A linear motor inverted pendulum experiment box

Abstract

A linear motor inverted pendulum experiment box, including experiment box body and box cover, the box cover is hinged to install in experiment box one side, in the experiment box body respectively is provided with control mainboard device, data interface assembly and movement track assembly, the movement track assembly is installed with sliding seat structure, the support vertical tube is detachably or foldably installed in the middle of the sliding seat structure, at least one side of the sliding seat structure is provided with driving device for driving the sliding seat structure to move on the movement track assembly, an angle encoder is installed on the top of the support vertical tube, and the angle encoder is connected with a swing rod. The utility model manufacturing and use cost is lower, use is not limited by site condition, is convenient for experiment demonstration and observation, and is easy to move to different experiment places and demonstrates, and the reuse effect is good.

Description

Technical Field

[0001] This utility model belongs to the technical field of experimental instruments, specifically relating to a linear motor inverted pendulum experimental box. Background Technology

[0002] The inverted pendulum experiment is a classic experiment in control theory, designed to study how to maintain the balance of a naturally unstable inverted pendulum system. It is an important tool for verifying the effectiveness of control algorithms. At its core is a multivariable, nonlinear, and strongly coupled dynamic system, typically consisting of a movable base and a pendulum rod connected by hinges. Because the inverted state is an unstable equilibrium point, a counter-torque is applied by driving the base to counteract disturbances and maintain the pendulum rod's verticality. The principles of this experiment can be applied to bipedal robots, rocket attitude control, and other fields. It is also an important practical project in automation education to help understand concepts such as system modeling and stability.

[0003] In the prior art, CN220420123U discloses a linear motor inverted pendulum assembly, including a base, with screws penetrating one side of the base, a bracket fixedly installed above the base, anti-collision pads provided on one side of the bracket, a slide rail provided above the bracket, and a small guide rail provided above the slide rail. This linear motor inverted pendulum assembly, through the arrangement of the slide rail, the small guide rail, the linear motor stator, the linear motor mover, and the movable frame, utilizes the arrangement of the linear motor stator and the linear motor mover to drive the movable frame to perform an inverted pendulum experiment on the slide rail and the small guide rail. The above solution solves the problems of gaps, friction, delays, and noise introduced by traditional inverted pendulums driven by rotary servo motors and transmission mechanisms such as steel wire ropes or belts. However, linear motors are more expensive to manufacture and consume more electricity. Furthermore, both this inverted pendulum assembly and the traditional inverted pendulum require fixed installation on the edge of the experimental table to allow for swinging, limiting the space for demonstrations and restricting the number of viewers. Students often need to surround one side of the table to observe the entire experiment. The fixed installation of the inverted pendulum assembly on the table can also cause damage, and its demonstration position cannot be easily moved. Therefore, its reusability as a teaching experimental instrument is poor. Utility Model Content

[0004] This invention addresses the shortcomings of existing technologies by proposing a linear motor inverted pendulum experimental box that has low manufacturing and usage costs, is not limited by site conditions, is easy to demonstrate and observe, can be easily moved to different experimental sites for demonstration, and has good reusability.

[0005] The specific technical solution is as follows:

[0006] A linear motor inverted pendulum experimental box includes an experimental box body and a box cover. The box cover is hinged to one side of the experimental box body. A control motherboard device, a data interface component, and a motion track component are respectively arranged in the experimental box body. A sliding seat structure is installed on the motion track component. A support column is detachably or foldably installed in the middle of the sliding seat structure. At least one side of the sliding seat structure is provided with a driving device for driving the sliding seat structure to move on the motion track component. An angle encoder is installed on the top of the support column, and the angle encoder is connected to a swing rod.

[0007] Preferably, a hollow support frame is provided in the middle of the sliding seat structure, the top of which is connected to the bottom of the through hole of the support riser. A wire harness support is also provided on the side of the sliding seat structure. The feedback control lines of the angle encoder pass through the through hole of the support riser, the hollow support frame and the wire harness support in sequence and are electrically connected to the control motherboard device.

[0008] Preferably, a fixed base plate is provided on the top of the hollow support frame. A flip-up housing is rotatably connected to one side of the fixed base plate via a rotating shaft. A locking mechanism is provided between the fixed base plate and the other side of the flip-up housing to lock them in place when they are stacked. The fixed base plate, the flip-up housing, and the locking mechanism constitute a folding connecting seat. An installation sleeve is provided on the top of the flip-up housing for installing the support riser. A through hole is provided in the middle of the fixed base plate and the flip-up housing for the feedback control line of the angle encoder to pass through.

[0009] Preferably, the locking mechanism consists of a first outlet with a hole, a second outlet with a hole, and a locking bolt structure. The first outlet with a hole and the second outlet with a hole are respectively fixedly installed on the fixed base plate and the side of the flip shell. The locking bolt structure is rotatably installed in the second outlet with a hole. The first outlet with a hole has a nut structure. The locking bolt structure and the nut structure cooperate to lock the mechanism.

[0010] Preferably, the locking mechanism consists of a control rod, a locking clamping rod, and two clamping seats. The two clamping seats are fixedly mounted on the fixed base plate and respectively engage with the two sides of the locking clamping rod. The middle part of the locking clamping rod is fixedly connected to one end of the control rod, and the other end of the control rod passes through the flip-over housing. A return spring structure is provided between the end of the control rod and the flip-over housing.

[0011] Preferably, an encoder holder is provided at the end of the motion track assembly to house the folded angle encoder. The mounting sleeve is a clamping connection kit. The clamping connection kit generates a contraction force by tightening bolts or other means, thereby firmly fixing the support riser to the top of the flip shell, so that it can be folded by flipping with the flip shell.

[0012] Preferably, the drive device is provided with an adjustable mounting bracket, on which a motor module is mounted, and a drive wheel structure is mounted at the output end of the motor module, which rolls tightly against the motion track assembly.

[0013] Preferably, the adjustable mounting bracket consists of a vertical adjustment mounting plate and a horizontal mounting plate. The motor module is mounted on the horizontal mounting plate, and the vertical adjustment mounting plate is fixedly disposed on the side of the sliding seat structure. An elongated mounting hole is provided in the middle of the vertical adjustment mounting plate, and the end of the horizontal mounting plate is mounted in the elongated mounting hole by a bolt group. A vertical screw hole group is also provided at the top of the vertical adjustment mounting plate, and an adjustment and stabilizing bolt group is provided in the vertical screw hole group. The adjustment and stabilizing bolt group is tightly abutted against the top of the horizontal mounting plate.

[0014] Preferably, the motion track assembly includes a sliding guide plate and two track mounting side plates, which are respectively fixedly installed on two opposite inner side walls of the experimental chamber. The two sides of the sliding guide plate are bolted to the two track mounting side plates.

[0015] Preferably, the track mounting side plate consists of two mounting plates, with one side of each mounting plate perpendicular to each other and welded together or integrally formed. One mounting plate is fixedly mounted on the inner side wall of the experimental chamber, and the other mounting plate is provided with vertical mounting holes evenly distributed. The end of the sliding guide plate is detachably mounted in the vertical mounting holes by bolts.

[0016] The beneficial effects of this utility model are as follows: The supporting riser allows the angle encoder to be suspended, providing a large swing space for the swing rod connected to the encoder. This eliminates site limitations for swing experiments and facilitates demonstration and observation, eliminating the need to observe from the edge of a table. By opening the locking mechanism, the housing can be freely flipped and folded, making it easy to store the supporting riser and angle encoder in the experimental box. Closing the lid allows for easy transport to different experimental locations, demonstrating good reusability. Simultaneously, the hollow support frame facilitates the passage of feedback control lines and slightly raises the folding position of the fixed base plate and the flipped housing, making folding and locking operations more convenient. Adjusting the adjustable mounting bracket allows the drive wheel structure to be pressed firmly onto the motion track assembly for motion control, achieving high precision. This eliminates the need for expensive linear motors, reducing manufacturing costs and avoiding the problems associated with belts, which wear and break after repeated use, requiring frequent belt replacements. Simply adjusting the adjustable mounting bracket again allows the worn drive wheel structure to be pressed firmly onto the motion track assembly, further reducing operating costs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall installation structure of this utility model.

[0018] Figure 2 This is a front sectional view of the experimental chamber and its internal components of this utility model.

[0019] Figure 3 This is a schematic diagram of the installation of the internal components of the experimental chamber in this utility model.

[0020] Figure 4 This is a schematic diagram of the locking mechanism in this utility model.

[0021] Figure 5 This is a schematic diagram of the locking mechanism in Embodiment 2.

[0022] In the diagram: 1. Experimental chamber; 2. Chamber cover; 3. Control motherboard device; 4. Data interface assembly; 5. Motion track assembly; 6. Sliding seat structure; 7. Supporting riser; 8. Drive device; 9. Angle encoder; 10. Swing rod; 11. Power supply equipment.

[0023] Sliding guide plate 51; Track mounting side plate 52; Hollowed-out support frame 61; Cable tie bracket 62; Fixed base plate 63; Flip-over housing 64; Locking mechanism 65; Mounting sleeve 66;

[0024] First branch with hole 651; Second branch with hole 652; Locking bolt structure 653; Control rod 654; Locking clamping rod 655; Clamping seat 656; Return spring structure 657;

[0025] Adjustable mounting bracket 81; motor module 82; drive wheel structure 83; encoder holder 91. Detailed Implementation

[0026] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0027] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0028] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or a connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] Example 1:

[0030] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown: A linear motor inverted pendulum experimental box includes an experimental box body 1 and a box cover 2. The box cover 2 is hinged to one side of the experimental box body 1. A locking assembly is provided between the other side of the experimental box body 1 and the box cover 2. Conventional features such as these are not described in detail. The experimental box body 1 contains a control main board device 3, a data interface assembly 4, and a motion track assembly 5. A sliding seat structure 6 is mounted on the motion track assembly 5. A support upright 7 is detachably or foldably mounted in the middle of the sliding seat structure 6. A drive device 8 is provided on one side of the sliding seat structure 6 to drive the sliding seat structure 6 to move on the motion track assembly 5. Drive devices 8 can also be provided on both sides of the sliding seat structure 6, but this is generally not necessary. An angle encoder 9 is mounted on the top of the support upright 7, and the angle encoder 9 is connected to a swing rod 1. 0. The angle encoder 9 is suspended by the support riser 7, which gives the swing rod 10 a huge swing space. Its swing experiment is not limited by the site conditions and is convenient for experimental demonstration and observation. It does not need to be observed around the edge of the table. The angle encoder 9 is generally detachably connected to the swing rod 10, which is convenient for replacing different types of swing rods 10. A power supply device 11 is also provided in the experimental box 1. The control motherboard device 3 and the power supply device 11 can be encapsulated in the experimental box 1 through the isolation plate. The data interface component 4 and the motion track component 5 can also be exposed by the isolation plate. The power supply device 11 is generally a mobile lithium battery power supply, which is convenient for the integrity of the equipment encapsulation in the box and can be used to conduct experiments in any environment. Of course, the power supply device 11 can also be a plug-in device, but plug-in devices do not have the above advantages.

[0031] The sliding seat structure 6 has a hollow support frame 61 in the middle. The top of the hollow support frame 61 is connected to the bottom of the through hole of the support tube 7. A wire harness support 62 is also provided on the side of the sliding seat structure 6. The feedback control lines of the angle encoder 9 pass through the through hole of the support tube 7, the hollow support frame 61 and the wire harness support 62 in sequence and are electrically connected to the control main board device 3. The wire harness support 62 is L-shaped and has wire hole structures on the inner sides of both ends of the wire harness support 62, which facilitates the neatness of the lines and prevents them from becoming messy during the experiment.

[0032] A fixed base plate 63 is provided on the top of the hollow support frame 61. A rotating shell 64 is rotatably connected to one side of the fixed base plate 63 via a pivot. A locking mechanism 65 is provided between the fixed base plate 63 and the rotating shell 64 on the other side to lock them in place when they are stacked. The fixed base plate 63, the rotating shell 64 and the locking mechanism 65 form a folding connecting seat. An installation sleeve 66 is provided on the top of the rotating shell 64 for installing the support tube 7. A through hole is provided in the middle of the fixed base plate 63 and the rotating shell 64 for the feedback control line of the angle encoder 9 to pass through. By locking the fixed base plate 63 and the rotating shell 64 in place, the support tube 7 stands upright and moves with the sliding seat structure 6, thereby driving the swing rod 10 to swing. When the locking mechanism 65 is opened, the rotating shell 64 can be freely flipped and folded, making it easy to store the support tube 7 and the angle encoder 9 in the experimental box 1. After closing the box cover 2, it can be easily carried to other experimental sites for demonstration, with good reusability. Meanwhile, the hollow support frame 61 facilitates the passage of the feedback control line, and slightly raises the folding position of the fixed base plate 63 and the flip shell 64, making the folding and locking operations more convenient.

[0033] The locking mechanism 65 consists of a first outlet with a hole 651, a second outlet with a hole 652, and a locking bolt structure 653. The first outlet with a hole 651 and the second outlet with a hole 652 are respectively fixedly installed on the side of the fixed base plate 63 and the flip shell 64. The locking bolt structure 653 is rotatably installed in the second outlet with a hole 652. The first outlet with a hole 651 has a nut structure, and the locking bolt structure 653 cooperates with the nut structure to lock.

[0034] An encoder holder 91 is provided at the end of the motion track assembly 5 to house the folded angle encoder 9, ensuring that the folded angle encoder 9 does not move freely within the experimental housing 1 and is protected from damage during transport. The mounting sleeve 66 is a clamping connection kit. The clamping connection kit uses bolts to tighten the inner wall of the sleeve, creating a contraction force that securely fixes the support riser 7 to the top of the flip housing 64, allowing it to fold as the flip housing 64 flips. This clamping, split design reduces manufacturing costs and allows for the replacement of support risers 7 of different lengths for better experimental demonstrations. However, it is best not to replace them frequently, as they are prone to loosening. Screws or bolts can also be used for installation, but after repeated shaking during testing, screws or bolts are prone to loosening and are far less stable and reliable than the clamping connection kit.

[0035] The aforementioned drive device 8 is equipped with an adjustable mounting bracket 81, on which a motor module 82 is mounted. A drive wheel structure 83 is mounted at the output end of the motor module 82. The drive wheel structure 83 rolls tightly against the motion track assembly 5. The drive wheel structure 83 is similar to a scaled-down car wheel. After adjustment by the adjustable mounting bracket 81, the drive wheel structure 83 is tightly pressed against the motion track assembly 5 for motion control. The precision is high enough, and the precision problem is solved without the need for an expensive linear motor, thus reducing manufacturing costs. It also avoids the problem of belts wearing out and breaking after repeated use, requiring frequent belt replacements. Only the adjustable mounting bracket 81 needs to be readjusted to make the worn drive wheel structure 83 press tightly against the motion track assembly 5 again, thus reducing operating costs.

[0036] The adjustable mounting bracket 81 consists of a vertical adjustment mounting plate and a horizontal mounting plate. The motor module 82 is mounted on the horizontal mounting plate. The vertical adjustment mounting plate is fixedly set on the side of the sliding seat structure 6, and a long strip-shaped mounting hole is opened in the middle of the vertical adjustment mounting plate. The end of the horizontal mounting plate is installed in the long strip-shaped mounting hole by a bolt group. A vertical screw hole group is also provided at the top of the vertical adjustment mounting plate. An adjustment and stabilizing bolt group is provided in the vertical screw hole group. The adjustment and stabilizing bolt group is tightly against the top of the horizontal mounting plate. After the bolt group is installed in the long strip-shaped mounting hole to initially determine the adjustment and tightening position, the adjustment and stabilizing bolt group can further prevent loosening during the test operation, and ensure the stability and accuracy of the drive device 8 driving the sliding seat structure 6 to move on the motion track assembly 5.

[0037] The aforementioned motion track assembly 5 includes a sliding guide rail plate 51 and two track mounting side plates 52. The two track mounting side plates 52 are respectively fixedly installed on two opposite inner side walls of the experimental chamber 1. The two sides of the sliding guide rail plate 51 are bolted to the two track mounting side plates 52. The track mounting side plates 52 are composed of two mounting plates, with one side of each other perpendicular and welded together or integrally formed, making the track mounting side plates 52 lighter. One mounting plate is fixedly installed on the inner side wall of the experimental chamber 1, and the other mounting plate has evenly distributed vertical mounting holes. The end of the sliding guide rail plate 51 is detachably installed in the vertical mounting holes by bolts. A limiting buffer sleeve is fitted on the nut of the bolt at the end of the sliding guide rail plate 51 to prevent the sliding seat structure 6 from sliding.

[0038] Example 2:

[0039] like Figure 5 As shown: As an improved solution, with other structures the same as in Embodiment 1, the locking mechanism 65 consists of a control rod 654, a locking clamping rod 655, and two clamping seats 656. The two clamping seats 656 are fixedly mounted on the fixed base plate 63 and respectively engage with the two sides of the locking clamping rod 655. The middle part of the locking clamping rod 655 is fixedly connected to one end of the control rod 654. The other end of the control rod 654 passes through the flip-over housing 64, and a return spring structure 657 is provided between the end of the control rod 654 and the flip-over housing 64. If the clamping direction of the clamping seat 656 is opposite to the setting direction of the control rod 654, and if the return spring structure 657 is located between the inner end of the control rod 654 and the inner wall of the flip-over housing 64, then the return spring structure 657 is a tension spring; if the return spring structure 657 is located between the outer end of the control rod 654 and the outer wall of the flip-over housing 64, then the return spring structure 657 is a compression spring. Figure 5 As shown; conversely, the setting method is the same. In this way, pressing the control rod 654 inward can realize the locking rod 655 disengaging from the two locking seats 656, and then the flipping housing 64 can be freely flipped to realize the folding of components such as the support riser 7. This locking and disengaging method is more convenient and faster.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims.

Claims

1. A linear motor inverted pendulum experimental box, characterized in that: The experimental chamber includes an experimental box (1) and a cover (2). The cover (2) is hinged to one side of the experimental box (1). The experimental box (1) is equipped with a control motherboard device (3), a data interface component (4), and a motion track component (5). A sliding seat structure (6) is installed on the motion track component (5). A support riser (7) is detachably or foldably installed in the middle of the sliding seat structure (6). At least one side of the sliding seat structure (6) is equipped with a drive device (8) for driving the sliding seat structure (6) to move on the motion track component (5). An angle encoder (9) is installed on the top of the support riser (7). The angle encoder (9) is connected to a swing rod (10).

2. The linear motor inverted pendulum experimental box according to claim 1, characterized in that: A hollow support frame (61) is provided in the middle of the sliding seat structure (6). The top of the hollow support frame (61) is connected to the bottom of the through hole of the support riser (7). A wire harness support (62) is also provided on the side of the sliding seat structure (6). The feedback control lines of the angle encoder (9) pass through the through hole of the support riser (7), the hollow support frame (61) and the wire harness support (62) in sequence and are electrically connected to the control motherboard device (3).

3. The linear motor inverted pendulum experimental box according to claim 2, characterized in that: A fixed base plate (63) is provided on the top of the hollow support frame (61). A rotating housing (64) is rotatably connected to one side of the fixed base plate (63) via a rotating shaft. A locking mechanism (65) is provided between the fixed base plate (63) and the other side of the rotating housing (64). An installation sleeve (66) is provided on the top of the rotating housing (64) for installing the support riser (7). A through hole is provided in the middle of the fixed base plate (63) and the rotating housing (64) for the feedback control line of the angle encoder (9) to pass through.

4. The linear motor inverted pendulum experimental box according to claim 3, characterized in that: The locking mechanism (65) consists of a first outlet with a hole (651), a second outlet with a hole (652), and a locking bolt structure (653). The first outlet with a hole (651) and the second outlet with a hole (652) are respectively fixedly installed on the side of the fixed base plate (63) and the flip shell (64). The locking bolt structure (653) is rotatably installed in the second outlet with a hole (652). The first outlet with a hole (651) has a nut structure. The locking bolt structure (653) and the nut structure cooperate to lock.

5. The linear motor inverted pendulum experimental box according to claim 3, characterized in that: The locking mechanism (65) consists of a control rod (654), a locking clamping rod (655), and two clamping seats (656). The two clamping seats (656) are fixedly mounted on the fixed base plate (63) and respectively engage with the two sides of the locking clamping rod (655). The middle part of the locking clamping rod (655) is fixedly connected to one end of the control rod (654). The other end of the control rod (654) passes through the flip-up housing (64), and a return spring structure (657) is provided between the end of the control rod (654) and the flip-up housing (64).

6. The linear motor inverted pendulum experimental box according to claim 3, characterized in that: An encoder holder (91) is provided at the end of the motion track assembly (5) for storing the folded angle encoder (9), and the mounting sleeve (66) is a clamping connection kit.

7. The linear motor inverted pendulum experimental box according to any one of claims 1-6, characterized in that: The drive device (8) is provided with an adjustable mounting bracket (81), on which a motor module (82) is mounted. A drive wheel structure (83) is mounted at the output end of the motor module (82), and the drive wheel structure (83) is pressed tightly against the motion track assembly (5) and rolls.

8. The linear motor inverted pendulum experimental box according to claim 7, characterized in that: The adjustable mounting bracket (81) consists of a vertical adjustment mounting plate and a horizontal mounting plate. The motor module (82) is mounted on the horizontal mounting plate. The vertical adjustment mounting plate is fixedly set on the side of the sliding seat structure (6). The vertical adjustment mounting plate has an elongated mounting hole in the middle. The end of the horizontal mounting plate is installed in the elongated mounting hole by a bolt group. A vertical screw hole group is also provided on the top of the vertical adjustment mounting plate. An adjustment and stabilizing bolt group is provided in the vertical screw hole group. The adjustment and stabilizing bolt group is tightly abutted against the top of the horizontal mounting plate.

9. The linear motor inverted pendulum experimental box according to any one of claims 1-6 or 8, characterized in that: The motion track assembly (5) includes a sliding guide plate (51) and two track mounting side plates (52). The two track mounting side plates (52) are respectively fixedly installed on the two opposite inner side walls of the experimental box (1). The two sides of the sliding guide plate (51) are bolted to the two track mounting side plates (52).

10. The linear motor inverted pendulum experimental box according to claim 9, characterized in that: The track mounting side plate (52) consists of two mounting plates. The two mounting plates are perpendicular to each other on one side and are welded together or integrally formed. One mounting plate is fixedly installed on the inner side wall of the experimental box (1), and the other mounting plate is uniformly provided with vertical mounting holes. The end of the sliding guide plate (51) is detachably installed in the vertical mounting holes by bolts.

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