CN107339937B - A kind of mechanism kinematic parameter test device of Multi-sensor Fusion - Google Patents

A kind of mechanism kinematic parameter test device of Multi-sensor Fusion Download PDF

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Publication number
CN107339937B
CN107339937B CN201710555176.7A CN201710555176A CN107339937B CN 107339937 B CN107339937 B CN 107339937B CN 201710555176 A CN201710555176 A CN 201710555176A CN 107339937 B CN107339937 B CN 107339937B
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China
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mechanism
test
pedestal
fixed
beam
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CN201710555176.7A
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Chinese (zh)
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CN107339937A (en
Inventor
包海涛
王殿龙
崔岩
高媛
朱林剑
王德伦
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大连理工大学
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Abstract

The present invention provides a kind of mechanism kinematic parameter test devices of Multi-sensor Fusion, belong to theory of mechanics kinematics of mechanism technical field.The present invention provides a kind of completely new test device, the Fast Installation matching of mechanism kinematic parameter testing link may be implemented in it, meet the synchronism detection of multiple test points, track digitized measurement, it can be with the compound motion of detection means, and the complexity for enormously simplifying experiment testing process realizes the fusion test of multisensor.The present invention provides a kind of completely new test device and application method.The device has the characteristics that structure is simple, installation matching is convenient, at low cost, can satisfy the requirement of experiment of the synchronous detection of multi-measuring point, more test parameters.

Description

A kind of mechanism kinematic parameter test device of Multi-sensor Fusion

Technical field

The invention belongs to theory of mechanics kinematics of mechanism technical field, in particular to mechanism kinematic parameter test device, tools Body is a kind of mechanism kinematic parameter test device of Multi-sensor Fusion.

Background technique

When carrying out mechanism design or mechanics innovation, the characteristic or the characteristics of motion of research institution.It usually needs using real Test the test that means carry out kinematic parameter and motion profile to the point or kinematic pair being concerned about in mechanism.Common means of testing It is, using the sensor measurement angular displacement of some corner classes, to utilize the straight-line displacement of direct acting displacement sensor translation member. Velocity and acceleration value can be obtained indirectly using some mathematical methods.

These sensors generally use contact mounting means.Such as certain point is tested, it needs for sensor to be installed to pair Position is answered, to guarantee measurement effect, it is necessary to guarantee installation requirement, installation requires to readjust every time.This is in some needs The case where experimental occasions frequently installed, especially there are many mechanism scheme test analysis, mounting and adjusting can consume the plenty of time. Using this point-to-point test mode, each test analysis point has at least correspond to a test sensor, more In the system of complicated multi-measuring point, test macro complication is inevitably resulted in.Current mechanism kinematic parameter simultaneously, it is common to test Sensor is revolute pair based on sports rule or prismatic pair design mostly, for other irregular movements on component, than The compound motion of rotation, translation is such as contained, the use of general class sensor is just restricted very much, Just because of this, is surveyed at present The experiment for trying the kinematic parameter of analysis institution is usually all to surround the secondary expansion of regular motion.The planning and design of track are also machine A critically important content in structure analysis, mode relatively common in experiment is that lettering pen or hair are added in test point at present The point light source of light carries out track testing and record using person's handwriting or based on main passively optical track displaying principle.No matter that shape Formula is the qualitative reflection of geometric locus, all brings problem to the digital quantitative analysis in later period.

Summary of the invention

For the various deficiencies shown in current mechanism kinematic parameter testing experiment, the present invention provides a kind of completely new Test device and application method.The device has the characteristics that structure is simple, installation matching is convenient, at low cost, can satisfy more The requirement of experiment of the synchronous detection of measuring point, more test parameters.

Technical solution of the present invention:

A kind of mechanism kinematic parameter test device of Multi-sensor Fusion, including upper fixed cross beam 1, lower fixed cross beam 2, a left side Fixed vertical beam 3, right fixed vertical beam 4, vertical columns 5, the slideway 6 for being tested mechanism, the sliding block 7 for being tested mechanism, the song for being tested mechanism Handle 8, the connecting rod 9 of tested mechanism, induction test pin 10, device pedestal left branch leg 11, the right supporting leg 12 of device pedestal, the fixed pad of sliding block Piece 13, sliding block fixing bolt 14, pedestal expander bar 15, pedestal expander bar fixing bolt 16, bottom beam fixing bolt 17, secured adjusted Take-up housing 18, test pin adsorption magnet 20, mounting base fixing screws 21, vertical columns fastening bolt 22, is fixed induction pin 19 Column fastening nut 23, coordinate detection unit 24, pedestal fixed beam 25, coordinate measurement mounting base 26;

By 9 groups of connecting rod that are tested the slideway 6 of mechanism, the sliding block 7 of tested mechanism, the crank 8 of tested mechanism and tested mechanism At various tested mechanisms, be fixed on vertical columns 5 by secured adjusted take-up housing 18.

Upper fixed cross beam 1, lower fixed cross beam 2, left fixed vertical beam 3 and right fixed vertical beam 4 are hingedly fixed as hollow frame Structure;Upper fixed cross beam 1 and lower fixed cross beam 2 are provided with dovetail groove, cooperate vertical columns fastening bolt 22 and vertical columns fastening Nut 23 realizes the fixation of vertical columns 5, and the quantity of vertical columns 5 and position are determined by mechanism to be detected;On vertical columns 5 Secured adjusted take-up housing 18, secured adjusted take-up housing 18 need to cooperate sliding block setting-up piece 13 and sliding block fixed spiral shell when fixing sliding block Bolt 14 is completed;The quantity of secured adjusted take-up housing 18 and position are determined by the type of mechanism;

The right supporting leg 12 of device pedestal left branch leg 11, device pedestal and pedestal fixed beam 25 are welded into I-shaped structure, device bottom Seat left branch leg 11, the right supporting leg 12 of device pedestal and pedestal fixed beam 25 are all made of channel steel;Device pedestal left branch leg 11 and device bottom The side of the right supporting leg 12 of seat is provided with elongated slot, and pedestal expander bar 15 is fixed on device bottom by pedestal expander bar fixing bolt 16 At the elongated slot of seat left branch leg 11 and the right supporting leg 12 of device pedestal;Pedestal expander bar 15 is the intermediate rod piece for being equipped with mounting groove, is used for The driving parts such as some motor reducers are installed;

It is connected between hollow frame structure and pedestal fixed beam 25 using bottom beam fixing bolt 17;Coordinate detection unit 24 is Hollow, the hollow space that the four edges frame of hollow surrounds, is defined as test plane;Coordinate detection unit 24 is mounted on coordinate It detects in mounting base 26;Coordinate measurement mounting base 26 is square column structure, by mounting base fixing screws 21, by coordinate measurement The hollow frame structure that mounting base 26 is formed with crossbeam, vertical beam is connected as one;Coordinate measurement mounting base 26 is equipped with flanging, uses Carry out mounting coordinate detection unit 24, the outer edge of flanging and the outside of coordinate measurement mounting base 26 are mutually neat, and the two connection uses strong Power glue bond is fixed;

Test pin 10 is incuded, as shown in figure 5, being made of induction pin 19 and test pin adsorption magnet 20;Incude pin 19 Using light plastic material, test pin adsorption magnet 20 is bonded in induction pin 19 by seccotine;Induction is tested when use Pin 10 is adsorbed in tested mechanism corresponding position, and the length for incuding test pin 10 should be beyond flat where coordinate detection unit 24 Face.

The four edges frame for forming the hollow of coordinate detection unit 24, wherein 2 frames are equipped with photoemission cell, in addition 2 frames are equipped with photoelectric receiving tube, and photoemission cell and photoelectric receiving tube equidistantly arrange, and spacing size is by being tested mechanism Size and subsequent coordinates processing requirement determine.Photoemission cell and photoelectric receiving tube, according to X, Y-coordinate has rearranged test Plane.

Beneficial effects of the present invention: the present invention provides a kind of completely new test device, and mechanism kinematic parameter may be implemented in it The Fast Installation of testing process matches, and meets the synchronism detection of multiple test points, track digitized measurement can be with detection means Compound motion, and enormously simplify experiment testing process complexity, realize multisensor fusion test.

Detailed description of the invention

Fig. 1 is a kind of application schematic diagram of the device of the mechanism kinematic parameter testing of Multi-sensor Fusion.

Fig. 2 is the side view of Fig. 1.

Fig. 3 is the device rearview for not installing mechanism for testing.

Fig. 4 is the top view of Fig. 3.

Fig. 5 is induction test pin structure chart.

Fig. 6 is the secured adjusted take-up housing structure chart for installing mechanism for testing.

Fig. 7 is coordinate detection unit working principle block diagram.

Fig. 8 is coordinate detection unit test plane working mode figure.

In figure: fixed cross beam on 1;2 lower fixed cross beams;3 left fixed vertical beams;4 right fixed vertical beams;

5 vertical columns;The slideway of 6 tested mechanisms;The sliding block of 7 tested mechanisms;The crank of 8 tested mechanisms;

The connecting rod of 9 tested mechanisms;10 induction test pins;11 device pedestal left branch legs;The right supporting leg of 12 device pedestals;

13 sliding block setting-up pieces;14 sliding block fixing bolts;15 pedestal expander bars;

16 pedestal expander bar fixing bolts;17 bottom beam fixing bolts;18 secured adjusted take-up housings;

19 induction pins;20 test pin adsorption magnets;21 mounting base fixing screws;

22 vertical columns fastening bolts;23 vertical columns fastening nuts;24 coordinate detection units;

25 pedestal fixed beams;26 coordinate measurement mounting bases.

Specific embodiment

Below in conjunction with attached drawing and technical solution, a specific embodiment of the invention is further illustrated.

The mechanism of the tested kinematic parameter of the present invention refers to the class of establishment of plane motion, therefore matches tested mechanism Train of mechanism should ensure that it is parallel with the test plane of location measurement unit.Tested mechanism any part, cannot extend into Test plane where position detection unit.In no definition test point, the characteristics of motion for being tested mechanism is cannot to be tested 's.

In order to which the working condition of the present apparatus is better described, illustrate this using the detected mechanism that Fig. 1 installation matches The service condition of device.By indicating can see in figure, to analyze a component and surround the angular movement parameter of revolute pair A, and to survey The linear motion parameter of c component is tried, while also to test the motion conditions of b component.Selection test position is distinguished as shown in fig. 1 For T1, T2, T3, these test points next will be defined in systems.

The definition of test device test point, it is more convenient, induction test pin need to be only adsorbed on component and need to test Position, define 3 test points in this example, respectively on crank, connecting rod, sliding block, can also need according to test analysis can To define more test points.After defining test point, it is tested mechanism at this time and is just established with the test plane of position detecting device Connection, mechanism kinematic will make the position for incuding test pin change in test plane, which necessarily brings coordinate bit The variation set, recording and handling these coordinates can be obtained by the motion conditions of test point.

Position detection unit is the core that the present invention detects.Basic principle is that the test plane of position detection unit is by X It is defined with Y-coordinate, after origin determines, the position of each point is now uniquely determined in plane.The test plane of detection unit Coordinate definition using photoemission cell and photoelectric receiving tube according to X, Y-coordinate regular distribution composition, transmitting tube and reception pipe Quantity is determined that coordinate relationship is arranged by rectangular coordinate system by the size of test plane.The generation of effective coordinate is by photoelectricity Transmitting and received physical characteristic, when original state test point is undefined, the illumination that photoemission cell issues is mapped to opto-electronic receiver Guan Shang, test plane each point coordinate is at invalid state at this time, and after test point is defined, effective coordinate of test point is tested It calculates, when the point planar moves, will also obtain corresponding changes in coordinates.Concrete condition such as Fig. 8.

The original signal of the magnitude is analog electrical signal.By the processing such as filtering, amplifying, it is adjusted to a certain size model It encloses, is digital quantity through analog-digital converter final quantization under the accurate time-base signal Δ T effect that system generates.Using rear Continuous operation and processing has finally obtained and real-time position information corresponding to current test point.The use of information serial ports is real When send computer or embedded system to.Host computer information based on the received, in conjunction with when base Δ T and some mathematics fortune Calculation can be obtained by required kinematic parameter.Coordinate detection unit working principle is shown in Fig. 7.

After some test point is defined in position detection unit test plane for tested mechanism, if guaranteeing the survey of mechanism Pilot continuously obtains changes in coordinates of this relative to origin with time Δ T at equal intervals, then coordinate is exactly test point movement feelings The reflection of condition.With should be in test plane if there is multiple test points, as long as guaranteeing to become the coordinate of each point in Δ T time Change situation and carry out independent tracking and testing, the motion conditions of each test point can be obtained respectively.It is determining in plane, according to seat Target record can generate track, and coordinate or changes in coordinates record can be obtained by by operation and test spot speed or acceleration Value.Multiple and different same pacings of test point Multi-sensor Fusion in mechanism kinematic Parameter analysis in test plane thus may be implemented Examination.

The position measurement unit of this test device uses photoemission and reception pipe to realize test plane coordinate bit Set definition.Some other light emitting reception pipe infrared ray, laser etc. also may be implemented such effect, therefore is also The range of this patent protection.

Claims (2)

1. a kind of mechanism kinematic parameter test device of Multi-sensor Fusion, which is characterized in that the mechanism kinematic parameter is surveyed Trial assembly is set including upper fixed cross beam (1), lower fixed cross beam (2), left fixed vertical beam (3), right fixed vertical beam (4), vertical columns (5), be tested the slideway (6) of mechanism, the sliding block (7) of tested mechanism, the crank (8) of tested mechanism, tested mechanism connecting rod (9), Induction test pin (10), device pedestal left branch leg (11), the right supporting leg of device pedestal (12), sliding block setting-up piece (13), sliding block are solid It is sliding to determine bolt (14), pedestal expander bar (15), pedestal expander bar fixing bolt (16), bottom beam fixing bolt (17), secured adjusted Block (18), induction pin (19), test pin adsorption magnet (20), mounting base fixing screws (21), vertical columns fastening bolt (22), vertical columns fastening nut (23), coordinate detection unit (24), pedestal fixed beam (25) and coordinate measurement mounting base (26);
By be tested the slideway (6) of mechanism, the sliding block (7) of tested mechanism, tested mechanism crank (8) and tested mechanism connecting rod (9) the various tested mechanisms formed, are fixed on vertical columns (5) by secured adjusted take-up housing (18);
Upper fixed cross beam (1), lower fixed cross beam (2), left fixed vertical beam (3) and right fixed vertical beam (4) are hingedly fixed as hollow Frame structure;Upper fixed cross beam (1) and lower fixed cross beam (2) are provided with dovetail groove, cooperate vertical columns fastening bolt (22) and solid Determine the fixation that column fastening nut (23) realize vertical columns (5), the quantity of vertical columns (5) and position are by mechanism to be detected It determines;Secured adjusted take-up housing (18) on vertical columns (5), secured adjusted take-up housing (18) need to cooperate sliding block when fixing sliding block Setting-up piece (13) and sliding block fixing bolt (14) are completed;The quantity of secured adjusted take-up housing (18) and position by mechanism type It determines;
Device pedestal left branch leg (11), the right supporting leg of device pedestal (12) and pedestal fixed beam (25) are welded into I-shaped structure, device Pedestal left branch leg (11), the right supporting leg of device pedestal (12) and pedestal fixed beam (25) are all made of channel steel;Device pedestal left branch leg (11) and the side of the right supporting leg of device pedestal (12) is provided with elongated slot, is extended pedestal by pedestal expander bar fixing bolt (16) Bar (15) is fixed at the elongated slot of device pedestal left branch leg (11) and the right supporting leg of device pedestal (12);During pedestal expander bar (15) is Between be equipped with mounting groove rod piece, for installing driving parts motor reducer;
It is connected between hollow frame structure and pedestal fixed beam (25) using bottom beam fixing bolt (17);Coordinate detection unit (24) For the hollow space that hollow, the four edges frame of hollow surround, it is defined as test plane;Coordinate detection unit (24) is mounted on In coordinate measurement mounting base (26);Coordinate measurement mounting base (26) is square column structure, by mounting base fixing screws (21), The hollow frame structure that coordinate measurement mounting base (26) is formed with crossbeam, vertical beam is connected as one;Coordinate measurement mounting base (26) it is equipped with flanging, is used to mounting coordinate detection unit (24), the outer edge of flanging and the outside of coordinate measurement mounting base (26) Xiang Qi, the two connection are adhesively fixed using seccotine;
Incude test pin (10), is made of induction pin (19) and test pin adsorption magnet (20);Pin (19) are incuded using light Matter plastic material, test pin adsorption magnet (20) are bonded in induction pin (19) by seccotine;Test pin will be incuded when use (10) it is adsorbed in tested mechanism corresponding position, the length for incuding test pin (10) should be beyond where coordinate detection unit (24) Plane.
2. the mechanism kinematic parameter test device of Multi-sensor Fusion according to claim 1, which is characterized in that composition is sat The four edges frame of the hollow of detection unit (24) is marked, wherein 2 frames are equipped with photoemission cell, in addition 2 frame installations Have photoelectric receiving tube, photoemission cell and photoelectric receiving tube equidistantly arrange, spacing size by be tested mechanism size and Reason requires to determine;According to X, Y-coordinate rearranges test plane for photoemission cell and photoelectric receiving tube.
CN201710555176.7A 2017-07-10 2017-07-10 A kind of mechanism kinematic parameter test device of Multi-sensor Fusion CN107339937B (en)

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