CN107421626A - Flexible arm space oscillations specificity analysis apparatus and method based on polyphaser - Google Patents
Flexible arm space oscillations specificity analysis apparatus and method based on polyphaser Download PDFInfo
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- CN107421626A CN107421626A CN201710585290.4A CN201710585290A CN107421626A CN 107421626 A CN107421626 A CN 107421626A CN 201710585290 A CN201710585290 A CN 201710585290A CN 107421626 A CN107421626 A CN 107421626A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H9/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses the flexible arm space oscillations specificity analysis apparatus and method based on polyphaser, device includes the support system part that two-freedom large arm telecontrol equipment part, experiment pedestal and the sliding block tripod platform of Dual-Servo Motor driving form, and the polyphaser space measurement analysis system part being made up of three cameras；Two-freedom large arm telecontrol equipment part is fixedly mounted on experiment pedestal, and polyphaser space measurement analysis system is partially installed on sliding block tripod platform.The present invention measures the locus of index point in two-freedom large arm under moving condition using polyphaser space measurement analysis system, analyze the landmark space positional information of gained, draw two-freedom large arm information of flexural vibrations and twisting vibration in solid space, so as to realize the Active Vibration Control to two-freedom large arm, simulated experiment basis is established to realize space station to the space active control of multivariant space mechanical arm.
Description
Technical field
The present invention relates to the positioning of flexible structure and vibration control technology field, more particularly to it is a kind of based on the soft of polyphaser
Property arm space oscillations specificity analysis apparatus and method.
Background technology
As the fast development of current space flight and aviation cause, the mankind are more and more fast to the efficiency requirements of space space exploration
Maintenance and space station staff food supply of the quick conveying of speed, wherein space goods and materials on spacecraft influence huge, boat
After its aircraft reaches object space station nearby, because of the factor of space environment, the docking of space shuttle and space station is very difficult, this
The efficiency that sample causes goods and materials conveying is very limited, and foolproof mating operation becomes very difficult originally, in some instances it may even be possible to leads
Cause goods and materials conveying is serious to delay.And space mechanical arm successfully research and develop and come into operation, almost fundamentally solve space station
Goods and materials convey the problem of mating operation.Meanwhile space mechanical arm conveys mating operation except that can be rapidly completed space station goods and materials,
It can also realize and the space trash for swimming in neighbouring space is effectively cleared up.
Space mechanical arm is the Intelligent robot for having split-hair operability and flexibility, is precision optical machinery, space
The high-end space equipment that the multi-door subject such as dynamics, accurate miniature electronics and control organically combines.The success of space mechanical arm should
With and its correlation technique rapid development, space mechanical arm has become the important bridge between space shuttle and space station,
Space shuttle and the development of international space station part important technology and space science research are promoted, expands the mankind in space
Activity scale and scope.
Such space mechanical arm equipped with various visual angles visual identifying system and its feedback active control, it is and all kinds of sensitive
The signal detection of sensor and its feedback active control so that space mechanical arm has autonomous analysis well and autonomous control
Ability, while can artificially be manipulated by space station staff, realizes accurate docking and satellite, large-scale too is discarded in space
The cleaning of empty rubbish etc..
For space mechanical arm at present mainly using length up to more than ten meters of high-strength alloy tubing, possessing has multiple frees degree
(generally 6 frees degree).In the application process of international space station, because the ratio of pipe length and its diameter is larger and free
Degree is high, and the flexural vibrations of space mechanical arm and twisting vibration situation certainly exist tremendous influence to its accurate remote control, therefore right
Its effective control vibrated be determine space mechanical arm can normal use in the key point of international space station, it is bent and shaken
Dynamic and twisting vibration measurement precise degrees are the basis for drawing accurate vibration control information again.
And multi-camera measurement system can be using the high frame per second of high-speed industrial camera, extremely short time for exposure, contactless survey
The experimental simulation situation of the features such as amount, exactly real-time dynamically recording space mechanical arm, and then recorded by computer disposal
Photo simultaneously analyzes the accurate vibration information for drawing each calibration point, so as to realize the accurate active control to space mechanical arm, together
Shi Weigeng high-freedom degree space mechanical arms can be successfully applied to space environment and provide theoretical and experiment basis.
The content of the invention
In order to overcome shortcoming and deficiency existing for prior art, the present invention provides a kind of flexible arm space based on polyphaser
Analysis of Vibration Characteristic apparatus and method, the progressive scan sensor and global shutter of high-speed industrial camera are applied, when extremely short
Interior the advantages of can clearly recording information in what comes into a driver's, realize curvature of space vibration and twisting vibration to two-freedom flexible arm
Information carries out real-time dynamically recording, is that more high-freedom degree is flexible to analyze the Vibration Condition of flexible arm in space exactly
The vibration analysis of arm is provided with reference to basis.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of flexible arm space based on polyphaser
Analysis of Vibration Characteristic device, including experiment pedestal, reductor support base, AC servo motor I, reductor I, I-shaped adjutage,
Flexible large arm I, deceleration machine support, AC servo motor II, reductor II and flexible large arm II；
The reductor support base is fixed on the experiment pedestal, and the AC servo motor I is fixed on reductor branch
Support on seat；
The reductor I is fixedly connected with the drive shaft of AC servo motor I, and the flexible large arm I passes through the I-shaped
Adjutage is fixedly connected with reductor I, and AC servo motor I drives reductor I by axle, so as to drive flexible large arm I；
The reductor II is fixedly connected with the flexible large arm I, the AC servo motor by the deceleration machine support
II is fixedly connected with reductor II, and the flexible large arm II is fixedly connected with reductor II, and the axle of AC servo motor II driving subtracts
Fast machine II, so as to drive flexible large arm II to rotate.
Further, the flexible arm space oscillations specificity analysis device based on polyphaser also includes camera fixation branch
Frame, adjustable seats I, adjustable seats II, camera fast-assembling platform, camera assembly I, depth camera assembly II and plane camera assembly；
Wherein, on one end fixed camera fixed support of adjustable seats I, the fixedly adjustable bearing II of the other end, camera fast-assembling platform
Middle part is fixed on the junction between adjustable seats I and adjustable seats II, and camera assembly I and depth camera assembly II are set respectively
In camera fast-assembling platform both ends, plane camera assembly is arranged at the top of adjustable seats II；
The camera fixing support is fixedly mounted on by experiment pedestal, and camera assembly I, depth camera assembly II and plane
The camera lens face experiment pedestal of camera assembly.
Further, the flexible arm space oscillations specificity analysis device based on polyphaser also includes industrial computer
And encoder；
The encoder is integrated in the AC servo motor I and AC servo motor II, for detecting AC servo electricity
The angle position signal of machine I and AC servo motor II, and sent after the encoded device of angle position signal is resolved into card to work
Industry computer；
The industrial computer connection encoder and 3 depth camera assemblies, for receiving the transmission of depth camera assembly
Photographic intelligence is simultaneously analyzed and processed, and for receiving the information and processing information of encoder transmission.
Further, the camera fixing support uses tripod, and the tripod includes 3 rail assemblies, 3 sliding blocks
Assembly, 3 adjustable foot duct members and camera system head；Rail assembly is fixedly connected with adjustable foot tube by sliding block assembly respectively
The bottom of part, the equal fixed camera system head in top of 3 adjustable foot duct members, the fixedly adjustable bearing I of camera system head.
Further, the adjustable foot duct member includes 2 ball connecting rods, foot tube inner shaft lever, foot tube locking knob, foot tube
Outer shaft and 2 foot tube side end caps；Each adjustable foot duct member can change it by adjusting the foot tube locking knob
Total length, and its target length is fixed by tightening foot tube locking knob, different adjustable foot duct member length combinations, realize phase
The different angle demand of machine system head；Ball connecting rod and foot tube interior axle boom end, foot tube outer shaft end and foot tube side simultaneously
All it is to use mating spherical surfaces between end cap, for strengthening the degree of flexibility of sliding block tripod platform system.
Further, the adjustable seats I include fast-assembling flange, bearing shaft core I, bearing locking knob I, bearing axle sleeve I
And bearing flange I, fast-assembling flange hold-down support shaft core I, the hold-down support axle sleeve I of bearing flange I；The spiral of bearing shaft core I is fixed
Bearing axle sleeve I, and pass through the height of the regulation bearing of bearing locking knob I shaft core I.
Further, the adjustable seats II include Quick-mounting board, bearing shaft core II, bearing locking knob II, bearing axle sleeve
II and bearing flange II, Quick-mounting board hold-down support shaft core II, the hold-down support shaft sleeve II of bearing flange II；The spiral of bearing shaft core II is consolidated
Determine bearing shaft sleeve II, and the height of bearing shaft core II is adjusted by bearing locking knob II.
Another object of the present invention is to provide a kind of flexible arm space oscillations characteristic analysis method based on polyphaser, including under
State step：
S1, control AC servo motor I rotate, by reductor I and the flexible large arm I of I-shaped adjutage driving and thereon
Two level rotating unit rotates；Control AC servo motor II rotates, and drives flexible large arm II to rotate by reductor II；
S2, turning for AC servo motor I and AC servo motor II in detecting step S1 is distinguished using built-in encoder
Angle position signal, industrial computer is transferred in the lump and waits for corresponding algorithm process；
S3, first, depth camera assembly I forms parallel binocular vision system with depth camera assembly II, and fast recording is soft
Property large arm I and flexible large arm II on index point spatial positional information, plane camera assembly then records in its field of view flexible
Large arm I, flexible large arm II and the plane information of all index points thereon；Spatial positional information and plane information are sent to industry
Computer；
S4, industrial computer apply the information that corresponding algorithm process step S3 is sent, and turn with reference to obtained by step S2
Angle position signal carries out corresponding algorithm process, and analysis obtains the flexural vibrations of flexible large arm I and flexible large arm II in space
With twisting vibration situation.
After adopting the above technical scheme, the present invention at least has the advantages that：
(1) the low backhaul gap flange output speed reducer used has very low backhaul gap, high intensity and compact-sized short
The characteristics of small, can avoid because the backhaul gap of reductor is excessive or drive part caused by moment of torsion it is excessive, to two-freedom
The flexural vibrations and twisting vibration of flexible arm produce the additional influence that can not ignore；
(2) sliding block tripod platform system combines line slideway and steadily can moved and tripod adaptive very well
The advantages of ability and its supporting ＆ stablizing, avoid when adjusting camera system locus, occur significantly affecting measurement result
Situation is rocked, and the high-precision sensor of camera is caused to damage；
(3) using multi-camera measurement system can accurate measurement two-freedom flexible arm three dimensions various vibration feelings
Condition, it ensure that the subsequently vibration analysis to flexible arm has very high accuracy, provided very well for the vibration control of flexible arm
Guarantee；The parallel space or depth perception camera of binocular and monocular vision plane camera all have flexibility very strongly so that the survey
Amount system has very strong measurement capability.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the flexible arm space oscillations specificity analysis device of the invention based on polyphaser；
Fig. 2 is the side view of the flexible arm space oscillations specificity analysis device of the invention based on polyphaser；
Fig. 3 is the top view of the flexible arm space oscillations specificity analysis device of the invention based on polyphaser；
Fig. 4 is that the camera system axle measuring of the flexible arm space oscillations specificity analysis device of the invention based on polyphaser is shown greatly
It is intended to；
Fig. 5 is that the structure of adjustable seats I in the flexible arm space oscillations specificity analysis device of the invention based on polyphaser is shown
It is intended to；
Fig. 6 is the structural representation that bearing II is adjusted in the flexible arm space oscillations specificity analysis device of the invention based on polyphaser
Figure；
Fig. 7 is the structure of reductor support base in the flexible arm space oscillations specificity analysis device of the invention based on polyphaser
Schematic diagram；
Fig. 8 is the structural representation of sliding block assembly in the flexible arm space oscillations specificity analysis device of the invention based on polyphaser
Figure；
Fig. 9 is the structure of adjustable foot duct member in the flexible arm space oscillations specificity analysis device of the invention based on polyphaser
Schematic diagram.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combine, the application is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
A kind of flexible arm space oscillations specificity analysis apparatus and method based on polyphaser, the device include Dual-Servo Motor
The support system part that two-freedom large arm telecontrol equipment part, experiment pedestal and the sliding block tripod platform of driving form, with
And the polyphaser space measurement analysis system part being made up of three cameras；
As shown in Fig. 1 to Fig. 4, AC servo motor I (13), it is connected by reductor I (14) and with reductor I (14)
I-shaped adjutage (15), drive flexible large arm I (16) to rotate, collectively formed with reductor I (14), reductor support base (12)
One-level rotating unit；Reductor support base (12), including fixed board (121), base-plate (122), supporting vertical plate (123) with
And supporting plate (124), as shown in fig. 7, (laterally with uniform 2 of 70mm spacing, longitudinal direction is between 45mm by M6 arrays bolt
Away from uniform 4, and symmetrical on the center line of length and width) be fixed on the right side table top of experiment pedestal (1), it is propped up
Seat bottom plate (122) and experiment pedestal (1) respective length direction center line are at a distance of 55mm, and its fixed board (121) end face is away from experiment
Pedestal (1) front end face 23mm；Reductor I (14) is concentrically mounted on through its assembly flange disk and 8 M5 bolts (PCD 109mm)
On fixed board (121) inner face of reductor support base (12), distance experiment pedestal (1) working face 40mm；AC servo electricity
Machine I (13) is concentrically mounted to the flange boss of reductor I (14) and by reductor support base through 4 M6 bolts (PCD 70mm)
(12) supporting plate (124) support limit；I-shaped adjutage (15) front end face, by 8 M5 bolts (PCD 50mm) and slow down
The output boss of machine I (14) is connected with one heart, and end face is by 8 M5 bolts (PCD 50mm) thereafter and flexible large arm I (16) is near
End joint face is connected with one heart；
AC servo motor II (18), flexible large arm II (20) is driven to rotate by reductor II (19), with reductor II
(19), the common structure 5 of deceleration machine support (17) is into two level rotating unit；Deceleration machine support (17), by 8 M5 bolts, (PCD is
The distal end joint face of flexible large arm I (16) 50mm) is fixed on, reductor II (19) is through its assembly flange disk and 8 M5 bolts
(PCD 79mm), is concentrically mounted on the fixed board of deceleration machine support (17), on the inside of deceleration machine support (17) bottom plate
68mm；For AC servo motor II (18) through 2 M5 bolts (PCD 46mm), the flange for being concentrically mounted to reductor II (19) is convex
On platform；The band hole end surface of flexible large arm II (20) directly through 8 M5 bolts (PCD 31.5mm), is concentrically mounted to reductor II
(19) output boss.
In the present embodiment, AC servo motor I (13) selects the HC-MFS serial motors of MIT, model
HC-MFS-73, power output 750W, AC servo motor II (18) is equally from the HC-MFS series electricity of MIT
Machine, model HC-MFS-43, power output 400W, rated speed are 3000r/min；Reductor I (14) is from Germany
The low backhaul gap flange output speed reducer of Neugart companies, model PLEN 90-2-80, rated output torque are 80N*
M, reductor II (19) equally select the low backhaul gap flange output speed reducer of German Neugart companies, model PLEN
64-2-65, rated output torque are 65N*m.
The support system of sliding block tripod platform composition is by uniform three rail assembly (2), sliding block assembly (3), adjustable foot tube
Part (4) and camera system head (5) composition, have the adjustment structure of four different height or angle, can be easily
Meet the measurement request of diverse location index point in flexible large arm I (16) and flexible large arm II (20)；
In the support system of sliding block tripod platform composition, each sliding block assembly (3) can be along uniform three rail assembly (2)
Slidably, while sliding block assembly (3) can be fixed on guide rail to the guide rail worked in coordination therewith by sliding block positioning knob (33)
Optional position on, any one mobile sliding block assembly (3) can realize three sliding block assemblies (3) smoothly synchronizing moving,
General tripod platform regulation podium level is avoided, the trouble of tripod platform must be lifted；
Wherein, sliding block assembly (3) is made up of foot tube contiguous block (31), sliding block (32) and sliding block positioning knob (33), such as Fig. 8
It is shown；Adjustable foot duct member (4) by two ball connecting rods (41), foot tube inner shaft lever (42), foot tube locking knob (43), foot tube outside
Axle sleeve (44) and two foot tube side end cap (45) compositions, as shown in Figure 9；Each adjustable foot duct member (4) can be by adjusting loose pin
Pipe locking knob (43) changes its total length, and fixes its target length by tightening foot tube locking knob (43), and different can
Adjust foot tube part (4) length combination, it is possible to achieve the different angle demand of camera system head (5), while ball connecting rod (41)
All it is to use mating spherical surfaces between foot tube inner shaft lever (42) end, foot tube outer shaft (44) end and foot tube side end cap (45), and
Fixed with 4 M2 bolts (horizontal and vertical with uniform 2 of 12mm spacing, and on length and the center line of width
Symmetrically), the degree of flexibility of sliding block tripod platform system is enhanced.
In the present embodiment, uniform three rail assembly (2) and three sliding block assemblies (3) are by three independent supporting miniature straight lines
Guide rail forms, and is from the MISUMI standard micro line slideways of Japanese rice Si meter companies, model SSEBW20-700, material
Stainless steel, standard rail width W1, height H1 and length L are respectively 15mm, 9.5mm, 700mm, the miniature sliding block of outfit standard；Can
Foot tube part (4) is adjusted to select the tripod scaffold tube of Japanese Nikon company, model CX-560.
The polyphaser space measurement analysis system being made up of three cameras, mainly include three camera assemblies, adjustable seats I
(6), camera fast-assembling platform (7) and adjustable seats II (8) four are most of, and three described camera assemblies are respectively depth camera assembly
I (9) and depth camera assembly II (10), and plane camera assembly (11), described depth camera assembly I (9) and depth phase
Machine assembly II (10) is respectively symmetrically arranged on the left side fast-assembling connecting hole and right side fast-assembling connecting hole of camera fast-assembling platform (7), depth
Camera assembly I (9) and depth camera assembly II (10) are parallel to each other and installed at a distance of 196mm, camera fast-assembling platform (7) centering installation
On the fast-assembling flange (61) of adjustable seats I (6), plane camera assembly (11) is arranged on the Quick-mounting board of adjustable seats II (8)
(81) on；
Wherein, depth camera assembly I (9) is made up of industrial camera, industrial lens and camera fast-assembling block three parts, and is passed through
Industrial camera is fixedly connected by 4 M3 bolts with camera fast-assembling block, depth camera assembly II (10) and plane camera assembly (11)
All composition parts it is consistent with depth camera assembly I (9)；
Adjustable seats I (6) are by fast-assembling flange (61), bearing shaft core I (62), bearing locking knob I (63), bearing axle sleeve I
(64) and the part of bearing flange I (65) five is formed, as shown in figure 5, can arbitrarily be changed by adjusting loose bearing locking knob I (63)
Become the height of three camera assemblies, and its object height is fixed by tightening bearing locking knob I (63), be concentrically mounted to camera
System head (5)；Adjustable seats II (8) are by Quick-mounting board (81), bearing shaft core II (82), bearing locking knob II (83), bearing
Shaft sleeve II (84) and the part of bearing flange II (85) five are formed, as shown in fig. 6, bearing locking knob II can be sent by adjusting
(83) height of plane camera assembly (11), is changed, and by tightening bearing locking knob II (83) fixed pan camera assembly
(11) object height, be fixed on above the center line of camera fast-assembling platform (7) length direction and with the fast-assembling method of adjustable seats I (6)
Blue (61) are concentric；
Adjustable seats I (6) and adjustable seats II (8) can realize the fixed part in its top while height is adjusted
The angle-adjustable in the plane parallel with camera system head (5).
The measuring system of three camera compositions, a camera are used for the vibration information of measurement plane, two other phase unit
Into binocular stereo vision, for the information that fathoms, so detection plane and depth information are combined, it is possible to pass through inspection
The information that the index point surveyed on flexible arm vibrates in space three-dimensional.
In the present embodiment, industrial camera selects the fort alliance TX Series Industrial cameras of Switzerland Baumer (fort alliance) company, model
For：TX-G02C, appearance and size are 60mm × 52mm × 33mm, and sensor is Sony ICX618, and sensitive chip type is line by line
The CCD of scanning, sensitive chip size are 3.6736mm × 2.744mm, and pixel dimension is 5.6 μm of 5.6 μ m, resolution ratio (pixel)
For 656 × 490, optical filter is RGB Bayer Mosaic, is equipped with global shutter and c-type lens interface；Industrial lens (92) are selected
With the c-type interface industrial lens of Japanese Computar companies, model M5018-MP2, appearance and size is 33.5mm × 38.2mm,
Focal length is 50mm, and maximum caliber ratio is 1：1.8, filter size M30.5p=0.5mm.
A kind of described flexible arm space oscillations specificity analysis apparatus and method based on polyphaser, comprise the following steps：
AC servo motor I (13) in first step one-level rotating unit, passes through reductor I (14) and I-shaped adjutage
(15) flexible large arm I (16) and two level rotating unit thereon is driven to rotate, the AC servo motor II in two level rotating unit
(18), flexible large arm II (20) is driven to rotate by reductor II (19), the rotational plane of two rotating units is mutually perpendicular to；
AC servo motor I (13) is watched with exchanging in rotary photoelectric encoder difference detecting step one built in second step application
The angle position signal of motor II (18) is taken, industrial computer (22) is transferred in the lump and waits for corresponding algorithm process；
3rd step depth camera assembly I (9) and the parallel binocular vision system of depth camera assembly II (10) composition, fast shorthand
The spatial positional information of index point in flexible large arm I (16) and flexible large arm II (20) is recorded, plane camera assembly (11) then records
Flexible large arm I (16) in its field of view, flexible large arm II (20) and the plane information of all index points thereon；
4th step industrial computer (22) obtains picture index point information using corresponding algorithm process step 3, and combines
Servomotor rate signal obtained by step 2, then corresponding algorithm process is carried out, analysis obtains flexible large arm I (16) and flexibility
Large arm II (20) flexural vibrations in space and twisting vibration situation.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understand, can carry out a variety of equivalent changes to these embodiments without departing from the principles and spirit of the present invention
Change, change, replacing and modification, the scope of the present invention are limited by appended claims and its equivalency range.
Claims (8)
1. a kind of flexible arm space oscillations specificity analysis device based on polyphaser, it is characterised in that including experiment pedestal, slow down
Machine support base, AC servo motor I, reductor I, I-shaped adjutage, flexible large arm I, deceleration machine support, AC servo motor
IIth, reductor II and flexible large arm II；
The reductor support base is fixed on the experiment pedestal, and the AC servo motor I is fixed on reductor support base
On；
The reductor I is fixedly connected with the drive shaft of AC servo motor I, and the flexible large arm I is extended by the I-shaped
Arm is fixedly connected with reductor I, and AC servo motor I drives reductor I by axle, so as to drive flexible large arm I；
The reductor II is fixedly connected with the flexible large arm I by the deceleration machine support, and the AC servo motor II is solid
Surely reductor II is connected, the flexible large arm II is fixedly connected with reductor II, and the axle of AC servo motor II drives reductor
II, so as to drive flexible large arm II to rotate.
2. the flexible arm space oscillations specificity analysis device based on polyphaser as claimed in claim 1, it is characterised in that also wrap
Include camera fixing support, adjustable seats I, adjustable seats II, camera fast-assembling platform, camera assembly I, depth camera assembly II and plane
Camera assembly；
Wherein, on one end fixed camera fixed support of adjustable seats I, the fixedly adjustable bearing II of the other end, in the middle part of camera fast-assembling platform
The junction being fixed between adjustable seats I and adjustable seats II, camera assembly I and depth camera assembly II are respectively arranged at phase
Machine fast-assembling platform both ends, plane camera assembly are arranged at the top of adjustable seats II；
The camera fixing support is fixedly mounted on by experiment pedestal, and camera assembly I, depth camera assembly II and plane camera
The camera lens face experiment pedestal of assembly.
3. the flexible arm space oscillations specificity analysis device based on polyphaser as claimed in claim 2, it is characterised in that also wrap
Include industrial computer and encoder；
The encoder is integrated in the AC servo motor I and AC servo motor II, for detecting the He of AC servo motor I
The angle position signal of AC servo motor II, and sent after the encoded device of angle position signal is resolved into card to industry calculating
Machine；
Industrial computer connection encoder, camera assembly I, depth camera assembly II and the plane camera assembly, for receiving
The photographic intelligence of camera assembly transmission is simultaneously analyzed and processed, and for receiving the information and processing information of encoder transmission.
4. the flexible arm space oscillations specificity analysis device based on polyphaser as claimed in claim 2, it is characterised in that described
Camera fixing support uses tripod, and the tripod includes 3 rail assemblies, 3 sliding block assemblies, 3 adjustable foot duct members
And camera system head；Rail assembly is fixedly connected with the bottom of adjustable foot duct member, 3 adjustable foots by sliding block assembly respectively
The equal fixed camera system head in top of duct member, the fixedly adjustable bearing I of camera system head.
5. the flexible arm space oscillations specificity analysis device based on polyphaser as claimed in claim 4, it is characterised in that described
Adjustable foot duct member includes 2 ball connecting rods, foot tube inner shaft lever, foot tube locking knob, foot tube outer shaft and 2 foot tube sides
Lid；Each adjustable foot duct member can change its total length by adjusting the foot tube locking knob, and by tightening pin
Pipe locking knob fixes its target length, different adjustable foot duct member length combinations, realizes the different angle of camera system head
Degree demand；All it is simultaneously to use sphere between ball connecting rod and foot tube interior axle boom end, foot tube outer shaft end and foot tube side end cap
Coordinate, for strengthening the degree of flexibility of sliding block tripod platform system.
6. the flexible arm space oscillations specificity analysis device based on polyphaser as claimed in claim 2, it is characterised in that described
Adjustable seats I include fast-assembling flange, bearing shaft core I, bearing locking knob I, bearing axle sleeve I and bearing flange I, fast-assembling flange
Hold-down support shaft core I, the hold-down support axle sleeve I of bearing flange I；The spiral hold-down support axle sleeve I of bearing shaft core I, and locked by bearing
Tight knob I adjusts the height of bearing shaft core I.
7. the flexible arm space oscillations specificity analysis device based on polyphaser as claimed in claim 2, it is characterised in that described
Adjustable seats II include Quick-mounting board, bearing shaft core II, bearing locking knob II, bearing shaft sleeve II and bearing flange II, Quick-mounting board
Hold-down support shaft core II, the hold-down support shaft sleeve II of bearing flange II；The spiral hold-down support shaft sleeve II of bearing shaft core II, and pass through branch
Seat locking knob II adjusts the height of bearing shaft core II.
8. a kind of flexible arm space oscillations characteristic analysis method based on polyphaser, it is characterised in that comprise the steps：
S1, control AC servo motor I rotate, two level by reductor I and the flexible large arm I of I-shaped adjutage driving and thereon
Rotating unit rotates；Control AC servo motor II rotates, and drives flexible large arm II to rotate by reductor II；
S2, using built-in encoder distinguish the corner position of AC servo motor I and AC servo motor II in detecting step S1
Confidence number, industrial computer is transferred in the lump and waits for corresponding algorithm process；
S3, first, depth camera assembly I and depth camera assembly II form parallel binocular vision system, and fast recording is flexible big
The spatial positional information of index point on arm I and flexible large arm II, plane camera assembly then record flexible large arm in its field of view
Ith, flexible large arm II and the thereon plane information of all index points；Spatial positional information and plane information are sent to industry and calculated
Machine；
S4, industrial computer apply the information that corresponding algorithm process step S3 is sent, and the corner position with reference to obtained by step S2
Confidence number carries out corresponding algorithm process, and analysis obtains the flexural vibrations and torsion of flexible large arm I and flexible large arm II in space
Turn Vibration Condition.
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| CN107421626B (en) | 2023-03-21 |
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