CN209446778U - A kind of stabilization inverted pendulum all rod structures with low intrinsic frequency - Google Patents
A kind of stabilization inverted pendulum all rod structures with low intrinsic frequency Download PDFInfo
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- CN209446778U CN209446778U CN201920063389.2U CN201920063389U CN209446778U CN 209446778 U CN209446778 U CN 209446778U CN 201920063389 U CN201920063389 U CN 201920063389U CN 209446778 U CN209446778 U CN 209446778U
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- bar
- balladeur train
- support plate
- rod
- swing rod
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Abstract
The utility model discloses a kind of stabilization inverted pendulum all rod structures with low intrinsic frequency, it is related to inverted pendulum technical field, stabilization inverted pendulum all rod structures with low intrinsic frequency, including balladeur train, one end of the balladeur train is provided with motor, and balladeur train is provided with partition relative to one end of motor, the side of the balladeur train is provided with controller at a side position of partition, the transmission shaft of the motor is rotatably connected to screw rod, sliding block is provided between the screw rod and balladeur train, fixed plate is provided at the top of the sliding block, the side of the fixed plate is provided with swing rod, the utility model is provided with the first bar, second bar and bar slot, before device use, second bar and the first bar can prevent swing rod from directly colliding with shoe contact, and then the angle of swing rod swing rotary is limited, it solves conventional apparatus to be difficult to all columns Angle limit causes the problem of all column easily topples over phenomenon.
Description
Technical field
The utility model belongs to inverted pendulum technical field, and in particular to a kind of stabilization inverted pendulum with low intrinsic frequency is all
Rod structure.
Background technique
Inverted pendulum is exactly so that swing rod is reached an equilbrium position as soon as possible, and be allowed to not big oscillation and excessive angle
Degree and speed；After swing rod reaches desired position, system can overcome random perturbation and keep stable position.
But stabilization inverted pendulum all rod structures with low intrinsic frequency currently on the market still have when in use it is scarce
It falls into, for example, all columns in conventional apparatus are difficult to keep balance when amplitude is excessive, and device is difficult to limit all columns, into
And all columns is easily made to topple over phenomenon, in addition, device during stable testing degree, needs artificially to stir all columns, due to
Artificially stirring all columns is difficult to have randomness, and experimental result is easily made the problem of mistake occur.
Utility model content
The purpose of this utility model is to provide a kind of stabilization inverted pendulum all rod structures with low intrinsic frequency, to solve
Conventional apparatus mentioned above in the background art is difficult to limit all columns and conventional apparatus test mode be difficult to have with
The problem of machine.
To achieve the above object, the utility model provides the following technical solutions: a kind of stabilization with low intrinsic frequency is fallen
Vertical pendulum all rod structures, including balladeur train, one end of the balladeur train are provided with motor, and balladeur train relative to one end of motor be provided with every
The side of plate, the balladeur train is provided with controller at a side position of partition, and the transmission shaft of the motor is rotatably connected to
Screw rod is provided with sliding block between the screw rod and balladeur train, fixed plate, the side of the fixed plate are provided at the top of the sliding block
It being provided with swing rod, and fixed plate and swing rod are rotatablely connected by rotation seat, the side of the rotation seat is provided with angular transducer,
The angular transducer and motor are electrically connected with controller, and the inside two sides of the swing rod offer bar slot, wherein one
A bar slot is internally provided with the first bar, another bar slot is internally provided with the second bar, the first gear
Bar and the second bar pass through Damping rotation shaft and swing rod is rotatablely connected, and the bottom of the balladeur train is provided with the first support plate, described
It is provided with the second support plate below first support plate, and is provided with spring between the first support plate and the second support plate, it is described
There are four spring is arranged altogether, and four springs are respectively distributed to four corners of the second support plate.
Preferably, the side of the partition is provided with rubber ring, and the inside of the rubber ring is offered to match with screw rod
Slot.
Preferably, the inside of the swing rod offers rectangular channel, the depth of the rectangular channel at the top position of bar slot
It spends and matches with the depth of bar slot.
Preferably, the inside of the swing rod offers rectangular channel, the depth of the rectangular channel at the top position of bar slot
It spends and matches with the depth of bar slot.
Preferably, the inside of the swing rod offers rectangular channel, the depth of the rectangular channel at the top position of bar slot
It spends and matches with the depth of bar slot.
Compared with prior art, the utility model has the beneficial effects that
(1) the utility model is provided with the first bar, the second bar and bar slot, and device is before use, can will be inside bar slot
The external rotation of first bar and the second bar by Damping rotation shaft to swing rod, when the amplitude of swing rod swing rotary is excessive, the
Two bars and the first bar can prevent swing rod from directly colliding with shoe contact, and then limit the angle of swing rod swing rotary
Position, so that device can quickly again adjust swing rod in equilbrium position, solves biography so that the amplitude of fluctuation of swing rod be made to reduce
Bulk cargo sets the angle limit being difficult to all columns, causes the problem of all column easily topples over phenomenon.
(2) the utility model is provided with the second support plate, spring and the first support plate, when device is in the mistake of measuring stability
Limited block can be extracted out from sliding slot, later press the first support plate to the direction of the second support plate by Cheng Zhong, to the first support
Plate pull down to a certain degree when, hand can be unclamped, under the action of the spring, the first support plate can generate random motion, connect
Swing rod above balladeur train can also generate random motion, to increase randomness when swing rod is swung, so as to make test result
It is more accurate, it solves the randomness for being difficult to vibration when conventional apparatus test, causes the problem of test result inaccuracy.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the partial enlarged view at the utility model A；
Fig. 3 is the rearview of the utility model fixed plate；
Fig. 4 is the side view of the utility model bar slot；
In figure: 1- sliding block, the second support plate of 2-, 3- spring, 4- motor, 5- swing rod, 6- rotation seat, 7- screw rod, 8- are sliding
Frame, 9- rubber ring, 10- partition, 11- controller, the first support plate of 12-, 13- limited block, 14- sliding slot, 15- angular transducer,
16- fixed plate, 17- rectangular channel, the first bar of 18-, 19- rubber sleeve, the second bar of 20-, 21- bar slot.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
It please refers to shown in Fig. 1-Fig. 4, the utility model provides a kind of technical solution: a kind of stabilization with low intrinsic frequency
Inverted pendulum all rod structures, including balladeur train 8, one end of balladeur train 8 is provided with motor 4, and balladeur train 8 is arranged relative to one end of motor 4
There is partition 10, the side of the balladeur train 8 is provided with controller 11, the type that controller 11 uses at a side position of partition 10
It number is STC12LE5A60S2, operating voltage 3.6V-2.2V, operating frequency range 0-35MHz, the transmission shaft of motor 4 turns
It is dynamic to be connected with screw rod 7, sliding block 1 is provided between screw rod 7 and balladeur train 8, the top of sliding block 1 is provided with fixed plate 16, fixed plate 16
Side be provided with swing rod 5, and fixed plate 16 is rotatablely connected with swing rod 5 by rotation seat 6, and the side of rotation seat 6 is provided with angle
Sensor 15 is spent, angular transducer 15 uses model MPU6050, output type I2C, and operating temperature is -40 DEG C to 85 DEG C
(TA), angular transducer 15 and motor 4 are electrically connected with controller 11, and the inside two sides of swing rod 5 offer bar slot 21,
One of bar slot 21 is internally provided with the first bar 18, another bar slot 21 is internally provided with the second bar 20, and first
Bar 18 and the second bar 20 are rotatablely connected by Damping rotation shaft and swing rod 5, and the second bar 20 and the first bar 18 are passed through
Damping rotation shaft turns to the outside of swing rod 5, can prevent swing rod 5 directly with 1 contact-impact of sliding block, thus to 5 swing rotary of swing rod
Angle limited, the bottom of balladeur train 8 is provided with the first support plate 12, and the lower section of the first support plate 12 is provided with the second support
Plate 2, and spring 3 is provided between the first support plate 12 and the second support plate 2, there are four the total settings of spring 3, and four springs 3
Four corners of the second support plate 2 are respectively distributed to, after pressing the first support plate 12, spring 3 can make it generate random motion,
And then the swing rod 5 of 8 top of balladeur train can be made to generate random motion, so as to increase randomness when swing rod 5 is swung, to improve
The accuracy of device to test result.
Further, the side of partition 10 is provided with rubber ring 9, and the inside of rubber ring 9 is offered to match with screw rod 7
Slot.
Specifically, the inside of swing rod 5 offers rectangular channel 17, the depth of rectangular channel 17 at the top position of bar slot 21
It spends and matches with the depth of bar slot 21.
Further, the outer wall of the first bar 18 and the second bar 20 is arranged rubber sleeve 19, the outer wall of rubber sleeve 19
It is provided with salient point.
Specifically, the first support plate 12 and the opposite side of the second support plate 2 offer sliding slot 14, two sliding slots 14 it
Between be provided with limited block 13, the stability of device entirety can be improved after limited block 13 and sliding slot 14 are slidably connected.
The working principle and process for using of the utility model: the utility model when in use, first will be inside bar slot 21
The external rotation of first bar 18 and the second bar 20 by Damping rotation shaft to swing rod 5, later when the amplitude of 5 swing rotary of swing rod
When excessive, the second bar 20 and the first bar 18 can prevent swing rod 5 from directly with 1 contact-impact of sliding block, and then swinging and revolving to swing rod 5
The angle turned is limited, to make the amplitude of fluctuation of swing rod 5 reduce, so that device can quickly again adjust swing rod 5
Motor 4 and angle are opened by controller 11 later after device the first bar 18 and the second bar 20 are adjusted in equilbrium position
Sensor 15 is spent, the angle that swing rod 5 rotates when swinging can be captured by angular transducer 15, and motor 4 will drive 7 turns of screw rod later
It is dynamic, and then move sliding block 1 on balladeur train 8, so that swing rod 5 can be made under angular transducer 15 and 4 mutual cooperation of motor effect
It remains equilibrium state, when needing the stability to device to test, the limited block 13 inside sliding slot 14 can be extracted out, it
The first support plate 12 is pulled down afterwards, when the first support plate 12 pull down to a certain degree when, hand can be unclamped, in spring
Under the action of 3, the first support plate 12 can generate random motion, and then the swing rod 5 of 8 top of balladeur train can also generate random motion, with
Just increase randomness when swing rod 5 is swung, so as to keep test result more accurate.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of stabilization inverted pendulum all rod structures with low intrinsic frequency, including balladeur train (8), one end of the balladeur train (8) are set
It is equipped with motor (4), and balladeur train (8) is provided with partition (10) relative to one end of motor (4), the side of the balladeur train (8) is close
It is provided at one side position of partition (10) controller (11), the transmission shaft of the motor (4) is rotatably connected to screw rod (7), institute
It states and is provided between screw rod (7) and balladeur train (8) sliding block (1), is provided with fixed plate (16) at the top of the sliding block (1), it is described solid
The side of fixed board (16) is provided with swing rod (5), and fixed plate (16) and swing rod (5) are rotatablely connected by rotation seat (6), and described turn
The side of dynamic seat (6) is provided with angular transducer (15), and the angular transducer (15) and motor (4) are electric with controller (11)
Property connection, it is characterised in that: the inside two sides of the swing rod (5) offer bar slot (21), one of them described bar slot (21)
Be internally provided with the first bar (18), another bar slot (21) is internally provided with the second bar (20), described first
Bar (18) and the second bar (20) are rotatablely connected by Damping rotation shaft and swing rod (5), and the bottom of the balladeur train (8) is provided with
First support plate (12) is provided with the second support plate (2) below first support plate (12), and the first support plate (12) with
It is provided between second support plate (2) spring (3), there are four the total settings of the spring (3), and four springs (3) are distributed respectively
In four corners of the second support plate (2).
2. a kind of stabilization inverted pendulum all rod structures with low intrinsic frequency according to claim 1, it is characterised in that: institute
The side for stating partition (10) is provided with rubber ring (9), and the inside of the rubber ring (9) offers the slot to match with screw rod (7)
Hole.
3. a kind of stabilization inverted pendulum all rod structures with low intrinsic frequency according to claim 1, it is characterised in that: institute
The inside for stating swing rod (5) offers rectangular channel (17) at the top position of bar slot (21), the depth of the rectangular channel (17)
Match with the depth of bar slot (21).
4. a kind of stabilization inverted pendulum all rod structures with low intrinsic frequency according to claim 1, it is characterised in that: institute
The outer wall for stating the first bar (18) and the second bar (20) is arranged rubber sleeve (19), the outer wall setting of the rubber sleeve (19)
There is salient point.
5. a kind of stabilization inverted pendulum all rod structures with low intrinsic frequency according to claim 1, it is characterised in that: institute
State the first support plate (12) and the opposite side of the second support plate (2) offer sliding slot (14), two sliding slots (14) it
Between be provided with limited block (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920063389.2U CN209446778U (en) | 2019-01-15 | 2019-01-15 | A kind of stabilization inverted pendulum all rod structures with low intrinsic frequency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920063389.2U CN209446778U (en) | 2019-01-15 | 2019-01-15 | A kind of stabilization inverted pendulum all rod structures with low intrinsic frequency |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209446778U true CN209446778U (en) | 2019-09-27 |
Family
ID=68018429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920063389.2U Active CN209446778U (en) | 2019-01-15 | 2019-01-15 | A kind of stabilization inverted pendulum all rod structures with low intrinsic frequency |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209446778U (en) |
-
2019
- 2019-01-15 CN CN201920063389.2U patent/CN209446778U/en active Active
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