CN211062319U

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

Info

Publication number: CN211062319U
Application number: CN201920221692.0U
Authority: CN
Inventors: 张星慧; 张安彩; 陈向勇; 王颖
Original assignee: Linyi University
Current assignee: Linyi University
Priority date: 2019-02-22
Filing date: 2019-02-22
Publication date: 2020-07-21
Anticipated expiration: 2029-02-22

Abstract

The utility model discloses an inverted pendulum device with a variable gravity center of a pendulum rod, which relates to the technical field of automatic control and specifically comprises a base, wherein two ends of the bottom surface of the base are both fixedly provided with suckers through bolts; the utility model discloses a rotary table, including base, bearing, dwang, fixed block, threaded rod, pendulum rod, fixed block, bearing, pivot. The utility model discloses an in the use, thereby the focus height to the pendulum rod through adjusting block's position is adjusted, has improved the practicality of inverted pendulum, adsorbs the base on the desktop through the sucking disc, has greatly improved the security of inverted pendulum in the use.

Description

Inverted pendulum device with variable gravity center of pendulum rod

Technical Field

The utility model relates to an automatic control technical field specifically is a changeable inverted pendulum device of pendulum rod focus.

Background

The inverted pendulum is a typical experimental device for researching a control theory, and the device controls the pendulum rod to keep a stable state when the pendulum is inverted by adjusting the horizontal motion of the trolley. Students learning the automatic control theory verify the learned control theory and algorithm through an inverted pendulum system experiment, and the method is very intuitive, simple and convenient, and deepens the understanding of the learned course in a light experiment. Meanwhile, the inverted pendulum is also an ideal experiment platform for control theory research. Many researchers in modern control theory have regarded it as a typical research object, and have continuously explored new control strategies and control methods from it.

The existing inverted pendulum device is unstable in placement in the using process and is easy to topple to cause damage; the device does not have the function of gravity center adjustment, and the practicability is not strong; during the experiment, in order to be applicable to different experimental environment, the pendulum rod of different specifications need be changed to the inverted pendulum, and the pendulum rod is complicated to operate when changing, uses inconveniently.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a changeable inverted pendulum device of pendulum rod focus to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

an inverted pendulum device with a variable gravity center of a pendulum rod comprises a base, sucking discs are fixedly mounted at two ends of the bottom surface of the base through bolts, the sucking discs are communicated through connecting pipes, the top end of one sucking disc is communicated with one end of a connecting groove formed in the base, a horizontal sliding groove is formed in the base, one end of the sliding groove is communicated with the other end of the connecting groove, a piston is mounted in the sliding groove in a sliding mode, the piston is rotatably connected with one end of a screw rod through a bearing, the other end of the screw rod extends out of the base from the other end of the sliding groove to form a welding handle, and the;

the utility model discloses a swing rod, including the base, the upper surface of base, the bearing is located the one side welding of fixed block, the upper surface middle part of base has the fixed block through welded mode fixed mounting, the dwang is installed through the bearing rotation in the middle part of fixed block, the one end of dwang is located one side welding of fixed block has the carousel, the other end of dwang is located the opposite side of fixed block and has seted up vertical screw hole, the other end of dwang is through the screw hole and the threaded rod threaded connection who sets up, the top of threaded rod and the bottom fixed connection of the bottom fixed connection.

As a further aspect of the present invention: the upper surface one end fixed mounting of base carries the thing box and carries thing box and base integrated into one piece, carries the top screw thread of thing box and installs the lid, has evenly seted up a plurality of air vents on the lid.

As a further aspect of the present invention: the swing rod, the threaded rod and the limiting block are integrally formed.

As a further aspect of the present invention: the slider mainly comprises slider body, the mounting groove, the clamp plate, the slide bar, spring and pull ring, vertical mounting groove has been seted up at slider body's middle part, slider body passes through mounting groove and pendulum rod sliding connection, slidable mounting has the horizontally slide bar on slider body's the lateral wall, the slide bar is towards the one end in the mounting groove and the side fixed connection of clamp plate, the outside welding that slider body was stretched out to the other end of slide bar has the pull ring, the pull ring is towards slider body's side and the one end fixed connection of spring, the other end of spring and slider body's side fixed connection.

As a further aspect of the present invention: the inner diameter of the mounting groove is the same as the diameter of the swing rod.

Compared with the prior art, the beneficial effects of the utility model are that: in the use process of the utility model, the gravity center height of the oscillating bar is adjusted by adjusting the position of the sliding block, the practicability of the inverted pendulum is improved, the base is adsorbed on the desktop through the sucking disc, the inverted pendulum is effectively prevented from toppling, and the safety of the inverted pendulum in the use process is greatly improved; the swing rod is connected with the rotating rod through threads, so that the disassembly operation is simple, and the swing rod is convenient to replace.

Drawings

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

Fig. 2 is a schematic structural diagram of a sliding block in an inverted pendulum device with a variable pendulum rod gravity center.

As shown in the figure: the device comprises a base 1, a connecting groove 2, a sucker 3, a piston 4, a connecting pipe 5, a screw rod 6, a sliding groove 7, a handle 8, a threaded rod 9, a rotating rod 10, a limiting block 11, a swinging rod 12, a sliding block 13, a sliding block body 131, a mounting groove 132, a pressing plate 133, a sliding rod 134, a spring 135, a pull ring 136, a fixed seat 14, a rotary table 15 and a carrying box 16.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-2, in the embodiment of the present invention, an inverted pendulum device with a changeable gravity center of a pendulum rod comprises a base 1, two ends of a bottom surface of the base 1 are both fixedly installed with suction cups 3 through bolts, the suction cups 3 are communicated with each other through a connecting pipe 5, a top end of one of the suction cups 3 is communicated with one end of a connecting groove 2 formed inside the base 1, a horizontal chute 7 is formed inside the base 1, one end of the chute 7 is communicated with the other end of the connecting groove 2, a piston 4 is slidably installed in the chute 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 chute 7 and is welded with a handle 8, the screw rod 6 is in threaded connection with the base 1, when in use, the screw rod 6 is driven to rotate by the handle 8, the, therefore, air in the sucker 3 is sucked out through the connecting groove 2, so that the sucker 3 is adsorbed on the ground, and the stability of the base 1 when placed on a table top is improved;

the upper surface one end fixed mounting of base 1 carries thing box 16 and base 1 integrated into one piece, is used for bearing solid-state air freshener in carrying thing box 16, carries the top screw thread of thing box 16 and installs the lid, has evenly seted up a plurality of air vents on the lid to be convenient for during the air cleaner distributes the air through the lid, improve the air quality.

The middle part of the upper surface of the base 1 is fixedly provided with a fixed block 14 in a welding mode, one end of the middle part of the fixed block 14, which is provided with a rotating rod 10 through a bearing in a rotating way, is positioned at one side of the fixed block 14, is welded with a rotating disc 15, the rotating disc 15 is driven to rotate through an external motor through belt connection, the other end of the rotating rod 10, which is positioned at the other side of the fixed block 14, is provided with a vertical threaded hole, the other end of the rotating rod 10 is in threaded connection with a threaded rod 9 through the arranged threaded hole, the top end of the threaded rod 9 is fixedly connected with, the threaded rod 9 and the limiting block 11 are integrally formed, the swing rod 12 is installed at the other end of the rotating rod 10 through the threaded rod 9 in a threaded mode, the use is convenient, the sliding block 13 is installed on the swing rod 12, and the gravity center of the inverted pendulum is adjusted by adjusting the position of the sliding block 13 on the swing rod 12.

The slider 13 mainly comprises a slider body 131, a mounting groove 132, a pressing plate 133, a sliding rod 134, a spring 135 and a pull ring 136, wherein the middle part of the slider body 131 is provided with a vertical mounting groove 132, the inner diameter of the mounting groove 132 is the same as the diameter of the swing rod, the slider body 131 is slidably connected with the swing rod 12 through the mounting groove 132, the side wall of the slider body 131 is slidably provided with the horizontal sliding rod 134, one end of the sliding rod 134 facing the inside of the mounting groove 132 is fixedly connected with the side surface of the pressing plate 133, the other end of the sliding rod 134 extends out of the slider body 131 and is welded with the pull ring 136, the side surface of the pull ring 136 facing the slider body 131 is fixedly connected with one end of the spring 135, the other end of the spring 135 is fixedly connected with the side surface of the slider body 131, when in use, the pull ring 136 is pulled through the spring 135 to enable the sliding rod 134 to, the pull ring 136 is pulled outwards to separate the pressing plate 133 from the swing rod 12, so that the operation is simple and the use is convenient.

In the use process of the utility model, the motor for controlling the turntable 15 is controlled by the controller to work, the angle editor is fixedly arranged on the rotating rod 10, the angle between the oscillating rod 12 and the vertical direction is measured by the angle editor, and the signal is transmitted to the controller, and the controller controls the motor again to enable the oscillating rod 12 to be in the vertical state; the devices and electrical elements and the connection and control modes among the components involved in the above process are all the existing inverted pendulum technology, and only the principle is explained here, and the connection and control modes are not shown in the abstract drawings and the description drawings.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention, and the following claims are therefore to be read in this light of the appended claims.

Claims

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.