverted pendulum device - Google Patents
Inverted pendulum device Download PDFInfo
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- CN206558116U CN206558116U CN201621437429.8U CN201621437429U CN206558116U CN 206558116 U CN206558116 U CN 206558116U CN 201621437429 U CN201621437429 U CN 201621437429U CN 206558116 U CN206558116 U CN 206558116U
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- swing rod
- translating element
- inverted pendulum
- pendulum device
- output shaft
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Abstract
A kind of inverted pendulum device of the present utility model, including support, swing rod, drive device and movement conversion mechanism；Drive device has the output shaft of outputting rotary power；Movement conversion mechanism includes rotational structure, translating element and guide frame；The rotational structure rotates under the driving of the output shaft and drives the translating element to move back and forth；The guide frame is fixedly installed on the support, and the reciprocating motion for limiting the translating element is alternating translational movement vertically；The swing rod is hinged with the translating element, with the translating element vertical handstand state can be kept on same vertical curve under the driving of the translating element.Pass through the movement conversion mechanism, the rotary power that drive device is exported, be converted to the driving force to the in the vertical direction of swing rod by translating element, swing rod is set to realize the handstand of in the vertical direction under the driving force effect of vertical direction, there is stronger attraction with stronger feeling of freshness, and to visitor.
Description
Technical field
The utility model is related to display and demonstration or teaching demonstration equipment technical field, and in particular to a kind of inverted pendulum device.
Background technology
Inverted pendulum is a kind of device with directly perceived, image bandwagon effect, be generally widely used in displaying or scientific research,
The fields such as teaching.
Existing inverted pendulum device, generally includes swing rod, support and linear electric machine etc., and one end of swing rod is rotatably mounted
On a sliding block, sliding block is rack-mount slidingly back and forth, and linear electric motor sliding block is slided on support, makes sliding block and pendulum
Bar is on same vertical curve.Inverted pendulum device disclosed in above-mentioned technology is to drive sliding block to slide in the horizontal direction by linear power
It is dynamic, the driving force of horizontal direction is provided for swing rod, it is this to realize the side that swing rod stands upside down to realize handstand of the swing rod in vertical direction
Formula is relatively conventional in inverted pendulum field, lacks feeling of freshness, and the attraction to visitor is poor.
Utility model content
Therefore, the technical problems to be solved in the utility model is to overcome inverted pendulum device of the prior art to be in level
Realize handstand of the swing rod in vertical direction in the presence of the driving force in direction, it is relatively conventional, lack fraicheur defect, so that
There is provided it is a kind of realize handstand of the swing rod in vertical direction in the presence of the driving force of vertical direction, with stronger feeling of freshness
With the inverted pendulum device to visitor with stronger attraction.
A kind of inverted pendulum device of the present utility model, including support and swing rod, in addition to：
Drive device, the output shaft with outputting rotary power；
Movement conversion mechanism, including rotational structure, translating element and guide frame；The rotational structure is in the output shaft
Rotated under driving and drive the translating element to move back and forth；The guide frame is fixedly installed on the support；The translation
Part vertically translational motion under the limitation of the guide frame；The swing rod is hinged with the translating element, and can be in institute
State the vertical handstand state of holding under the driving of translating element with the translating element on same vertical curve.
The rotational structure includes：
Rotating disk, center position is connected with the output shaft, and the rotating disk rotates under the driving of the output shaft；
Connecting rod, one end at the non-central location of the rotating disk with being hinged, and the other end is hinged with the translating element.
The rotational structure includes：
Crank, one end is connected with the output shaft, is rotated under the driving of the output shaft；
Connecting rod, one end and the other end of the crank are hinged, and the other end is hinged with the translating element.
The rotational structure is cam structure, is connected with the output shaft, is rotated under the driving of the output shaft, and push away
To the translating element in the vertical direction alternating translational.
The guide frame is the guide sleeve for being fixedly installed on the support, vertically extending, the translating element
For the translation bar being placed in the guide sleeve can be stretched.
The swing rod includes being hinged between at least two points of swing rods, described point of swing rod.
Also include position limiting structure, carried out for the swing angle to the swing rod spacing.
The position limiting structure includes at least two positive stops being fixedly installed on the support, the positive stop point
It is distributed in the left and right sides of the swing rod.
Also include position limiting structure, spacing for the swing angle progress to the swing rod, the position limiting structure includes multiple
The positive stop on the support is fixedly installed in, the positive stop is distributed in the left and right sides of each described point of swing rod.
The support includes rack body, and is fixedly installed on the rack body, after the swing rod after
Baffle plate or the visual front apron before the swing rod, the positive stop are fixedly installed in the rear baffle or visual front apron
On.
The support includes rack body, and before rear baffle after the swing rod and visual before the swing rod
Baffle plate, the rear baffle and the visual front apron are fixedly installed on the rack body, and the positive stop fixes peace
Loaded between the rear baffle and the visual front apron.
Technical solutions of the utility model, have the following advantages that：
1. the inverted pendulum device that the utility model is provided, including support, swing rod, drive device and movement conversion mechanism；Drive
Dynamic device has the output shaft of outputting rotary power；Movement conversion mechanism includes rotational structure, translating element and guide frame；It is described
Rotational structure rotates under the driving of the output shaft and drives the translating element to move back and forth；The guide frame is fixedly mounted
In on the support, the reciprocating motion of the limitation translating element is alternating translational movement vertically；The swing rod and institute
State translating element to be hinged, holding that can be under the driving of the translating element with the translating element on same vertical curve is stood upside down shape vertically
State.By the movement conversion mechanism, the rotary power that drive device is exported is converted to by translating element to swing rod vertical
Driving force on direction, makes swing rod realize the handstand of in the vertical direction under the driving force effect of vertical direction, on the one hand has
There is stronger feeling of freshness, there is stronger attraction to visitor；On the other hand, it is this under the driving force effect of vertical direction
The mode for making swing rod in the vertical direction stand upside down, can be realized by the drive device of a variety of concrete forms, for example, driving dress
It can be alternating current generator or direct current generator to put, can be the more commonly used continuous rotation buncher or
Other electric rotating machines, the range of choice of drive device extensively, can carry out comprehensive selection, especially from many-sides such as cost, effects
Be can be relatively low, the more commonly used with alternative costs ac adjustable speed motor.
2. the inverted pendulum device that the utility model is provided, the rotational structure includes rotating disk and connecting rod；The centre bit of rotating disk
Put place to be connected with the output shaft, and rotated under the driving of the output shaft；One end of connecting rod is non-central with the rotating disk
It is hinged at position, the other end is hinged with the translating element.Move, driven using rotating disk come drive link compared with using other rod members
Dynamic link motion, it is possible to reduce the rod member quantity in whole inverted pendulum device, so that more aesthetic feeling.
3. the inverted pendulum device that the utility model is provided, the rotational structure is cam structure, it is connected with the output shaft,
Rotated under the driving of the output shaft, and push against the translating element in the vertical direction alternating translational.Connect compared with using crank
The mode of bar, directly coordinates guide frame using cam structure, makes translating element in the vertical direction alternating translational, it is possible to reduce bar
The quantity of part, makes the structure of inverted pendulum device simpler.
4. the inverted pendulum device that the utility model is provided, in addition to position limiting structure, for the swing angle to the swing rod
Carry out spacing.The setting of the position limiting structure, can make swing rod be more easy to enter the dynamic equilibrium state stood upside down vertically.
5. the inverted pendulum device that the utility model is provided, the position limiting structure is fixedly installed in the branch including at least two
Positive stop on frame, the positive stop is distributed in the left and right sides of the swing rod.The left and right pendulum of positive stop limitation swing rod
Dynamic amplitude, so that swing rod is more easy to enter the dynamic equilibrium state stood upside down vertically, and positive stop is simple in construction, installs and application side
Just.
6. the inverted pendulum device that the utility model is provided, in addition to position limiting structure, for the swing angle to the swing rod
Progress is spacing, and the position limiting structure includes multiple positive stops being fixedly installed on the support, the positive stop distribution
In the left and right sides of each described point of swing rod.By setting positive stop in the left and right sides of each point of swing rod, it can make each
Divide swing rod to be all easier to enter the dynamic equilibrium state stood upside down vertically, and then make all points of swing rods on inverted pendulum device quick same
Enter the dynamic equilibrium state stood upside down on one vertical curve.
7. the inverted pendulum device that the utility model is provided, the support includes rack body, and after the swing rod
Rear baffle and the visual front apron before the swing rod, the rear baffle and the visual front apron are fixedly installed in described
On rack body, the positive stop is fixedly installed between the rear baffle and the visual front apron.Before and after swing rod
Rear baffle and visual front apron are set respectively, on the one hand there can be protective effect to swing rod, it is to avoid the motion of outer bound pair swing rod
Interfere, on the other hand visual front apron can still ensure the visuality that swing rod is moved in inverted pendulum device, not influence down
The sight of vertical pendulum device.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the front view of the inverted pendulum device provided in the first embodiment of the present utility model；
Fig. 2 is the left view of the inverted pendulum device shown in Fig. 1；
Description of reference numerals：
1- rack bodies, 2- swing rods, first point of swing rod of 21-, second point of swing rod of 22-, 3- rotating disks, 4- connecting rods, 5- guide sleeves,
6- translates bar, 7- positive stops, 8- rear baffles, the visual front aprons of 9-.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
As long as in addition, technical characteristic involved in the utility model different embodiments disclosed below is each other
Not constituting conflict can just be combined with each other.
As depicted in figs. 1 and 2, the present embodiment provides a kind of inverted pendulum device, including support, swing rod 2, drive device and fortune
Manual converting mechanism.Drive device has the output shaft of outputting rotary power；Movement conversion mechanism include rotational structure, translating element and
Guide frame.Rotational structure rotates under the driving of output shaft and drives translating element to move back and forth；Guide frame is fixedly installed in
On support；Translating element vertically translational motion under the limitation of guide frame；Swing rod 2 is hinged with translating element, and can be flat
Move the vertical handstand state of holding with translating element on same vertical curve under the driving of part.In the present embodiment, drive device is
Motor.
The specific constructive form of rotational structure can have a variety of, in the present embodiment, and rotational structure includes rotating disk 3 and connecting rod
4；The center position of rotating disk 3 is connected with output shaft, and is rotated under the driving of output shaft；One end of connecting rod 4 is non-with rotating disk 3
Center position is hinged, and the other end is hinged with translating element.Said structure, is, according to crank block principle, drive device to be exported
The translation that the rotary motion of axle is converted to translating element is moved back and forth, the acceleration rotated with output shaft, band of the swing rod 2 in translating element
Enter vertical handstand state under dynamic and keep.Moved compared with using other rod members come drive link 4, using rotating disk 3 come the company of driving
Bar 4 is moved, it is possible to reduce the rod member quantity in whole inverted pendulum device, so that more aesthetic feeling.Can as one kind of rotational structure
The embodiment of conversion or, rotational structure include crank and connecting rod 4；One end of crank is connected with output shaft, in output
Rotated under the driving of axle；One end of connecting rod 4 and the other end of crank are hinged, and the other end is hinged with translating element.It is used as rotational structure
Another disposable embodiment, it is also possible that rotational structure be cam structure, be connected with output shaft, in output shaft
Driving is lower to rotate, and pushes against translating element in the vertical direction alternating translational；Compared with by the way of crank connecting link, using cam knot
Structure directly coordinates guide frame, makes translating element in the vertical direction alternating translational, it is possible to reduce the quantity of rod member, fills inverted pendulum
The structure put is simpler.
The specific constructive form of guide frame and translating element can have a variety of, in the present embodiment, and guide frame is fixation
The guide sleeve 5 be installed on support, vertically extended, translating element is that can stretch the translation bar 6 being placed in guide sleeve 5.As
A kind of disposable embodiment, guide frame can also be the guide rail for being fixedly installed on support, vertically extending, and put down
It can also be to match somebody with somebody to merge the sliding block that can be reciprocatingly slided along guide rail with guide rail to move part.
The quantity of point swing rod is not restricted in swing rod 2, can be one, or multiple.In the present embodiment, swing rod
2 include at least two points of swing rods, are hinged between point swing rod.Specifically, the swing rod 2 in the present embodiment includes two points of pendulum
Bar, wherein close to translation bar 6 and with translation bar 6 be hinged for first point of swing rod 21, away from translation bar 6 and with first point of swing rod 21
Be hinged for second point of swing rod 22.
In the inverted pendulum device of the present embodiment, in addition to position limiting structure, it is spacing for the swing angle progress to swing rod 2,
Position limiting structure includes multiple positive stops 7 being fixedly installed on support, and positive stop 7 is distributed in the left and right two of each point of swing rod
Side.By setting positive stop 7 in the left and right sides of each point of swing rod, each point of swing rod can be made to be easier to enter vertically
Vertical dynamic equilibrium state, and then make all points of swing rods on inverted pendulum device are quick to enter the dynamic flat of handstand on same vertical curve
Weighing apparatus state.In the present embodiment, the left and right sides of each point of swing rod sets a positive stop 7 respectively, wherein first point of swing rod
The positive stop 7 of 21 left and right sides is equal with the vertical curve angulation by translation bar 6, is acute angle, and in this implementation
0 degree is all higher than in example, less than 35 degree；The positive stop 7 of second point of left and right sides of swing rod 22 and the vertical curve institute by translation bar 6
Into angle it is equal, be acute angle, and be all higher than 0 degree in the present embodiment, less than 60 degree.
The specific mounting means of positive stop 7 can have a variety of, in the present embodiment, and support includes rack body 1, and sets
In the rear baffle 8 after swing rod 2 and the visual front apron 9 before swing rod 2, the rear baffle 8 and the visual front apron 9 are solid
Dingan County loaded on the rack body 1, positive stop 7, guide sleeve 5 be fixedly installed in respectively rear baffle 8 and visual front apron 9 it
Between.Rear baffle 8 and visual front apron 9 are set respectively before and after swing rod 2, the installation of positive stop 7 can be not only realized, and
There can be protective effect to swing rod 2, it is to avoid the motion of outer bound pair swing rod 2 is interfered, meanwhile, visual front apron 9 still may be used
To ensure the visuality of the motion of swing rod 2 in inverted pendulum device, the sight of inverted pendulum device is not influenceed.It is disposable as one kind
Embodiment or, support include be located at swing rod 2 after rear baffle 8 or the visual front apron 9 before swing rod 2, it is spacing
Block 7 is fixedly installed on rear baffle 8 or visual front apron 9, so can equally realize the installation to positive stop 7.
The process that swing rod 2 in the inverted pendulum device of the present embodiment enters the dynamic equilibrium state stood upside down is as follows：
Motor is opened, the output shaft of motor accelerates rotation, and driving rotating disk 3 rotates, and the connecting rod 4 being hinged with rotating disk 3 is in rotating disk 3
Driving under translation, drive translation bar 6 up and down reciprocatingly translated in guide sleeve 5 so that be swing rod 2 provide vertical direction on drive
Power, when the output shaft of motor accelerates to certain speed, swing rod 2 enters the dynamic equilibrium state that in the vertical direction stands upside down.
By rotating disk 3, connecting rod 4 and translating element, the rotary power that drive device is exported is converted to by translating element to swing rod 2 perpendicular
The upward driving force of Nogata, makes swing rod 2 realize the handstand of in the vertical direction under the driving force effect of vertical direction, on the one hand
With stronger feeling of freshness, there is stronger attraction to visitor；On the other hand, this driving force realized in vertical direction
The mode for making the in the vertical direction of swing rod 2 stand upside down under effect, can be realized, example by the drive device of a variety of concrete forms
Such as, drive device can be alternating current generator or direct current generator, can be the speed governing electricity of the more commonly used continuous rotation
Machine or other electric rotating machines, the range of choice of drive device extensively, can come comprehensive from the many-side such as cost, effect
Close selection, it is contemplated that alternating current is more easy to obtain than direct current, in the present embodiment, drive device for more conventional, cost compared with
Low ac adjustable speed motor.
Obviously, above-described embodiment is only intended to clearly illustrate example, and the not restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among the protection domain that variation is created still in the utility model.
Claims (11)
1. a kind of inverted pendulum device, including support and swing rod (2), it is characterised in that also include：
Drive device, the output shaft with outputting rotary power；
Movement conversion mechanism, including rotational structure, translating element and guide frame；Driving of the rotational structure in the output shaft
It is lower to rotate and drive the translating element to move back and forth；The guide frame is fixedly installed on the support；The translating element exists
Vertically translational motion under the limitation of the guide frame；The swing rod (2) is hinged with the translating element, and can be described
Vertical handstand state is kept on same vertical curve with the translating element under the driving of translating element.
2. inverted pendulum device according to claim 1, it is characterised in that the rotational structure includes：
Rotating disk (3), center position is connected with the output shaft, and the rotating disk (3) rotates under the driving of the output shaft；
Connecting rod (4), one end at the non-central location of the rotating disk (3) with being hinged, and the other end is hinged with the translating element.
3. inverted pendulum device according to claim 1, it is characterised in that the rotational structure includes：
Crank, one end is connected with the output shaft, is rotated under the driving of the output shaft；
Connecting rod (4), one end and the other end of the crank are hinged, and the other end is hinged with the translating element.
It is and described 4. inverted pendulum device according to claim 1, it is characterised in that the rotational structure is cam structure
Output shaft is connected, and is rotated under the driving of the output shaft, and push against the translating element in the vertical direction alternating translational.
5. inverted pendulum device according to claim 1, it is characterised in that the guide frame is to be fixedly installed in the branch
The guide sleeve (5) on frame, vertically extended, the translating element is that can stretch the translation bar being placed in the guide sleeve (5)
(6)。
6. inverted pendulum device according to claim 1, it is characterised in that the swing rod (2) includes at least two points of swing rods
(2), it is hinged between described point of swing rod (2).
7. inverted pendulum device according to claim 1, it is characterised in that also including position limiting structure, for the swing rod
(2) swing angle carries out spacing.
8. inverted pendulum device according to claim 7, it is characterised in that the position limiting structure includes at least two and fixes peace
Loaded on the positive stop (7) on the support, the positive stop (7) is distributed in the left and right sides of the swing rod (2).
9. inverted pendulum device according to claim 6, it is characterised in that also including position limiting structure, for the swing rod
(2) swing angle progress is spacing, and the position limiting structure includes multiple positive stops (7) being fixedly installed on the support,
The positive stop (7) is distributed in the left and right sides of each described point of swing rod (2).
10. inverted pendulum device according to claim 8 or claim 9, it is characterised in that the support includes rack body (1), and
It is fixedly installed on the rack body (1), rear baffle (8) after the swing rod (2) or before the swing rod (2)
Visual front apron (9), the positive stop (7) is fixedly installed on the rear baffle (8) or visual front apron (9).
11. inverted pendulum device according to claim 8 or claim 9, it is characterised in that the support includes rack body (1), and
Rear baffle (8) after the swing rod (2) and the visual front apron (9) before the swing rod (2), the rear baffle (8)
It is fixedly installed on the rack body (1) with the visual front apron (9), the positive stop (7) is fixedly installed in institute
State between rear baffle (8) and the visual front apron (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621437429.8U CN206558116U (en) | 2016-12-26 | 2016-12-26 | Inverted pendulum device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621437429.8U CN206558116U (en) | 2016-12-26 | 2016-12-26 | Inverted pendulum device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206558116U true CN206558116U (en) | 2017-10-13 |
Family
ID=60358115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621437429.8U Active CN206558116U (en) | 2016-12-26 | 2016-12-26 | Inverted pendulum device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206558116U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106782010A (en) * | 2016-12-26 | 2017-05-31 | 国术科技(北京)有限公司 | Inverted pendulum device |
| CN110556040A (en) * | 2019-09-09 | 2019-12-10 | 天津师范大学 | Simple pendulum motion evolution and phase diagram observer |
-
2016
- 2016-12-26 CN CN201621437429.8U patent/CN206558116U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106782010A (en) * | 2016-12-26 | 2017-05-31 | 国术科技(北京)有限公司 | Inverted pendulum device |
| CN106782010B (en) * | 2016-12-26 | 2023-10-20 | 国术科技(北京)有限公司 | Inverted pendulum device |
| CN110556040A (en) * | 2019-09-09 | 2019-12-10 | 天津师范大学 | Simple pendulum motion evolution and phase diagram observer |
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