CN107421627A - One kind is based on decelerator driving flexible beam vibration shape vision measurement device and method - Google Patents
One kind is based on decelerator driving flexible beam vibration shape vision measurement device and method Download PDFInfo
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- CN107421627A CN107421627A CN201710585613.XA CN201710585613A CN107421627A CN 107421627 A CN107421627 A CN 107421627A CN 201710585613 A CN201710585613 A CN 201710585613A CN 107421627 A CN107421627 A CN 107421627A
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- 230000004048 modification Effects 0.000 claims abstract description 10
- 238000012986 modification Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000003384 imaging method Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
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- 238000012360 testing method Methods 0.000 description 2
- 239000004593 Epoxy Substances 0.000 description 1
- 238000012357 Gap analysis Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010835 comparative analysis Methods 0.000 description 1
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Classifications
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
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Abstract
The invention discloses one kind based on decelerator driving flexible beam vibration shape vision measurement device and method, including servomotor, planetary reducer, flexible beam, acceleration transducer, motor servo controller, motion control card, terminal board, modification amplifier and computer, when the present invention can be to using different decelerators, its impact analysis to cantilever beam vibration shape of decelerator gap, and the relation for the cantilever beam vibration signal that motor movement code-disc signal obtains with camera calibration is analyzed during to decelerator reverse drive with gap；Meanwhile the device can also analyze the Modal Characteristics of rotating flexible beam.
Description
Technical field
The present invention relates to vibratory test ＆ analysis field, and in particular to one kind is based on decelerator driving flexible beam vibration shape
Vision measurement device and method.
Background technology
Rotation flexible cantilever beam has a wide range of applications in Practical Project, is mainly reflected in spacecraft flexible joint and soft
Property mechanical arm application on, the model can also be used to simulate aircraft rotor blade and turbo blade.It is soft relative to Rigid Robot Manipulator
Property cantilever beam have the advantages that low light weight, energy consumption, efficiency high, operation it is flexible, but due to flexible cantilever beam is elongated, light weight,
The features such as rigidity is low, flexible big, flexible space manipulators and spacecraft flexible appendage are in rotation posture adjustment or by external disturbance
When, easily cause cantilever vibration of beam, the especially vibration on the modal frequency of equalization point small magnitude, if can not be quick
Suppress these vibrations, by the stability and pointing accuracy of the system of influence, so as to reduce the reliability of related system, or even bring calamity
The loss of difficulty.For aircraft rotor blade and turbo blade using elongated rigid mechanical arm, due to outside resistance compared with
Greatly, inertia not malleable, the vibration of mechanical arm and larger impact are easily caused in the startup and stopping of rotation, without
Appropriate vibration suppression easily causes the impact of mechanical arm to fracture, and causes economic loss even security incident.Although hinged cantilever
The research of beam receives extensive concern both domestic and external, but the research for rotating flexible, hinged beam is fewer, and it is in reality
It is again essential in the engineer applied on border, so just becoming now to the research for rotating flexible, hinged vibration of beam active suppression
The domestic and international common concern in the world and rich in challenge important topic.
The rotating adjustment time of motor is longer, while the hysteresis that planetary reducer gap band comes is to flexible beam vibration
Various control devices using having certain limitation.
The content of the invention
In order to overcome shortcoming and deficiency existing for prior art, the present invention provides a kind of decelerator driving flexible beam that is based on and shaken
Dynamic form vision measurement apparatus and method.
The present invention adopts the following technical scheme that：
One kind is based on decelerator driving flexible beam vibration shape vision measurement device, including servomotor, planetary gear reduction
Fast device, flexible beam, acceleration transducer, motor servo controller, motion control card, terminal board, modification amplifier and computer；
The servomotor is connected with planetary reducer, and the planetary reducer is fixed on motor mount
On；
Described flexible beam one end is freely referred to as free end, and the other end is referred to as fixing end by mechanical clamping device clamping, described
Mechanical clamping device is connected on the output shaft of planetary reducer, and flexible beam rotates with output shaft；
The acceleration transducer is arranged on flexible beam free end, and on the center line of width, the acceleration
The vibration information of sensor detection flexible beam is spent, the signal that it is detected is output to terminal board, institute after modification amplifier is handled
State terminal board to be connected with each other with motion control card, motion control card is connected with each other with computer；
The camera is arranged on experimental bench by camera mounting bracket, and the camera shooting flexible beam picture is input to calculating
In machine；
The servomotor carries the angular displacement of encoder detection servomotor, is controlled by motor servo controller and motion
Fabrication is input in computer, and the motor servo controller is connected with each other with motion control card.
Camera mounting bracket makes the optical axis of camera parallel with the upper surface of flexible beam when installing, and makes flexible beam initial bit set
Among camera imaging scope.
Also include experimental bench, the motor mount and camera mounting bracket are both placed on experimental bench.
A kind of method based on decelerator driving flexible beam vibration shape vision measurement device, comprises the following steps：
The first step, from the relatively low planetary reducer of precision, the output shaft of planetary reducer is larger, computer
The control instruction sent drives servomotor to rotate by being converted to current signal after motion control card and motor servo controller
Stop after certain angle, encoder detects the angular displacement of now servomotor, through motor servo controller and motion control card shape
Into digital quantity, then input computer；
Second step is because gap be present in planetary reducer output shaft, when servomotor stops operating, flexible beam due to
Inertia continues to rotate, flexible beam it is of reciprocating vibration, mechanical clamping device is also of reciprocating vibration in interstice coverage, and camera calibration is soft
The vibration information of property beam and mechanical clamping device is input in computer；
The vibration information of acceleration transducer detection flexible beam free end, is controlled by modification amplifier, terminal board and motion
Fabrication is input in computer；
Low precision planetary reducer is changed to high-precision by the 3rd step, and repeats the first step and second step；
When 4th step is according to different accuracy planetary reducer forward drive, encoder, acceleration transducer and camera
The signal of detection, computer utilize these three signals to be used to analyze different decelerator gaps forward drive to flexible beam vibration shape
Influence.
Beneficial effects of the present invention：
(1) device in the present invention is a kind of motor driving planetary gear speed-reduction, by the gap of planetary reducer Lai
The device of flexible beam vibration is produced, compared with gapless decelerator, the vibration characteristics of its rotation driving is complicated, with the invention device
Can be with influence of the analytical gap characteristic to rotating flexible beam vibration shape.
(2) in the present invention using machine vision come the vibration information of testing agency, compared to other sensors, machine vision
With non-contact measurement, do not increase structure additional mass, do not change architectural feature.What machine vision metrology obtained is to include to shake
The image of dynamic information, and abundant information in image, the global property of mechanism vibrations can be reflected.
(3) device in the present invention includes multiple sensors, and the combination of vision sensor and acceleration transducer is vibration
The measurement of signal is more accurate, while can obtain shadow of the different decelerator gaps to flexible beam vibration shape by comparative analysis
Ring.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment
As shown in figure 1, it is a kind of based on decelerator driving flexible beam vibration shape vision measurement device, including servomotor 5,
Planetary reducer 4, flexible beam 2, acceleration transducer 1, motor servo controller, motion control card, terminal board, suitable tune are put
Big device and computer；
The motor mount 8 is fixed on experimental bench, the servomotor with encoder 6 and planetary reducer 4
Connection, planetary reducer 4 are fixed on motor mount, and the angular displacement of encoder detection servomotor passes through motor servo
Controller and motion control card are input in computer, play a part of motion positions to flexible beam.
Described flexible beam one end is freely referred to as free end, and the other end clamps referred to as fixing end by mechanical clamping device 9, machinery
Clamping device is connected on the output shaft of planetary reducer, and flexible beam can rotate with output shaft.
The acceleration transducer 1 is clamped to flexible beam free end by screw-nut, and in width
On line, apart from free end border 50mm position, the vibration information of the acceleration transducer detection flexible beam, its letter detected
Number after modification amplifier is handled, terminal board is output to, the terminal board is connected with each other with sports cards, motion control card and meter
Calculation machine is connected with each other；
Acceleration transducer in the present embodiment is single-axis acceleration sensors, from the production of Kistler companies of Switzerland
Model 8310B2 type low frequency capacitive formula acceleration transducers, weight is about 17g, and detection frequency response range is 0~250Hz,
The imbalance amplifier of acceleration is exactly to provide power supply or amplifying circuit to acceleration transducer.
The camera 7 is fixed by screws in camera mounting bracket 3, and the camera mounting bracket 3 is arranged on experimental bench, described
The vibration signal when flexible beam that camera obtains starts and rotated is input in computer；Camera mounting bracket 3 should make when installing
Camera 7 optical axis it is parallel with the width of the initial position of flexible beam 2, and with the imaging plane of the initial position of flexible beam 2
It is parallel；
The colored 4,000,000 pixel high-speed industrial cameras of KP-FM400WCL that camera is produced from Japanese Hitachi companies, its
Using 1 inch of imaging sensor, good digital processor, effective resolution reaches 2048 × 2048, and frame per second is 150 frames/second,
Fine definition is realized simultaneously with high frame per second, using standard C-Mount interfaces, shell sizes：44mm × 44mm × 41mm, power supply will
Ask：12VDC.The visual signal that camera obtains carries out relevant treatment after being input to computer.
Select motion controller a passage be used as motor control passage, by AC servo motor use speed control or
The mode of person position control is connected correctly to motor servo controller, and motor servo controller is bi-directionally connected with motion controller,
For controlling the rotation of servomotor, the output shaft of AC servo motor is connected to the input shaft of planetary reducer, used
In the rotation of driving flexible beam, flexible beam using epoxy plate material, its physical dimension size be 350mm × 100mm ×
6mm。
The invention device is passed by measurement motor end angular displacement information, the acceleration information and vision of rotating flexible beam end
The vibration shape information of the flexible beam of sensor detection；Available for analyze different decelerator gaps to drive flexible beam vibration shape
Influence, it may also be used for influence of the reverse drive to flexible beam vibration shape；Also, the vibration of rotating flexible beam can also be analyzed
Form and the similarities and differences of cantilever beam vibration shape.
A kind of method based on decelerator driving flexible beam vibration shape vision measurement, comprises the following steps：
The first step, from the relatively low planetary reducer of precision, the output shaft of planetary reducer is larger, computer
The control instruction sent drives servomotor to rotate by being converted to current signal after motion control card and servo driver of motor
Stop after certain angle, encoder detects the angular displacement of now servomotor, through motor servo controller and motion control card shape
Into digital quantity, then input computer；
Second step is because gap be present in planetary reducer output shaft, when servomotor stops operating, flexible beam due to
Inertia continues to rotate, flexible beam it is of reciprocating vibration, mechanical clamping device is also of reciprocating vibration in interstice coverage, and camera calibration is soft
The vibration information of property beam and mechanical clamping device is input in computer；
The vibration information of acceleration transducer detection flexible beam free end, is controlled by modification amplifier, terminal board and motion
Fabrication is input in computer；
Low precision planetary reducer is changed to high-precision by the 3rd step, and repeats the first step and second step；
When 4th step is according to different accuracy planetary reducer forward drive, encoder, acceleration transducer and camera
The signal of detection, computer utilize these three signals to be used to analyze different decelerator gaps forward drive to flexible beam vibration shape
Influence.
Encoder is used as the Angular Displacement Detecting of motor movement, and the motion to flexible arm plays the role of positioning；Acceleration transducer
And the signal of camera calibration both functions as the detection signal of vibrating flexible beam, computer obtains vibration shape shadow by analyze data
Ring.Using the above method, when analyzing the decelerator that different accuracy is used in experimental provision, to vibration caused by driving flexible arm
The influence of form；
Vibration shape described here, refer to flexible beam under planetary reduction gear driving, border torque input be present, slow down
When device gap, low-frequency vibration mode form that flexible beam is showed.
There is gap in planetary reducer output shaft, when servomotor stops operating, flexible beam is continued to due to inertia
Rotate, until one end of flexible beam turns over the border that gap reaches gap by mechanical clamping device, but flexible beam is of reciprocating vibration,
The mechanical clamping device also reciprocating rotation in interstice coverage, number by camera calibration flexible beam vibration information, including containing
The rotation of the mechanical clamping device of gap, the signal that camera calibration obtains directly input computer and carry out subsequent treatment；Meanwhile gather
The information of acceleration transducer, is input to computer；According to the signal of detection, available for analyzing, different decelerator gaps are positive to drive
The dynamic influence to flexible beam vibration shape.
Influence of the different decelerator gaps reverse drive to flexible beam vibration shape is analyzed, servomotor reverse drive starts
When planetary reducer output shaft gap be present, i.e., planetary reducer output shaft is opened after servomotor turns an angle
Begin rotate, and servomotor stop driving after, gap be present in planetary reducer, flexible beam because inertia continues to rotate,
Until gap terminate resistance it is larger when flexible beam stop motion, measured by reverse drive camera, encoder and acceleration transducer
Detection limit be used for analyze influence of the different decelerator gaps reverse drive to flexible beam vibration shape.
The present invention utilizes its influence to cantilever beam vibration of different decelerator Gap Analysis, and to the deceleration with gap
The relation for the cantilever beam vibration signal that motor movement code-disc signal obtains with camera calibration is analyzed during device reverse drive, simultaneously
Obtain the Modal Characteristics of flexible beam；The signal analysis that the vision sensor formed with acceleration transducer and camera gathers is soft
The edge vibration characteristics of mode of property beam.
I.e. when servomotor drives planetary reducer forward or backwards, different accuracy planetary reducer is utilized
Gap it is different, to obtain different motor movement code-disc signals and cantilever beam vibration signal, closed therebetween by contrasting to analyze
System.The side for the signal analysis flexible beam that the device vision sensor that also usable acceleration sensor and camera are formed gathers simultaneously
Edge Modal Characteristics.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by the embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (4)
1. one kind is based on decelerator driving flexible beam vibration shape vision measurement device, it is characterised in that including servomotor, OK
Star gear reduction unit, flexible beam, acceleration transducer, motor servo controller, motion control card, terminal board, modification amplifier
And computer；
The servomotor is connected with planetary reducer, and the planetary reducer is fixed on motor mount；
Described flexible beam one end is freely referred to as free end, and the other end is referred to as fixing end, the machinery by mechanical clamping device clamping
Clamping device is connected on the output shaft of planetary reducer, and flexible beam rotates with output shaft；
The acceleration transducer is arranged on flexible beam free end, and on the center line of width, the acceleration passes
Sensor detects the vibration information of flexible beam, and the signal that it is detected is output to terminal board, the end after modification amplifier is handled
Daughter board is connected with each other with motion control card, and motion control card is connected with each other with computer；
The camera is arranged on experimental bench by camera mounting bracket, and the camera shooting flexible beam picture is input to computer
In；
The servomotor carries the angular displacement of encoder detection servomotor, by motor servo controller and motion control card
It is input in computer, the motor servo controller is connected with each other with motion control card.
It is 2. according to claim 1 a kind of based on decelerator driving flexible beam vibration shape vision measurement device, its feature
It is, camera mounting bracket makes the optical axis of camera parallel with the upper surface of flexible beam when installing, and is located at flexible beam initial position
Among camera imaging scope.
It is 3. according to claim 1 a kind of based on decelerator driving flexible beam vibration shape vision measurement device, its feature
It is, in addition to experimental bench, the motor mount and camera mounting bracket are both placed on experimental bench.
4. one kind according to claim any one of 1-3 is based on decelerator driving flexible beam vibration shape vision measurement device
Method, it is characterised in that comprise the following steps：
The first step, from the relatively low planetary reducer of precision, the output shaft of planetary reducer is larger, and computer is sent
Control instruction by being converted to current signal after motion control card and motor servo controller, to drive servomotor to rotate certain
Stop after angle, encoder detects the angular displacement of now servomotor, and number is formed through motor servo controller and motion control card
Word amount, then input computer；
Second step is because gap be present in planetary reducer output shaft, and when servomotor stops operating, flexible beam is due to inertia
Continue to rotate, flexible beam it is of reciprocating vibration, mechanical clamping device is also of reciprocating vibration in interstice coverage, camera calibration flexible beam
And the vibration information of mechanical clamping device is input in computer；
The vibration information of acceleration transducer detection flexible beam free end, passes through modification amplifier, terminal board and motion control card
It is input in computer；
Low precision planetary reducer is changed to high-precision by the 3rd step, and repeats the first step and second step；
When 4th step is according to different accuracy planetary reducer forward drive, encoder, acceleration transducer and camera calibration
Signal, computer utilize these three signals be used for analyze shadow of the different decelerator gaps forward drive to flexible beam vibration shape
Ring.
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| CN201710585613.XA CN107421627B (en) | 2017-07-18 | 2017-07-18 | Vibration form visual measurement device and method based on speed reducer driving flexible beam |
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| CN201710585613.XA CN107421627B (en) | 2017-07-18 | 2017-07-18 | Vibration form visual measurement device and method based on speed reducer driving flexible beam |
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Cited By (4)
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| CN108843554A (en) * | 2018-06-26 | 2018-11-20 | 南京理工大学 | A kind of noise-measuring system based on two degrees of freedom mechanical arm |
| CN109916621A (en) * | 2019-03-28 | 2019-06-21 | 中科新松有限公司 | Harmonic speed reducer vibration-testing apparatus |
| CN110031170A (en) * | 2019-04-24 | 2019-07-19 | 华南理工大学 | A kind of flexible hinged plate vibration measurement control device and control method |
| CN110132517A (en) * | 2019-05-29 | 2019-08-16 | 华南理工大学 | A kind of more flexible piezoelectric beam coupled vibration analysis control device and methods |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108843554A (en) * | 2018-06-26 | 2018-11-20 | 南京理工大学 | A kind of noise-measuring system based on two degrees of freedom mechanical arm |
| CN109916621A (en) * | 2019-03-28 | 2019-06-21 | 中科新松有限公司 | Harmonic speed reducer vibration-testing apparatus |
| CN109916621B (en) * | 2019-03-28 | 2020-11-03 | 中科新松有限公司 | Harmonic reducer vibration testing device |
| CN110031170A (en) * | 2019-04-24 | 2019-07-19 | 华南理工大学 | A kind of flexible hinged plate vibration measurement control device and control method |
| CN110132517A (en) * | 2019-05-29 | 2019-08-16 | 华南理工大学 | A kind of more flexible piezoelectric beam coupled vibration analysis control device and methods |
| CN110132517B (en) * | 2019-05-29 | 2023-09-29 | 华南理工大学 | Multi-flexible piezoelectric beam coupling vibration analysis control device and method |
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