CN2935329Y - Mechanical engineering control basic experiment pendulum - Google Patents
Mechanical engineering control basic experiment pendulum Download PDFInfo
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- CN2935329Y CN2935329Y CN 200620017942 CN200620017942U CN2935329Y CN 2935329 Y CN2935329 Y CN 2935329Y CN 200620017942 CN200620017942 CN 200620017942 CN 200620017942 U CN200620017942 U CN 200620017942U CN 2935329 Y CN2935329 Y CN 2935329Y
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- pendulum
- engineering control
- control experiment
- slide unit
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Abstract
The utility model discloses an experimental pendulum for the mechanical engineering control basis, including a linear motion mechanism (1) with a slipway (7), an experimental pendulum (2) set on the slipway. The Experimental pendulum mechanism (2) includes a vertical plate (8) vertically connected on the slipway (7) through a base (9), a rotor shaft (4) covered on the vertical plate, a angle coder (5) set in the end of rotor shaft, a pendulum (3) set on the other end of rotor shaft and rotating in circle,. The utility model can be simulated characteristics of three kinds of mechanical engineering systems, such as static unstable system, static stable system, and static random stable system. Through analysis and processing of the computer, various control objects are kept dynamic balance to meet experimental requirements.
Description
Technical field
The utility model relates to the control experimental provision, relates in particular to a kind of control technology to be used for mechanical engineering, reflects the Basic Mechanic Engineering Control experiment pendulum of control system to the control effect and the explanation control action of mechanical system.
Background technology
Along with developing rapidly of science and technology, it is obvious day by day that control theory is applied to mechanical importance.In the teaching of modern mechanical Engineering Control basic theory, research, inverted pendulum is the controlling object of a very typical mechanical system, and it can be good at reflecting the control effect of control system to the static instability system, and the effect of explanation control.In the mechanical engineering controlling object, the static instability system is a class controlling object, the Balance Control problem when walking as walking robot.But, also have many steady stability systems and static random systems stabilisation need increase controller, make the mechanical engineering object have better stability and security, as tower crane system lifting weight is a steady stability system, rock but in motion process, can produce, the serious threat personal security must increase control system, it is not produced in motion process rock; Systems stabilisation at random when linear motion system is static state, but when motion, also need to make the rapid stable convergence of system to impact point, just can finish various operation tasks.
For satisfying the research needs of above-mentioned three class mechanical engineering static systems, the back-up block that people are equipped with inverted pendulum with end face is arranged on the belt of a tape handler or is installed on the rack and pinion drive mechanism, the motion of above-mentioned three class static systems is simulated in the swing that drives inverted pendulum moving linearly and fork by gear train, thereby carries out mechanical control experiment.But existing experimental provision must be positioned over experiment table one side, allows fork overhang outside the experiment table side, could carry out experiment, and is very inconvenient; In addition, support the mechanism of inverted pendulum, because itself is bigger around property or gap, make inverted pendulum when motion, produce bigger vibration, so that it can not embody the characteristics of mechanical engineering controlling object well, thereby cause the inaccurate of experimental data, can not satisfy the requirement of experiment of Basic Mechanic Engineering Control well.
The utility model content
The utility model is to use problem inconvenient, the experimental precision difference in order to solve existing inverted pendulum experimental provision, and provides a kind of Basic Mechanic Engineering Control experiment easy to use, that experimental precision is high to put.
For addressing the above problem, the technical solution of the utility model is a kind of Basic Mechanic Engineering Control experiment of structure pendulum, and it comprises the straight-line motion mechanism of being with slide unit, is located at the experiment swinging mechanism on the described slide unit.This experiment swinging mechanism comprise by a base vertically be connected in riser on the described slide unit, be set in this riser upper end rotating shaft, be located at this rotating shaft one end angular encoder, be located at the rotating shaft other end can be with the rotating suspended swinging body of its complete cycle.
Preferred embodiment of the present utility model, described straight-line motion mechanism comprise both lateral sides have the pedestal of line slideway, by the ball screw of pair of bearings cross-brace on this pedestal, be fixed in the nut that cooperates transmission with described ball screw in the nut seat, the both sides of nut seat respectively have a row roller and described line slideway forms rolling pair, and the upper surface of nut seat is connected with described slide unit; One end of described ball screw is connected with a servomotor, and described pedestal transverse ends is respectively equipped with an electromagnetic induction switch.
Wherein, the outside of two electromagnetic induction switch also is respectively equipped with a limited block on the described pedestal.
The lower surface of described pedestal is connected with the substrate that four jiaos of bands are regulated bolt.
The rotating shaft of described servomotor is provided with an angle detecting sensor.
Described slide unit is provided with a straight line detecting sensor.
Described suspended swinging body is a balancing point, along being axially arranged with of this balancing point the groove of adjusting piece can be installed; The suspended swinging body also can be the hanging object.
The utility model adopts a riser that the support of suspended swinging body is higher than base-plates surface, makes these experiment ornaments can be positioned over the optional position of experiment table fully, and is very easy to use.With the experiment swinging mechanism be arranged at one with the slide unit of pedestal line slideway slippage on, adopt high-precision ball wire bar pair to carry out the straight line transmission, make that experiment swinging mechanism moving linearly is steady, smooth and easy.By the detection that angular encoder, angle detecting sensor, straight-line detection sensor are correlated with is set, and be transferred to computing machine, by the analyzing and processing of computing machine, conversely the experiment swinging mechanism is controlled, make it keep mobile equilibrium, thereby satisfy requirement of experiment.The utility model can be simulated three kinds of mechanical engineering objective system ground characteristics simultaneously, comprises static instability system, steady stability system and static random systems stabilisation; Directly will test swinging mechanism and be installed on the movable body of general motion module easy disassembly and combination; The center of gravity of balancing point can random variation, and fork and hanging weight also can arbitrarily exchange.
Description of drawings
Below in conjunction with drawings and Examples the utility model is described further, wherein:
Fig. 1 is the utility model preferred embodiment front view;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the vertical view of Fig. 1;
Fig. 4 is the front view of the utility model preferred embodiment experiment swinging mechanism;
Fig. 5 is the right view of Fig. 4;
Fig. 6 is the vertical view of Fig. 4;
Fig. 7 has the cut-open view of substrate for the utility model preferred embodiment straight-line motion mechanism;
Fig. 8 has the vertical view of substrate for the utility model preferred embodiment straight-line motion mechanism;
Fig. 9 has the left view of substrate for the utility model preferred embodiment straight-line motion mechanism.
Embodiment
Fig. 1 to Fig. 3 shows the contour structures of the utility model preferred embodiment, and described Basic Mechanic Engineering Control experiment pendulum comprises the straight-line motion mechanism 1 of being with slide unit 7, is located at the experiment swinging mechanism 2 on the described slide unit.This experiment swinging mechanism 2 comprise by a base 9 usefulness screws vertically be connected in riser 8 on the described slide unit 7, by a bearing 6 be set in this riser upper end rotating shaft 4, be located at this rotating shaft one end angular encoder 5, be located at the rotating shaft other end can be with the rotating balancing point 3 of its complete cycle.Along this balancing point be axially arranged with groove 15, this groove can be installed the adjustment piece, in order to adjust the center of gravity (seeing also Fig. 4 to Fig. 6) of balancing point.Described suspended swinging body 3 also can be replaced by other hanging object as required.
Extremely shown in Figure 9 as Fig. 7, described straight-line motion mechanism 1 comprises that the pedestal that is made of negative 02 and left end cover plate 01, line slideway W14, the screw of laterally being located at the base plate both sides are connected in the bearing seat 03 at two ends, the base plate left and right sides, the ball screw W17 that supports by a pair of angular contact ball bearing W15 that is located in the bearing seat, is fixed in the nut 09 (seeing also Fig. 9) that cooperates transmission with ball screw W17 in the nut seat 06.The both sides of described nut seat 06 respectively have a row roller 20 and form rolling pair (seeing also Fig. 9) with described line slideway W14, and the upper surface of nut seat 06 is connected with the slide unit 7 that the experiment swinging mechanism is housed by screw.The right-hand member of ball screw W17 is connected with a servomotor 13 that is fixed on the base plate 02 by ring flange 10 with a shaft coupling 9, the two ends of described base plate 02 are respectively equipped with an electromagnetic induction switch W16, and the outside of electromagnetic induction switch is respectively equipped with a limited block 05 by imperial power glue making.The rotating shaft of described servomotor 13 is provided with an angle detecting sensor, also is provided with a straight line detecting sensor (not shown) on the slide unit 7.The lower surface of described base plate connects substrate 11, four jiaos of adjusting bolts 12 that are respectively equipped with an adjustment base plan of this base lower surface.Servomotor 13 electric after, drive ball screw W17 and rotate, drive slide unit 7 moving linearlies that are connected with experiment swinging mechanism 2 by the nut 09 that is fixed on the nut seat 06.Meet electromagnetic induction switch W16 when nut seat and then change direction of motion, flexible limited block 05 can prevent electric malfunctioning and protect straight-line parts.
The pedestal of straight-line motion mechanism adopts popular aluminium alloy structure, the main body one-shot forming, and good rigidity is vibrated little.Open control interface is convenient to operation.Parts such as balancing point all adopt high-strength alloy aluminium; Supporting vertical plate is anode true qualities oxidation processes, and the blue surface treatment of fork electrophoresis is with the phase contrast of black motion module, elegant in appearance, succinctly durable.Adopt import optoelectronic angle scrambler as fork measurement of angle element, can obtain the accurate angle of balancing point, can draw its kinematic parameter by analyzing, reliable and stable.
The utility model adopts straight-line motion mechanism as the foundation motion platform, and an experiment swinging mechanism is set on its slide unit, constitutes a modular typical machine Engineering Control infrastest object.One-level experiment swinging mechanism riser top is installed in the angular encoder of rotating shaft one end, and countershaft motion angle and direction detect in real time; And balancing point or hanging weight that the rotating shaft other end is installed are used for simulating static instability system and steady stability system; Straight-line motion mechanism itself constitutes a static random systems stabilisation.Straight-line motion mechanism is by driven by servomotor, and the angle detecting sensor of installing on the motor detects the motion of motor, and the rectilinear motion detecting sensor of installing on the straight-line motion mechanism detects rectilinear motion state (position and speed).All detection information enter computing machine by a motion controller, by the software in the computing machine above-mentioned information is analyzed and handled, various digitial controllers by design are controlled mechanical system, make various controlling object keep mobile equilibrium, satisfy requirement of experiment.
Claims (8)
1, a kind of Basic Mechanic Engineering Control experiment pendulum, comprise band slide unit (7) straight-line motion mechanism (1), be located at the experiment swinging mechanism (2) on the described slide unit, it is characterized in that: described experiment swinging mechanism (2) comprise by a base (9) vertically be connected in riser (8) on the described slide unit (7), be set in this riser upper end rotating shaft (4), be located at this rotating shaft one end angular encoder (5), be located at the rotating shaft other end can be with the rotating suspended swinging body of its complete cycle (3).
2, Basic Mechanic Engineering Control experiment pendulum as claimed in claim 1, it is characterized in that: described straight-line motion mechanism (1) comprise both lateral sides have the pedestal of line slideway (W14), by the ball screw (W17) of pair of bearings (W15) cross-brace on this pedestal, be fixed in the nut (09) that cooperates transmission with described ball screw (W17) in the nut seat (06), the both sides of nut seat (06) respectively have a row roller (20) and form rolling pair with described line slideway (W14), and the upper surface of nut seat (06) is connected with described slide unit (7); One end of described ball screw (W17) is connected with a servomotor (13), and described pedestal transverse ends is respectively equipped with an electromagnetic induction switch (W16).
3, Basic Mechanic Engineering Control experiment pendulum as claimed in claim 2, it is characterized in that: the outside of two electromagnetic induction switch (W16) is respectively equipped with a limited block (05) on the described pedestal.
4, Basic Mechanic Engineering Control experiment pendulum as claimed in claim 3, it is characterized in that: the lower surface of described pedestal is connected with the substrate (11) that four jiaos of bands are regulated bolt (12).
5, as each described Basic Mechanic Engineering Control experiment pendulum of claim 1 to 4, it is characterized in that: the rotating shaft of described servomotor (13) is provided with an angle detecting sensor.
6, Basic Mechanic Engineering Control experiment pendulum as claimed in claim 5, it is characterized in that: described slide unit (7) is provided with a straight line detecting sensor.
7, Basic Mechanic Engineering Control experiment pendulum as claimed in claim 6, it is characterized in that: described suspended swinging body (3) is a balancing point, along being axially arranged with of this balancing point the groove (15) of adjusting piece can be installed.
8, Basic Mechanic Engineering Control experiment pendulum as claimed in claim 7, it is characterized in that: described suspended swinging body (3) is the hanging object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620017942 CN2935329Y (en) | 2006-08-25 | 2006-08-25 | Mechanical engineering control basic experiment pendulum |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620017942 CN2935329Y (en) | 2006-08-25 | 2006-08-25 | Mechanical engineering control basic experiment pendulum |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2935329Y true CN2935329Y (en) | 2007-08-15 |
Family
ID=38352016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620017942 Expired - Fee Related CN2935329Y (en) | 2006-08-25 | 2006-08-25 | Mechanical engineering control basic experiment pendulum |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2935329Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102013200A (en) * | 2010-10-28 | 2011-04-13 | 哈尔滨工业大学 | Simulation motion simulating mechanism for transportation of dangerous chemicals |
| CN104835380A (en) * | 2015-06-03 | 2015-08-12 | 德州学院 | Intelligent vehicle control experiment device |
-
2006
- 2006-08-25 CN CN 200620017942 patent/CN2935329Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102013200A (en) * | 2010-10-28 | 2011-04-13 | 哈尔滨工业大学 | Simulation motion simulating mechanism for transportation of dangerous chemicals |
| CN104835380A (en) * | 2015-06-03 | 2015-08-12 | 德州学院 | Intelligent vehicle control experiment device |
| CN104835380B (en) * | 2015-06-03 | 2019-04-02 | 德州学院 | A kind of intelligent vehicle control experimental provision |
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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 |