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

Inverted pendulum device with variable gravity center of pendulum rod Download PDF

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CN211062319U
CN211062319U CN201920221692.0U CN201920221692U CN211062319U CN 211062319 U CN211062319 U CN 211062319U CN 201920221692 U CN201920221692 U CN 201920221692U CN 211062319 U CN211062319 U CN 211062319U
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rod
pendulum
base
slider body
sliding
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张星慧
张安彩
陈向勇
王颖
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Linyi University
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Linyi University
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Abstract

本实用新型公开了一种摆杆重心可变的倒立摆装置,涉及自动控制技术领域,具体包括底座,所述底座的底面两端均通过螺栓固定安装有吸盘;所述底座的上表面中部通过焊接的方式固定安装有固定块,固定块的中部通过轴承转动安装有转动杆,转动杆的一端位于固定块的一侧焊接有转盘,转动杆的另一端位于固定块的另一侧与螺纹杆螺纹连接,螺纹杆的顶端与摆杆的底端固定连接,摆杆通过螺纹杆螺纹安装在转动杆的另一端,摆杆上安装有滑块。在本实用新型的使用过程中,通过调节滑块的位置从而对摆杆的重心高度进行调节,提高了倒立摆的实用性,通过吸盘将底座吸附在桌面上,极大提高了倒立摆在使用过程中的安全性。

Figure 201920221692

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.

Figure 201920221692

Description

一种摆杆重心可变的倒立摆装置An inverted pendulum device with a variable center of gravity of a pendulum rod

技术领域technical field

本实用新型涉及自动控制技术领域,具体是一种摆杆重心可变的倒立摆装置。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.

背景技术Background technique

倒立摆是进行控制理论研究的典型实验装置,该装置通过调整小车的水平运动来控制摆杆在倒立时保持稳定状态。学习自动控制理论的学生通过倒立摆系统实验来验证所学的控制理论和算法,非常的直观、简便,在轻松的实验中对所学课程加深了理解。同时,倒立摆也是进行控制理论研究的理想实验平台。许多现代控制理论的研究人员一直将它视为典型的研究对象,不断从中发掘出新的控制策略和控制方法。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.

而现有的倒立摆装置在使用过程中放置不稳定,容易发生倾倒造成损坏;而且并不具备重心调节的功能,实用性不强;在实验时,为了适用于不同的实验环境,倒立摆需要更换不同规格的摆杆,而摆杆在更换时操作复杂,使用不方便。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.

实用新型内容Utility model content

本实用新型的目的在于提供一种摆杆重心可变的倒立摆装置,以解决上述背景技术中提出的问题。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.

为实现上述目的,本实用新型提供如下技术方案:To achieve the above object, the utility model provides the following technical solutions:

一种摆杆重心可变的倒立摆装置,包括底座,所述底座的底面两端均通过螺栓固定安装有吸盘,吸盘之间通过连接管连通,其中一个吸盘的顶端与开设在底座内部的连接槽的一端连通,底座的内部开设有水平的滑槽,滑槽的一端与连接槽的另一端连通,滑槽内滑动安装有活塞,活塞与丝杆的一端通过轴承转动连接,丝杆的另一端从滑槽的另一端伸出底座外焊接把手,丝杆与底座螺纹连接;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;

所述底座的上表面中部通过焊接的方式固定安装有固定块,固定块的中部通过轴承转动安装有转动杆,转动杆的一端位于固定块的一侧焊接有转盘,转动杆的另一端位于固定块的另一侧开设有竖直的螺纹孔,转动杆的另一端通过开设的螺纹孔与螺纹杆螺纹连接,螺纹杆的顶端与摆杆的底端固定连接且摆杆的底端固定安装有限位块,摆杆通过螺纹杆螺纹安装在转动杆的另一端,摆杆上安装有滑块。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.

作为本实用新型进一步的方案:所述底座的上表面一端固定安装有载物盒且载物盒与底座一体成形,载物盒的顶部螺纹安装有盒盖,盒盖上均匀开设有若干通气孔。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 .

作为本实用新型进一步的方案:所述摆杆、螺纹杆和限位块均一体成形。As a further solution of the present invention, the swing rod, the threaded rod and the limit block are all formed integrally.

作为本实用新型进一步的方案:所述滑块主要由滑块本体、安装槽、压板、滑动杆、弹簧和拉环构成,滑块本体的中部开设有竖直的安装槽,滑块本体通过安装槽与摆杆滑动连接,滑块本体的侧壁上滑动安装有水平的滑动杆,滑动杆朝向安装槽内的一端与压板的侧面固定连接,滑动杆的另一端伸出滑块本体的外部焊接有拉环,拉环朝向滑块本体的侧面与弹簧的一端固定连接,弹簧的另一端与滑块本体的侧面固定连接。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.

作为本实用新型进一步的方案:所述安装槽的内径与摆杆的直径相同。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.

与现有技术相比,本实用新型的有益效果是:在本实用新型的使用过程中,通过调节滑块的位置从而对摆杆的重心高度进行调节,提高了倒立摆的实用性,通过吸盘将底座吸附在桌面上,有效防止了倒立摆发生倾倒,从而极大提高了倒立摆在使用过程中的安全性;摆杆与转动杆之间螺纹连接,拆卸操作简单,便于对摆杆进行更换。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 .

附图说明Description of drawings

图1为一种摆杆重心可变的倒立摆装置的结构示意图。FIG. 1 is a schematic structural diagram of an inverted pendulum device with a variable center of gravity of a pendulum rod.

图2为一种摆杆重心可变的倒立摆装置中滑块的结构示意图。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.

如图所示:底座1、连接槽2、吸盘3、活塞4、连接管5、丝杆6、滑槽7、把手8、螺纹杆9、转动杆10、限位块11、摆杆12、滑块13、滑块本体131、安装槽132、压板133、滑动杆134、弹簧135、拉环136、固定座14、转盘15、载物盒16。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 .

具体实施方式Detailed ways

下面将结合本实用新型实施例中的附图,对本实用新型实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本实用新型一部分实施例,而不是全部的实施例。基于本实用新型中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本实用新型保护的范围。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.

在本实用新型的描述中,需要说明的是,术语“上”、“下”、“内”、“外”、“顶/底端”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本实用新型和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本实用新型的限制。此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性。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.

在本实用新型的描述中,需要说明的是,除非另有明确的规定和限定,术语“安装”、“设置有”、“套设/接”、“连接”等,应做广义理解,例如“连接”,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通。对于本领域的普通技术人员而言,可以具体情况理解上述术语在本实用新型中的具体含义。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.

请参阅图1~2,本实用新型实施例中,一种摆杆重心可变的倒立摆装置,包括底座1,所述底座1的底面两端均通过螺栓固定安装有吸盘3,吸盘3之间通过连接管5连通,其中一个吸盘3的顶端与开设在底座1内部的连接槽2的一端连通,底座1的内部开设有水平的滑槽7,滑槽7的一端与连接槽2的另一端连通,滑槽7内滑动安装有活塞4,活塞4与丝杆6的一端通过轴承转动连接,丝杆6的另一端从滑槽7的另一端伸出底座1外焊接把手8,丝杆6与底座1螺纹连接,使用时,通过把手8带动丝杆6转动,丝杆6与底座1相互作用从而带动活塞4沿着滑槽7在水平方向滑动,从而通过连接槽2将吸盘3中的空气吸出,使 吸盘3吸附在地面上,从而提高了底座1放置在桌面上时的稳定性;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;

所述底座1的上表面一端固定安装有载物盒16且载物盒16与底座1一体成形,载物盒16内用于承载固态的空气清新剂,载物盒16的顶部螺纹安装有盒盖,盒盖上均匀开设有若干通气孔,从而便于空气清洗剂通过盒盖散发到空气中,提高空气质量。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.

所述底座1的上表面中部通过焊接的方式固定安装有固定块14,固定块14的中部通过轴承转动安装有转动杆10转动杆的一端位于固定块14的一侧焊接有转盘15,转盘15由外部电机通过皮带连接带动转动,转动杆10的另一端位于固定块14的另一侧开设有竖直的螺纹孔,转动杆10的另一端通过开设的螺纹孔与螺纹杆9螺纹连接,螺纹杆9的顶端与摆杆12的底端固定连接且摆杆12的底端固定安装有限位块11,摆杆12、螺纹杆9和限位块11均一体成形,摆杆12通过螺纹杆9螺纹安装在转动杆10的另一端,使用方便,摆杆12上安装有滑块13,通过调节滑块13在摆杆12上的位置从而调节倒立摆的重心。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.

所述滑块13主要由滑块本体131、安装槽132、压板133、滑动杆134、弹簧135和拉环136构成,滑块本体131的中部开设有竖直的安装槽132,安装槽132的内径与摆杆的直径相同,滑块本体131通过安装槽132与摆杆12滑动连接,滑块本体131的侧壁上滑动安装有水平的滑动杆134,滑动杆134朝向安装槽132内的一端与压板133的侧面固定连接,滑动杆134的另一端伸出滑块本体131的外部焊接有拉环136,拉环136朝向滑块本体131的侧面与弹簧135的一端固定连接,弹簧135的另一端与滑块本体131的侧面固定连接,使用时,通过弹簧135拉动拉环136使滑动杆134推动压板133压在摆杆12上对滑块本体131进行固定,当需要调节滑块本体131的位置时,只需要向外拉动拉环136,使压板133与摆杆12分离即可,操作简单,使用方便。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.

在本实用新型的使用过程中,用来控制转盘15的电机由控制器控制工作,而转动杆10上固定安装有角度编辑器,通过角度编辑器测量摆杆12与竖直方向的角度,并将信号输送给控制器,控制器再控制电机使摆杆12处于竖直状态;在上述过程中涉及到的设备和电器元件以及各个部件之间的连接方式和控制方式均为现有倒立摆技术,在此处仅对原理进行阐述,在摘要附图和说明书附图中均未画出。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.

尽管参照前述实施例对本实用新型进行了详细的说明,对于本领域的技术人员来说,其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换,凡在本实用新型的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本实用新型的保护范围之内,且本说明书中未作详细描述的内容均属于本领域专业技术人员公知的现有技术。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.
CN201920221692.0U 2019-02-22 2019-02-22 Inverted pendulum device with variable gravity center of pendulum rod Expired - Fee Related CN211062319U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920221692.0U CN211062319U (en) 2019-02-22 2019-02-22 Inverted pendulum device with variable gravity center of pendulum rod

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920221692.0U CN211062319U (en) 2019-02-22 2019-02-22 Inverted pendulum device with variable gravity center of pendulum rod

Publications (1)

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CN211062319U true CN211062319U (en) 2020-07-21

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CN (1) CN211062319U (en)

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Granted publication date: 20200721

Termination date: 20210222