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 PDFInfo
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- 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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- 238000012360 testing method Methods 0.000 title claims abstract description 96
- 230000007246 mechanism Effects 0.000 title claims abstract description 62
- 230000004927 fusion Effects 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims abstract description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 43
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- 229910000831 Steel Inorganic materials 0.000 claims description 2
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- 239000011796 hollow space material Substances 0.000 claims description 2
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- 238000002474 experimental method Methods 0.000 abstract description 7
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- 150000001875 compounds Chemical class 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 238000004458 analytical method Methods 0.000 description 6
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- 238000006073 displacement reaction Methods 0.000 description 3
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- 238000012545 processing Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
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- 230000005622 photoelectricity Effects 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
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.
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| CN103575664A (en) * | 2013-10-08 | 2014-02-12 | 南京航空航天大学 | Structural multiscale health monitoring device and structural multiscale health monitoring method on basis of novel integrated type composite sensor array |
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| JP2000049066A (en) * | 1998-07-27 | 2000-02-18 | Canon Inc | Aligner and manufacture of devices |
| DE10102922A1 (en) * | 2001-01-23 | 2002-07-25 | Inst Innovative Technologien T | Method for gap and compactness testing for automobile modules using a camera to determine 3-D coordinates of surface points of module components so that their actual separation can be compared with design values |
| CN2861975Y (en) * | 2005-07-29 | 2007-01-24 | 清华同方威视技术股份有限公司 | Equipment for accurate measuring of spatial position |
| CN2864589Y (en) * | 2005-12-20 | 2007-01-31 | 韩露 | Automatic detecting apparatus for physical dimension unevenness of workpiece surface |
| WO2011090901A1 (en) * | 2010-01-20 | 2011-07-28 | Faro Technologies, Inc. | Integrated part temperature measurement system |
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| CN103808273A (en) * | 2013-12-19 | 2014-05-21 | 余姚市电波机械有限公司 | Method and device for measuring shaft |
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| CN105403148B (en) * | 2015-11-27 | 2018-04-13 | 天津大学 | A kind of measurement of each journal centre's measuring unit for position dimensions of bent axle and scaling method |
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| JP2012146132A (en) * | 2011-01-12 | 2012-08-02 | Osaka City Univ | Method for integrating three-dimensional data and two-dimensional data with each other, and watching system and monitoring system using the same |
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