CN211062319U - Inverted pendulum device with variable gravity center of pendulum rod - Google Patents

Abstract

The utility model discloses an inverted pendulum device with a variable center of gravity of a pendulum rod, which relates to the technical field of automatic control, and specifically includes a base. Both ends of the bottom surface of the base are fixed and installed with suction cups by bolts; A fixed block is fixedly installed by welding, and a rotating rod is installed in the middle of the fixed block through the bearing. One end of the rotating rod is located on one side of the fixed block and a turntable is welded. Threaded connection, the top end of the threaded rod is fixedly connected with the bottom end of the pendulum rod, the pendulum rod is threadedly mounted on the other end of the rotating rod through the threaded rod, and a slider is installed on the pendulum rod. During the use of the utility model, the height of the center of gravity of the pendulum rod is adjusted by adjusting the position of the slider, which improves the practicability of the inverted pendulum. safety in the process.

Description

An inverted pendulum device with a variable center of gravity of a pendulum rod

technical field

The utility model relates to the technical field of automatic control, in particular to an inverted pendulum device with a variable center of gravity of a pendulum rod.

Background technique

The inverted pendulum is a typical experimental device for control theory research, which controls the pendulum to maintain a stable state when it is inverted by adjusting the horizontal movement of the trolley. Students who learn automatic control theory use the inverted pendulum system experiment to verify the control theory and algorithm they have learned. At the same time, the inverted pendulum is also an ideal experimental platform for control theory research. Many researchers of modern control theory have always regarded it as a typical research object, and constantly discovered new control strategies and control methods from it.

However, the existing inverted pendulum device is unstable during use, and is prone to damage caused by tipping; it does not have the function of adjusting the center of gravity, and is not very practical; in order to be suitable for different experimental environments, the inverted pendulum needs to be used in experiments. Replacing pendulum rods of different specifications, and the operation of pendulum rods is complicated and inconvenient to use.

Utility model content

The purpose of the present utility model is to provide an inverted pendulum device with a variable center of gravity of a pendulum rod, so as to solve the above-mentioned problems in the background art.

To achieve the above object, the utility model provides the following technical solutions:

An inverted pendulum device with a variable center of gravity of a pendulum rod, comprising a base, both ends of the bottom surface of the base are fixed and installed with suction cups by bolts, the suction cups are communicated through a connecting pipe, and the top of one suction cup is connected with a connection opened inside the base One end of the groove is connected, and a horizontal chute is opened inside the base. One end of the chute is communicated with the other end of the connecting groove. A piston is slidably installed in the chute. One end extends from the other end of the chute to the welding handle outside the base, and the screw rod is threadedly connected to the base;

The middle part of the upper surface of the base is fixedly installed with a fixed block by welding, and the middle part of the fixed block is rotated and installed with a rotating rod through a bearing. The other side of the block is provided with a vertical threaded hole, the other end of the rotating rod is threadedly connected with the threaded rod through the opened threaded hole, the top end of the threaded rod is fixedly connected with the bottom end of the pendulum rod, and the bottom end of the pendulum rod has limited fixed installation. The position block is installed on the other end of the rotating rod through the threaded rod, and a slider is installed on the swing rod.

As a further solution of the present invention: a carrier box is fixedly installed on one end of the upper surface of the base, and the carrier box and the base are integrally formed, the top of the carrier box is threadedly installed with a box cover, and the box cover is evenly provided with a number of ventilation holes .

As a further solution of the present invention, the swing rod, the threaded rod and the limit block are all formed integrally.

As a further solution of the present utility model: the slider is mainly composed of a slider body, an installation groove, a pressure plate, a sliding rod, a spring and a pull ring, a vertical installation groove is opened in the middle of the slider body, and the slider body is installed by The slot is slidably connected with the swing rod, and a horizontal sliding rod is slidably installed on the side wall of the slider body. There is a pull ring, the side of the pull ring facing the slider body is fixedly connected with one end of the spring, and the other end of the spring is fixedly connected with the side surface of the slider body.

As a further solution of the present invention: the inner diameter of the installation groove is the same as the diameter of the pendulum rod.

Compared with the prior art, the beneficial effects of the present utility model are: during the use of the present utility model, the height of the center of gravity of the pendulum rod can be adjusted by adjusting the position of the slider, thereby improving the practicability of the inverted pendulum. The base is adsorbed on the desktop, which can effectively prevent the inverted pendulum from tipping, thus greatly improving the safety of the inverted pendulum during use; the threaded connection between the pendulum rod and the rotating rod, the disassembly operation is simple, and it is convenient to replace the pendulum rod .

Description of drawings

FIG. 1 is a schematic structural diagram of an inverted pendulum device with a variable center of gravity of a pendulum rod.

FIG. 2 is a schematic structural diagram of a slider in an inverted pendulum device with a variable center of gravity of a pendulum rod.

As shown in the figure: base 1, connecting groove 2, suction cup 3, piston 4, connecting pipe 5, screw 6, chute 7, handle 8, threaded rod 9, rotating rod 10, limit block 11, swing rod 12, The slider 13 , the slider body 131 , the installation groove 132 , the pressure plate 133 , the sliding rod 134 , the spring 135 , the pull ring 136 , the fixed seat 14 , the turntable 15 , and the carrier box 16 .

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "top/bottom", etc. is based on the drawings shown in the drawings. The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limit. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "provided with", "sleeve/connection", "connection", etc., should be understood in a broad sense, such as "Connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be two elements Internal connectivity. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

Referring to FIGS. 1-2, in the embodiment of the present invention, an inverted pendulum device with a variable center of gravity of a pendulum rod includes a base 1, and both ends of the bottom surface of the base 1 are fixed and installed with suction cups 3 by bolts. They are communicated through the connecting pipe 5, and the top of one suction cup 3 is communicated with one end of the connecting groove 2 opened in the base 1. The interior of the base 1 is provided with a horizontal chute 7, and one end of the chute 7 is connected with the other end of the connecting groove 2. One end is connected, a piston 4 is slidably installed in the chute 7, the piston 4 is connected with one end of the screw rod 6 through a bearing, and the other end of the screw rod 6 extends from the other end of the chute 7 to the welding handle 8 outside the base 1, and the screw rod 6 is threadedly connected with the base 1. When in use, the handle 8 drives the screw 6 to rotate, and the screw 6 interacts with the base 1 to drive the piston 4 to slide in the horizontal direction along the chute 7, so that the suction cup 3 is inserted into the suction cup 3 through the connecting groove 2. The air is sucked out, so that the suction cup 3 is adsorbed on the ground, thereby improving the stability of the base 1 when it is placed on the desktop;

One end of the upper surface of the base 1 is fixedly installed with a carrier box 16 and the carrier box 16 is integrally formed with the base 1. The carrier box 16 is used to carry solid air fresheners, and the top of the carrier box 16 is threaded with a box. A number of ventilation holes are evenly opened on the box cover, so that the air cleaning agent can be distributed into the air through the box cover, and the air quality is improved.

The middle part of the upper surface of the base 1 is fixedly installed with a fixed block 14 by welding, and the middle part of the fixed block 14 is rotated and installed with a rotating rod 10 through a bearing. The rotation is driven by an external motor through a belt connection. The other end of the rotating rod 10 is located on the other side of the fixed block 14 and is provided with a vertical threaded hole. The top end of the rod 9 is fixedly connected with the bottom end of the pendulum rod 12, and the bottom end of the pendulum rod 12 is fixedly installed with a limit block 11. The pendulum rod 12, the threaded rod 9 and the limit block 11 are all integrally formed, and the pendulum rod 12 passes through the threaded rod 9. The thread is installed on the other end of the rotating rod 10, which is convenient to use. A slider 13 is installed on the pendulum rod 12, and the center of gravity of the inverted pendulum can be adjusted by adjusting the position of the slider 13 on the pendulum rod 12.

The slider 13 is mainly composed of a slider body 131, an installation groove 132, a pressure plate 133, a sliding rod 134, a spring 135 and a pull ring 136. The middle of the slider body 131 is provided with a vertical installation groove 132. The inner diameter is the same as the diameter of the pendulum rod. The slider body 131 is slidably connected to the pendulum rod 12 through the installation groove 132 . A horizontal sliding rod 134 is slidably installed on the side wall of the slider body 131 , and the sliding rod 134 faces one end of the installation groove 132 . It is fixedly connected with the side of the pressing plate 133 , and the other end of the sliding rod 134 protrudes from the outside of the slider body 131 and is welded with a pull ring 136 . One end is fixedly connected to the side of the slider body 131. When in use, the pull ring 136 is pulled by the spring 135 to make the sliding rod 134 push the pressure plate 133 to press the pendulum rod 12 to fix the slider body 131. When the slider body 131 needs to be adjusted When it is in position, it is only necessary to pull the pull ring 136 outward to separate the pressing plate 133 from the swing rod 12, which is easy to operate and easy to use.

During the use of the present utility model, the motor used to control the turntable 15 is controlled by the controller, and an angle editor is fixedly installed on the rotating rod 10, and the angle between the pendulum rod 12 and the vertical direction is measured by the angle editor, and the The signal is sent to the controller, and the controller then controls the motor to make the pendulum 12 in a vertical state; the equipment and electrical components involved in the above process, as well as the connection and control methods between the various components are all existing inverted pendulum technologies. , only the principle is explained here, and it is not drawn in the abstract drawings and the description drawings.

Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Within the spirit and principle of the present invention, any modifications, equivalent replacements, improvements, etc. made should be included in the protection scope of the present invention, and the content not described in detail in this specification belongs to the professional in the field State of the art known to the skilled person.

Claims (5)

1. The inverted pendulum device with the variable gravity center of the pendulum rod comprises a base (1) and is characterized in that suckers (3) are fixedly installed at two ends of the bottom surface of the base (1) through bolts, the suckers (3) are communicated with one another through connecting pipes (5), the top end of one sucker (3) is communicated with one end of a connecting groove (2) formed in the base (1), a horizontal sliding groove (7) is formed in the base (1), one end of the sliding groove (7) is communicated with the other end of the connecting groove (2), a piston (4) is slidably installed in the sliding groove (7), the piston (4) is rotatably connected with one end of a screw rod (6) through a bearing, the other end of the screw rod (6) extends out of the base (1) from the other end of the sliding groove (7), a handle (8) is welded outside the base (1), and the screw rod (6);

the utility model discloses a swing rod device, including base (1), the upper surface middle part of base (1) has fixed block (14) through welded mode fixed mounting, the one end that the middle part of fixed block (14) was rotated through the bearing and is installed dwang (10) dwang has carousel (15) in one side welding that is located fixed block (14), the other end of dwang (10) is located the opposite side of fixed block (14) and has seted up vertical screw hole, screw hole and threaded rod (9) threaded connection of seting up are passed through to the other end of dwang (10), the bottom fixed connection of the top of threaded rod (9) and the bottom of pendulum rod (12) has stopper (11), the other end at dwang (10) is installed through threaded rod (9) screw thread to pendulum rod (12), install slider (.

2. The inverted pendulum device with the variable gravity center of the pendulum rod as claimed in claim 1, wherein one end of the upper surface of the base (1) is fixedly provided with a carrying box (16), the carrying box (16) and the base (1) are integrally formed, the top of the carrying box (16) is provided with a box cover in a threaded manner, and the box cover is uniformly provided with a plurality of vent holes.

3. The inverted pendulum device with the variable center of gravity of the pendulum bar according to claim 1, wherein the pendulum bar (12), the threaded rod (9), and the stopper (11) are integrally formed.

4. The inverted pendulum device with the variable pendulum mass center according to claim 1, wherein the inverted pendulum device comprises a pendulum body, the slider (13) mainly comprises a slider body (131), an installation groove (132), a pressing plate (133), a sliding rod (134), a spring (135) and a pull ring (136), wherein the vertical installation groove (132) is formed in the middle of the slider body (131), the slider body (131) is in sliding connection with the swing rod (12) through the installation groove (132), the horizontal sliding rod (134) is installed on the side wall of the slider body (131) in a sliding mode, the sliding rod (134) faces towards one end in the installation groove (132) and is fixedly connected with the side face of the pressing plate (133), the pull ring (136) is welded outside the slider body (131) and extends out of the other end of the sliding rod (134), the side face of the pull ring (136) faces towards the slider body (131) and is fixedly connected with one end of the spring (135), and the other end of the spring (135) is fixedly connected with the.

5. The inverted pendulum device with the variable center of gravity of the pendulum rod according to claim 4, wherein the inner diameter of the mounting groove (132) is the same as the diameter of the pendulum rod.

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