CN2715273Y - Improved structure of planetary gear train type inverted pendulum - Google Patents
Improved structure of planetary gear train type inverted pendulum Download PDFInfo
- Publication number
- CN2715273Y CN2715273Y CN 200420005612 CN200420005612U CN2715273Y CN 2715273 Y CN2715273 Y CN 2715273Y CN 200420005612 CN200420005612 CN 200420005612 CN 200420005612 U CN200420005612 U CN 200420005612U CN 2715273 Y CN2715273 Y CN 2715273Y
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- planetary gear
- single pendulum
- pendulum
- servo motor
- train type
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Abstract
The utility model discloses an improved structure of planetary gear train type inverted pendulum, comprising a single pendulum, a sun gear, a planetary gear, a servo motor, a base, and a first and a second encoder. When the experiment is carrying out, the servo motor drives the sun gear for rotation so that the sun gear drives the planetary gear for rotation. The single pendulum is whipped by making use of the shaft component force of the planetary gear. The single pendulum sags owing to the weight, but the angular change generated from the single pendulum can be detected by the second encoder. The withdrawal force of the servo motor can be adjusted through the feedback control so that the single pendulum can maintain the erection. The front of the base is provided with a bolt. When the single pendulum is locked by the bolt, a machine station can carry out the general servo motor control experiment. What is more, the tail end of the single pendulum can increase an interference unit to increase the experimental interest.
Description
Technical field
The utility model is about a kind of planetary gear train type inverted pendulum structure-improved, be meant a kind of especially except that providing single pendulum to carry out the swinging of amplitude peak, more can see through the collocation of keeper or planetary gear fixture, make it can be applicable to the planetary gear train type inverted pendulum structure-improved of different experiments.
Background technology
The control of inverted pendulum (inverted pendulum) is the non-linear and unsettled system of a kind of open circuit, it can simulate ability of posture control when standing with the control of walking, fly bomb emission as robot etc., because the difficulty of its control, so often be used to verify various control theories, as building control (robust control), fuzzy control (fuzzy control) etc. by force, it also can be used as the teaching equipment of automatic control, use the experimental interests that improves the learner, so oneself generally uses in the control laboratory of each universities and colleges.
Known inverted pendulum experiment table as shown in Figure 1, it includes a single pendulum 11, these single pendulum 11 tail ends are articulated on the chassis 12 by motor driven, and this single pendulum 11 can be swung with respect to moving of chassis 12; This chassis 12 is provided with a scrambler (rotary encoder) 13 in order to measure single pendulum 11 pendulum angles, produce signal and control for feedbacking, and this chassis 12 is to be moved on a track 14 by servo motor driven; These single pendulum 11 sides are provided with a fixed bar 15 parallel with track 14, and this fixed bar 15 is provided with two register pins 16,17 in the two ends appropriate location, and the hunting range of single pendulum 11 is limited within this two register pin 16,17.
Can be resisted against on arbitrary register pin 16,17 before the aforesaid single pendulum 11 experiment beginnings, after the experiment beginning, experimenter's purpose promptly by controlling moving around of this chassis 12, keeps single pendulum 11 vertical, with confirmatory experiment person's control theory or data.Its method is the balance that the acceleration of control chassis 12 keeps single pendulum 11, and when this single pendulum 11 had shift phenomenon, its side-play amount was promptly passed back by this scrambler 13, to proofread and correct the data of these chassis 12 motions as controller.
Yet, aforesaid known inverted pendulum experiment table, because of considering the restriction in experiment place, make the displacement of chassis 12 limited, limited the acceleration of chassis motor indirectly, and uncontrollable significantly single pendulum 11 motions, so also related being affected of angle that single pendulum 11 can be tested generally between ± 30 degree (within two register pins 16,17), caused experiment and inconvenience in study, also reduce experimenter's learning interest, reduced the function of access control theory.
Seeing also Fig. 2 A is another kind of known inverted pendulum experiment table, and it also includes a single pendulum 21 and a scrambler 22.And its maximum feature, be to include a rotatable laboratory table 23, the axle center of this laboratory table 23 is with a servo motor 24 control rotation, 21 on this single pendulum be hubbed on this laboratory table 23 around, and make the radial direction of the swing position of this single pendulum 21 toward or away from laboratory table 23.
Aforementioned single pendulum 21 is when the experiment beginning, held up to the position at 45 approximately with hand earlier with surface level, when the experimenter experimentizes, promptly control this servo motor 24 and drive laboratory table 23 rotations, by centrifugal force whipping single pendulum 21, make this single pendulum 21 continue to keep being stable at a certain desire control angle, and utilize these scrambler 22 detection signals for feedbacking control.
And aforementioned single pendulum 21 because of device on rotary laboratory table 23, though the more unlikely restriction that is subjected to lab space, motor can rotate continuously, the amplitude of fluctuation of single pendulum still is limited in ± 90 degree or littler scope in.
Seeing also Fig. 2 B is the third known inverted pendulum experiment table, and the maximum differential of itself and Fig. 2 A embodiment is that its rotary laboratory table 23 must have enough height, and a single pendulum 21 is hubbed on the edge of this laboratory table 23, and sagging naturally and can swing naturally.When these laboratory table 23 rotations, the swaying direction of this single pendulum 21 is the tangential directions towards laboratory table 23.Because of not being subjected to the restriction of laboratory table 23, so can carry out the swing control experiment of arbitrarily angled as ± 180 degree.
Yet two kinds of embodiment of earlier figures 2A and Fig. 2 B, though the pendulum angle of single pendulum 21 has increase, and laboratory table 23 can carry out unconfined rotation in the same direction in theory, so be provided with lead 25 unavoidably because of this scrambler 22, when this laboratory table 23 continues to be rotated in the same direction, the problem that must cause lead 25 to twine, so the rotation of this laboratory table 23 is still restricted, generally in ± 180 degree, this can't test above-mentioned two kinds of single pendulum mechanisms in the complicated control of smooth implementation, and above-mentioned single pendulum mechanism only can only be applied on the experiment with simple pendulum, can't effectively be applied in other relevant experiment, very unfortunate, if need carry out other related experiment, then need buy other experiment equipment, then cause the burden on the purchase cost.
This shows that above-mentioned known article still have many disappearances, real non-one kindhearted design, and remain to be improved.
Every shortcoming that the utility model creator is derived in view of above-mentioned known inverted pendulum structure urgently think to be improved innovation, and after concentrating on studies for many years, successfully this part planetary gear train type inverted pendulum structure-improved is finished in research and development finally.
The utility model content
The purpose of this utility model promptly be to provide a kind of have do not have servo motor and single pendulum pivot angle rotation restriction fully, make its restriction that is not subjected to lab space, can carry out the planetary gear train type inverted pendulum structure-improved of nonlinear instability control experiment continuously.
Of the present utility model time a purpose is to provide a kind of door that sees through to fasten fixedly single pendulum, makes it can carry out the planetary gear train type inverted pendulum structure-improved of general motor rotary speed and corner control experiment.
Another purpose of the present utility model is to provide a kind of fixedly planetary gear of planetary gear fixture that sees through, and makes it directly drive single pendulum by motor, carries out the planetary gear train type inverted pendulum structure-improved of motor torsion control.
Another purpose of the present utility model is to provide a kind of can adding in the single pendulum tail end to put an interference unit, to increase the planetary gear train type inverted pendulum structure-improved of above-mentioned experiment entertaining.
Can reach the planetary gear train type inverted pendulum structure-improved of above-mentioned utility model purpose, include a single pendulum, a sun gear, a planet gear, a servo motor, a pedestal and first, second scrambler and form; Wherein the output shaft of this servo motor makes it run through sun gear in annular seating through a shaft coupling, and the servo motor tail end then sees through a shaft coupling and is connected with first scrambler, is used for measuring the servo motor rotation angle; A then sheathed single pendulum on the annular seating then is provided with several holes on this single pendulum, for the purposes of experiment, the other end of annular seating then sees through a shaft coupling and is connected with second scrambler; A then sheathed bearing on the planetary axis hole, this dead eye then places a planet axis that is locked on the single pendulum, makes planet wheel agree with mutually with sun gear.When experiment is carried out, drive the sun gear rotation by this servo motor, make this sun gear drive the planet wheel rotation, and utilize planetary axle component whipping single pendulum, though this single pendulum is can nature sagging because of its weight, and drives planet wheel and move in the other direction, the angle that this moment, single pendulum produced changes and is passed to second scrambler via extension rod, adjusted servo motor afterwards via feedback and controller calculating and exerted oneself, this single pendulum is kept vertically upward; The front end of this pedestal then is provided with a keeper in addition, and when single pendulum locked with keeper, then this board can carry out the control experiment of general servo motor rotating speed or corner; In addition, also can see through a planetary gear fixture planet wheel and single pendulum are linked, make motor directly drive single pendulum, do the servo motor corner control experiment under external force (gravity) load; This planetary gear fixture also can be consolidated in it on hole of single pendulum in addition, to change the weight of single pendulum, makes the inverted pendulum experiment have more challenge.Also or in when experiment, the may command single pendulum makes its control of carrying out low resistance system experiment and research vertically downward; In addition, can connect a spring on the hole of single pendulum, and hang a weight on spring, as interference unit, when carrying out the inverted pendulum experiment, weight can rock because of the single pendulum rotation, can significantly increase control difficulty and entertaining; See through above-mentioned design and make its board that can be effectively converted into the different experiments purpose, can effectively reduce purchase cost.
Description of drawings
See also the detailed description and the accompanying drawing thereof of following relevant the utility model one preferred embodiment, can further understand technology contents of the present utility model and purpose effect thereof; The accompanying drawing of relevant this embodiment is:
Fig. 1 is the stereographic map of known inverted pendulum experiment;
Fig. 2 A is the stereographic map of another kind of known inverted pendulum experiment;
Fig. 2 B is the variation example stereographic map of Fig. 2 A;
Fig. 3 is the structure improved perspective view of the utility model planetary gear train type inverted pendulum;
Fig. 4 is that the structure improved planetary gear secure bond of the utility model planetary gear train type inverted pendulum is in the schematic perspective view of single pendulum;
The structure improved keeper of Fig. 5 the utility model planetary gear train type inverted pendulum fastens implements synoptic diagram;
Fig. 6 is that synoptic diagram is implemented in the structure improved direct driving of the utility model planetary gear train type inverted pendulum;
Fig. 7 is that structure improved another of the utility model planetary gear train type inverted pendulum implemented synoptic diagram;
Fig. 8 is the another enforcement synoptic diagram of the utility model planetary gear train type inverted pendulum structure-improved installing interference unit; And
Fig. 9 is the utility model planetary gear train type inverted pendulum structure-improved replaces gear with friction pulley an enforcement synoptic diagram again.
[figure number explanation]
10 housings, 32 holes
101 perseverance friction pulleys, 33 planetary gear fixtures
102 epicyclic friction gears, 331 holes
11 single pendulums, 332 stiff ends
111 holders, 333 fastening ends
12 chassis, 34 springs
13 scramblers, 35 weights
14 tracks, 4 perseverance gears
15 fixed bars, 5 planet wheels
16 register pins, 51 planet axis
17 register pins, 52 planet wheel holes
21 single pendulums, 6 servo motors
22 scramblers, 61 shaft couplings
23 laboratory tables, 7 pedestals
24 servo motors, 71 openings
25 leads, 72 keepers
3 single pendulums, 8 first scramblers
31 annular seatings, 9 second scramblers
Embodiment
See also Fig. 3 and shown in Figure 4, for the structure improved spatial structure of planetary gear train type inverted pendulum provided by the utility model and planetary gear fixture are incorporated into the single pendulum schematic perspective view, it mainly includes a single pendulum 3, a sun gear 4, a planet gear 5, a servo motor 6, a pedestal 7, first scrambler 8, second scrambler 9 and housing 10 and forms; Wherein the output shaft of this servo motor 6 makes it run through sun gear 4 in annular seating 31 through a shaft coupling 61, and servo motor 6 tail ends then see through a shaft coupling 61 and are connected with first scrambler 8, make it be used for measuring servo motor 6 rotation angle; A then sheathed single pendulum 3 on the annular seating 31 then is provided with several holes 32 on this single pendulum 3, an end of annular seating 31 then sees through a shaft coupling 61 and is connected with second scrambler 9; A then sheathed bearing on the axis hole of planet wheel 5, this dead eye then place a planet axis 51 that is locked on the single pendulum 3, make planet wheel 5 agree with mutually with sun gear 4; Assemblies such as above-mentioned servo motor 6, first scrambler 8, second scrambler 9 all are fixed on the pedestal 7 with holder 111, and keep the axle center to be a straight line, carrying out in order to experiment, this pedestal 7 is provided with an opening 71, make single pendulum 3 when experiment, can in opening 71, swing, and the restriction that can not produce pendulum angle, the front end of pedestal 7 then is provided with a keeper 72, make it be fastened single pendulum 3, this pedestal 7 is to be connected with casing 10, is can be according to the control panel of varying environment and the ccontaining different types of user mode in the casing 10; When experiment is carried out, drive sun gear 4 rotations by this servo motor 6, make this sun gear 4 drive planet wheel 5 rotations, and utilize the axle component whipping single pendulum 3 of planet wheel 5, though this single pendulum 3 is sagging because of its weight meeting nature, and drive planet wheel 5 motion in the other direction, this moment, the angle variation of single pendulum 3 generations was passed to second scrambler 9 via extension rod, adjusting servo motor 6 afterwards via feedback and controller calculating exerts oneself, make this single pendulum 3 keep erectting or being stable at the angle of controlling, so can carry out the inverted pendulum experiment; In addition, it is can see through a planetary gear fixture 33 be locked on the single pendulum 3, can increase and the weight that swings of modulation single pendulum 3, makes it have more challenge when experiment; Wherein be to be provided with that a hole 331 is convenient to be combined with single pendulum 3 on this planetary gear fixture 33, and extend respectively in the outer rim of hole 331 and to be provided with a stiff end 332 that the bottom of hole 331 then extension downwards is provided with a fastening end 333.
See also shown in Figure 5ly, be that the structure improved keeper of planetary gear train type inverted pendulum provided by the utility model fastens to implement synoptic diagram; The utility model is except that the experiment that inverted pendulum can be provided, more can fasten mutually through the keeper 72 on hole on the single pendulum 3 32 and the pedestal 7, make single pendulum 3 can not swing, make it be carried out general servo motor 6 rotating speeds and corner control experiment because of the rotation of servo motor 6; In addition, because of single pendulum 3 and the door fasten 72 with mutual fastening, can avoid single pendulum 3 in handling process, to rock, cause in the carrying obstruction and the carrying personnel injury.
See also shown in Figure 6ly, be that the structure improved direct driving of the utility model planetary gear train type inverted pendulum implements synoptic diagram; The fastening end 333 that the utility model can see through planetary gear fixture 33 is inserted on the hole 52 of planet wheel 5, and see through a locking part and make planetary gear fixture 33 be locked on the single pendulum 3, at this moment, single pendulum 3 is the relations that are direct driving with servo motor 6, make its can see through servo motor 6 directly control single pendulums 3 pendulum angle and experimentize.
See also shown in Figure 7ly, be that structure improved another of the utility model planetary gear train type inverted pendulum implement synoptic diagram; The utility model is to control single pendulum 3 down when experiment, to suppress single pendulum because of working the swing that conditioned disjunction external force is caused, make its experiment of being carried out the low resistance system and research (as the experiment of emulation overhead traveling crane), make the utility model increase by an experiential function in addition.
See also shown in Figure 8ly, be the another enforcement synoptic diagram of the utility model planetary gear train type inverted pendulum structure-improved installing interference unit; It is to connect a spring 34 on the hole 32 of single pendulum 3, and hangs a weight 35 on spring 34, and when carrying out the inverted pendulum experiment, weight 35 can rock because of single pendulum 3 swings, and makes it present the interference phenomenon that difficulty is given expection, can significantly increase control difficulty and entertaining.
See also shown in Figure 9ly, be that the utility model planetary gear train type inverted pendulum structure-improved one implements synoptic diagram again with what friction pulley replaced gear; It is can be with traditional gear driven mode that planet wheel 5 provided by the utility model and centre tooth 4 are taken turns, make the mode that contacts with epicyclic friction gear 102 by perseverance friction pulley 101 into, by the rubbing contact between perseverance friction pulley 101 and the epicyclic friction gear 102, to drive the identical mechanism action, make it can carry out the inverted pendulum experiment.
In sum, the utility model is the board that is convertible into multiple different experiments purpose, except that can effectively reducing the purchase cost, more can significantly reduce the space that board is taken in.
Above-listed detailed description is specifying at a possible embodiments of the present utility model, yet this embodiment is not in order to limit claim of the present utility model, allly do not break away from the equivalence that the utility model skill spirit does and implement or change, all should be contained in the utility model claim.
In sum, the utility model not only really belongs to innovation on the kenel of space, and can promote above-mentioned multinomial effect by more known article, the legal utility model patent important document that should fully meet novelty and progressive, so file an application in accordance with the law, earnestly ask your office and check and approve this part utility application case, to encourage utility model, to feeling moral just.
Claims (7)
1, a kind of planetary gear train type inverted pendulum structure-improved is characterized in that this structure comprises:
Single pendulum, this single pendulum is provided with several holes;
Servo motor, the output shaft of this servo motor are to see through a shaft coupling, make it run through sun gear in annular seating;
Sun gear, this sun gear are fixed on this servo motor output shaft;
Planet wheel, this planet wheel are to rotate with this sun gear engagement, and through a planet axis it are fixed on the single pendulum, then are provided with a hole on it;
First scrambler, this first scrambler extends the rear end that is arranged at this servo motor;
Second scrambler, this second scrambler is arranged at an end of annular seating;
Pedestal, it provides servo motor, first and second scrambler and annular seating to see through holder and is fixed thereon, and is provided with an opening for the required space of single pendulum swing in pedestal;
Casing, the ccontaining control panel of manipulating for the user of this casing;
The planetary gear fixture, this planetary gear fixture is locked on the hole of this single pendulum.
2, planetary gear train type inverted pendulum structure-improved as claimed in claim 1 is characterized in that: be provided with a bearing with the swing stability of strengthening single pendulum between this motor output shaft and annular seating.
3, planetary gear train type inverted pendulum structure-improved as claimed in claim 1, it is characterized in that: this planetary gear fixture body is provided with a hole, and extend respectively in the outer rim of hole and to be provided with a stiff end, the bottom of hole then extension downwards is provided with a fastening end, see through cooperating of hole and locking part, it is locked on the single pendulum.
4, planetary gear train type inverted pendulum structure-improved as claimed in claim 1, it is characterized in that: a side of this pedestal opening is provided with a keeper.
5, planetary gear train type inverted pendulum structure-improved as claimed in claim 1 is characterized in that: plug the planetary gear fixture on this planet wheel.
6, planetary gear train type inverted pendulum structure-improved as claimed in claim 1 is characterized in that: see through spring suspension one weight on the tail end hole of this single pendulum.
7, planetary gear train type inverted pendulum structure-improved as claimed in claim 1 is characterized in that: this sun gear, the planet wheel kind of drive are the modes that drives same mechanism by anodontia friction pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420005612 CN2715273Y (en) | 2004-03-01 | 2004-03-01 | Improved structure of planetary gear train type inverted pendulum |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420005612 CN2715273Y (en) | 2004-03-01 | 2004-03-01 | Improved structure of planetary gear train type inverted pendulum |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2715273Y true CN2715273Y (en) | 2005-08-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420005612 Expired - Fee Related CN2715273Y (en) | 2004-03-01 | 2004-03-01 | Improved structure of planetary gear train type inverted pendulum |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2715273Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104064104A (en) * | 2014-07-08 | 2014-09-24 | 辽宁科技大学 | Reversal method teaching tool of epicyclic gear train |
| CN104332095A (en) * | 2014-09-19 | 2015-02-04 | 杭州电子科技大学 | Swing follower cam-gear train combination teaching aid |
-
2004
- 2004-03-01 CN CN 200420005612 patent/CN2715273Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104064104A (en) * | 2014-07-08 | 2014-09-24 | 辽宁科技大学 | Reversal method teaching tool of epicyclic gear train |
| CN104332095A (en) * | 2014-09-19 | 2015-02-04 | 杭州电子科技大学 | Swing follower cam-gear train combination teaching aid |
| CN104332095B (en) * | 2014-09-19 | 2017-03-29 | 杭州电子科技大学 | Cam of oscillating follower train combined appliance for teaching |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |