CN108709631A - Flexible truss vibration detection device and method - Google Patents
Flexible truss vibration detection device and method Download PDFInfo
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- CN108709631A CN108709631A CN201810763940.4A CN201810763940A CN108709631A CN 108709631 A CN108709631 A CN 108709631A CN 201810763940 A CN201810763940 A CN 201810763940A CN 108709631 A CN108709631 A CN 108709631A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
- G01H11/06—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by electric means
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Abstract
The invention discloses a kind of flexible truss vibration detection device and methods, described device includes flexible truss, drive mechanism and vibration detection mechanism, the drive mechanism is connect with flexible truss, for driving flexible truss to generate vibration, the vibration detection mechanism includes binocular vision system, workbench, acceleration transducer and processing equipment, the binocular vision system is arranged on workbench, for detecting the index point region on flexible truss, the acceleration transducer is arranged on flexible truss, the processing equipment respectively with binocular vision system, acceleration transducer connects.The present invention is detected flexible truss using vision and acceleration transducer, by the way that the advantage of two kinds of detection modes is combined, not only vision-based detection had been compensated in the disadvantage of the insufficient picture contrast deficiency of illumination condition, but also illustrated the flexibility of vision-based detection and good adaptability.
Description
Technical field
The present invention relates to a kind of vibration detection device, especially a kind of flexible truss vibration detection device and method belong to
The vibration detection field of space stretched out structure.
Background technology
Flexible structure is widely used in space flight and field of industrial production, relative to rigid structure, has light weight, energy consumption
The features such as low, efficient, the advantages that operation is flexible, but the intrinsic frequency of flexible structure is low, and low frequency modal vibration is easily ignited, limits
Its application and development on space-vehicle antenna, windsurfing is made.
Since in recent years, people become research emphasis and heat subject to the research of spacecraft structure.Due to taking for rocket
Loading capability promotion is limited, and the selection that flexible structure is primary is used to antenna etc..Application of the flexible truss on space is main
It is the external extension means in spacecraft.Motor drives flexible truss stretching, extension, the free end of truss to connect the transmitting of another signal
And reception device.Alternatively, it is also possible to which reflective film is unfolded in both sides by this flexible extensions truss.In practical application, due to
Truss structure is flexibility, light weight, damps in space small, and truss easily evokes vibration, to the precision generation bigger of detection system
Deviation.It is further urgent to the vibration research of Space Flexible Structure in order to improve the precision of spacecraft.Since truss structure itself is solid
Have that frequency distribution is sufficiently complex, therefore more demanding to the method for vibration detection.Acceleration transducer has bandwidth, structure letter
Single, light weight, the advantages that being easily installed, the vibration that can handle flexible truss in real time using acceleration transducer reasonable layout is anti-
Feedback signal, practical application are more convenient.
Vision-based detection is novel in recent years detection means, due to its dynamic performance shadow to script flexible truss system
Sound is very small, is suitably applied the vibration detection to spatial flexible stretched out structure.
Generally in ground simulating, other than gravity has an impact the characteristic of truss structure, laboratory it is hard
Part condition is also wherein one of influence factor.It needs to carry out model replacement to actual antennas structure, takes rational structure design.
Invention content
The purpose of the present invention is to solve the defects of the above-mentioned prior art, provide a kind of flexible truss vibration detection dress
It sets, which is detected flexible truss using vision and acceleration transducer, by by the advantage knot of two kinds of detection modes
Close, not only compensated for vision-based detection in the case that insufficient picture contrast deficiency of illumination condition disadvantage, but also illustrate vision examine
The flexibility of survey and good adaptability.
Another object of the present invention is to provide a kind of flexible truss method for detecting vibration based on above-mentioned apparatus.
The purpose of the present invention can be reached by adopting the following technical scheme that：
Flexible truss vibration detection device, including flexible truss, drive mechanism and vibration detection mechanism, the piezoelectricity
Driving mechanism is connect with flexible truss, and for driving flexible truss to generate vibration, the vibration detection mechanism includes binocular vision
System, workbench, acceleration transducer and processing equipment, the binocular vision system is arranged on workbench, for examining
Survey the index point region on flexible truss, the acceleration transducer is arranged on flexible truss, the processing equipment respectively with
Binocular vision system, acceleration transducer connection.
Further, there is the flexible truss multilayered structure, every layer of structure to be connected with each other by ten six roots of sensation flexible links,
Bottom structure is connect with drive mechanism.
Further, in every layer of structure of the flexible truss, ten six roots of sensation flexible links include eight horizontal flexibility bars, four
Vertical flexible link and four inclination flexible links, wherein four horizontal flexibility bars with other four horizontal flexibility bars are symmetrical above and below sets
It sets, four vertical flexible links and eight horizontal flexibility bars constitute a cubes, and four tilt flexible links and are separately positioned on cube
On four sides of body.
Further, in the bottom structure of the flexible truss, two flexible links are connect with drive mechanism respectively,
Flexible truss is evenly distributed with multi-turn index point in the every flexible link in addition to this two flexible links.
Further, described device further includes support platform, and the bottom structure of the flexible truss is fixed on support and puts down
On platform.
Further, the binocular vision system includes two industrial cameras, a guide rail, two sliding blocks and two clouds
Platform, described two sliding blocks are slidably arranged on guide rail, and the guide rail is fixed on workbench, two industrial cameras, two
A sliding block and two holders are to correspond, and every industrial camera is arranged on corresponding holder, and each holder is fixed on pair
On the sliding block answered.
Further, the vibratory drive mechanism includes piezoelectric ceramics actuator and signal processing module, the piezoelectricity pottery
Porcelain actuator is connect with flexible truss, and the signal processing module is connect with electroceramics actuator.
Further, the signal processing module includes signal generator and power amplifier, the signal generator, work(
Rate amplifier and piezoelectric ceramics actuator are sequentially connected.
Further, the processing equipment includes computer, A/D capture cards and filter amplification circuit, the computer with
Binocular vision system connects, and passes sequentially through A/D capture cards, filter amplification circuit and acceleration transducer and connect.
Another object of the present invention can be reached by adopting the following technical scheme that：
Flexible truss method for detecting vibration based on above-mentioned apparatus, the method includes：
Signal generator provides the sine wave signal of certain frequency and amplitude, puts voltage under the action of power amplifier
Driving voltage greatly to a certain extent, to drive the control flexible truss vibration of piezoelectric ceramics actuator；
Acceleration transducer feeds back the vibration signal in tri- directions X, Y, Z, filter amplification circuit exclusive PCR frequency
Effect, the host that A/D capture cards convert analog signals into digital signal input computer are handled in real time；
Appropriately distance is arranged in two of binocular vision system between industrial camera and flexible truss, pass through the coarse adjustment of holder
Two industrial cameras of knob and vernier knob pair carry out angle adjustment appropriate, and the water by two industrial cameras of sliding block pair
Prosposition, which is set, to be fixed, and the uniform coordinate value of flexible truss is obtained according to the stereo calibration of industrial camera；
Image Acquisition is carried out by industrial camera when flexible truss generates vibration, the host for entering data into computer is located in real time
Reason obtains the various vibration parameters of flexible truss, and shows 3D reconstruction pictures in the display of computer.
The present invention has following advantageous effect compared with the existing technology：
1, the present invention is detected flexible truss using vision and acceleration transducer, by by two kinds of detection modes
Advantage combines, and had not only compensated for vision-based detection in the disadvantage of the insufficient picture contrast deficiency of illumination condition, and but also had illustrated
The flexibility of vision-based detection and good adaptability, can in the case that laboratory condition it is insufficient provide it is more feasible solution do
Method realizes the purpose for reducing experimental cost and building difficulty.
2, there is flexible truss of the invention multilayered structure, every layer of structure to be connected with each other by ten six roots of sensation flexible links,
In four horizontal flexibility bars and the setting symmetrical above and below of other four horizontal flexibility bars, four vertical flexible links and eight horizontal flexibilities
Bar constitutes a cube, and four tilt flexible link and are separately positioned on cubical four sides, are tied by rational machinery
Structure designs, and the flexible truss antenna based on practical application is suitably modeled, designs and suitably can be applied to existing experiment
The structure of room condition, reaches actual effect as far as possible.
3, the present invention is imitated using two flexible links of the piezoelectric ceramics actuator driving flexible truss bottom using inverse piezoelectricity
Answer Active spurring flexible truss generate vibration, driving flexible truss occur X, Y, Z respectively to vibration, to carry out a series of inspection
Test is tested, result of oscillation analysis.
4, binocular vision system of the invention is equipped with two industrial cameras, can be with by two sliding blocks on moving guide rail
The horizontal position for adjusting two industrial cameras, to change the position relationship between two industrial cameras, it is ensured that index point exists
The vision-based detection of two industrial cameras within sweep of the eye, can to acquire the space coordinate of all index points within sweep of the eye
Acquisition complete image can adjust the pitch angle of two industrial cameras by the coarse adjustment knob and vernier knob of two holders
And level angle.
5, the present invention is detected flexible truss using vision-based detection means, can be with due to non-contacting measurement method
Reach intrinsic frequency and modal frequency that minimum limit influences flexible truss, truer essence is provided for subsequent experiment and application
True data.
Description of the drawings
Fig. 1 is the flexible truss vibration detection device general structure schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the front view of the flexible truss vibration detection device of the embodiment of the present invention 1.
Fig. 3 is the vertical view of the flexible truss vibration detection device of the embodiment of the present invention 1.
Fig. 4 is the right view of the flexible truss vibration detection device of the embodiment of the present invention 1.
Fig. 5 is the structural schematic diagram of the flexible truss of the embodiment of the present invention 1.
Fig. 6 is that the structural schematic diagram on workbench is arranged in the binocular vision system of the embodiment of the present invention 1.
Fig. 7 is the flexible truss method for detecting vibration flow chart of the embodiment of the present invention 1.
Wherein, 1- flexible truss, 101- horizontal flexibility bars, the vertical flexible links of 102-, 103- tilt flexible link, and 104- is uniaxial
Universal joint, 105- chains are received, and 106- fixes tripod, 2- index points, 3- support platforms, 301- substrates, 302- support legs, 303- cross
To supporting rod, 4- piezoelectric ceramics actuators, 5- signal generators, 6- power amplifiers, 7- binocular vision systems, the first works of 701-
Industry camera, the second industrial cameras of 702-, 703- guide rails, the first sliding blocks of 704-, the second sliding blocks of 705-, the first holders of 706-, 707-
Second holder, 8- workbenches, 801- vertical supporting bars, 802- top plates, 803- middle plates, 804- lower plywoods, 9- acceleration
Sensor, 10- sensor power supplies, 11-A/D capture cards, 12- filter amplification circuits, 13- hosts, 14- displays.
Specific implementation mode
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1：
As shown in Figure 1 to 4, a kind of flexible truss vibration detection device is present embodiments provided, which includes flexibility
Truss 1, drive mechanism and vibration detection mechanism.
As shown in fig. 1~fig. 5, the flexible truss 1 is by 88 material identicals, the not exclusively the same flexible link of size
Assembled, rectangular cross-section has seven-layer structure, and specifically, every layer of structure is connected with each other by ten six roots of sensation flexible links,
Ten six roots of sensation flexible links include the vertical flexible link 102 of eight 101, four, horizontal flexibility bars and four inclination flexible links 103, wherein
Four horizontal flexibility bars 101 and other four horizontal flexibility bars, 102 setting symmetrical above and below, four vertical flexible links 102 and eight
Horizontal flexibility bar 101 constitutes a cube, and four tilt flexible link 103 and are separately positioned on cubical four sides, on
Four piece horizontal flexibility bars 102 of four horizontal flexibility bars 102 as next layer of superstructure below one layer of structure, with such
It pushes away, until nethermost one layer of structure.
Further, by external screw thread, the both ends of every flexible link pass through at ten six roots of sensation flexible link both ends of every layer of structure
It is threadedly coupled uniaxial universal joint 104, each flexible link is received by uniaxial universal joint 104 and chain and 105 be fixedly connected, to make respectively
Root flexible link is connected with each other；Two flexible links in bottom structure are connect with drive mechanism respectively, and the present embodiment is chosen
A piece vertical flexible link 102 and an inclination flexible link 103, flexible truss 1 is in the every flexible link in addition to this two flexible links
Three circle index points 2 are evenly distributed with, 2 distributing position of index point on all horizontal flexibility bars 101 and vertical flexible link 102 is complete
Identical, all 2 distributing positions of index point tilted in flexible link 103 are also identical.
In order to stablize support flexible truss 1, the flexible truss vibration detection device of the present embodiment further includes support platform 3,
The bottom structure of flexible truss 1 is fixed in support platform 3；Further, support platform 3 includes substrate 301 and four branch
The both ends of the surface of spike 302, four horizontal flexibility bars 102 below the bottom structure of flexible truss 1 have been co-axially mounted fixed feet
Frame 106 shares eight, and fixed tripod 106 is fixed on to the upper surface of substrate 301 by fastening bolt, and four support legs 302 are divided
It is not fixedly connected with the lower surface of substrate 301, transverse support bar 303 is equipped between adjacent two support legs 302 so that is entire
Support platform 3 is more firm.
In the present embodiment, flexible truss 1 is the three-dimensional seven sheaf space Flexible Truss of close frequency, the Flexible Truss ruler
Very little is 0.4m × 0.4m × 2.8m, and the material of each flexible link is identical, is carbon fiber pipe, geometric dimension be respectively Φ 20 ×
0.4m, Φ 20 × 0.4m, Φ 20 × 0.606m, elasticity modulus 207GPa, density 1.8X103kg/m3.The node of bottom four
In the support platform 3 being completely fixed, one end is fixed with Simulated Spacecraft antenna, the other end is free end, is used at node spherical
Node, uniformly processing excision at same size plane, and be drilled with 8 × 8 sizes of Φ threaded hole several, ensure each flexible link
Between can correctly combine；Support platform 3 is assembled by the aluminium section that three kinds of sizes are respectively 480mm, 500mm, 680mm,
Substrate 301 is the stainless steel plate of one piece of 600mm × 800mm × 8m, is connect with proximate matter by bolt, each junction of proximate matter
There is angle bar to fix.
The drive mechanism is for driving flexible truss to generate vibration comprising piezoelectric ceramics actuator 4 and signal
Processing module, signal processing module include signal generator 5 and power amplifier 6, and the piezoelectric ceramics actuator 4 of the present embodiment is
Mechanical piezoelectric ceramics actuator, altogether there are four, two of which piezoelectric ceramics actuator 4 is threaded in respectively in bottom structure
102 both ends of vertical flexible link, after which connects piezoelectric ceramics actuator 4, then pass through uniaxial universal joint
104 receive with chain 105 is fixedly connected, other two piezoelectric ceramics actuator 4 is threaded in one in bottom structure respectively
Root tilts 103 both ends of flexible link, after which connects piezoelectric ceramics actuator 4, then passes through uniaxial universal joint 104
It receives and 105 is fixedly connected with chain, signal generator 5, power amplifier 6 and each piezoelectric ceramics actuator 4 are sequentially connected, signal
Generator 5 provides the sine wave signal of certain frequency and amplitude, by voltage amplification to certain journey under the action of power amplifier 6
The driving voltage of degree vibrates to drive piezoelectric ceramics actuator 4 to control flexible truss 1, specific to drive flexible truss that XYZ occurs
Respectively to vibration, to carry out a series of detection experiment, result of oscillation analysis, the piezoelectric ceramics in same root flexible link actuates
4 model parameter of device is identical, but its free end mechanical movement direction is different, and the direction of power is each along the axis direction of bar and opposite.
In the present embodiment, piezoelectric ceramics actuator 4 is using Harbin core company's tomorrow exploitation PSt150/7/100 VS12
The product of model, it is 95+10% μm which, which selects external screw thread adapter, nominal travel, nominal thrust
1200N, resonant frequency 10KHz, rigidity are 10+20%N/ μm；Signal generator 5 selects model Angilent-33220A,
Manufacturer is Agilent Instrument Ltd., can provide the sine wave signal of -15-+15V；Power amplifier 6 selects model
It for YE5872, is bought from Jiangsu Lianneng Electronic Technology Co., Ltd., signal can be amplified to -120-+120V.
As shown in Fig. 1~Fig. 6, vibration detection mechanism includes binocular vision system 7, workbench 8, acceleration transducer 9
And processing equipment, binocular vision system 7 are arranged on workbench 8, for detecting 2 region of index point on flexible truss 1, have
Body, workbench 8 include that three layer by layer plate and four vertical supporting bars 801, three blocks of laminates are respectively top plate 802, middle plate
803 and lower plywood 804, the upper end of four vertical supporting bars 801 be fixedly connected respectively with four angles of top plate 802, four are perpendicular
It is fixedly connected respectively with four angles of middle plate 803 to the middle part of supporting rod 801, the lower end difference of four vertical supporting bars 801
It is fixedly connected with four angles of lower plywood 804, the binocular vision system 7 of the present embodiment is arranged in the upper surface of top plate 802.
Further, binocular vision system 7 includes the first industrial camera 701, the second industrial camera 702, guide rail
703, the first sliding block 704, the second sliding block 705, the first holder 706 and the second holder 707, guide rail 703 are fixed on top plate 802
Upper surface, the first sliding block 704 and the second sliding block 705 are slidably arranged on guide rail 703, i.e. the first sliding block 704 and the second sliding block 705
It can be moved on guide rail 703, the first industrial camera 701 and the second industrial camera 702 are symmetrically installed, the first holder 706 and
Two holders 707 are all made of spherical platform, and the first industrial camera 701 is arranged on the first holder 706, connects especially by 1/4 screw
The first holder 706 is connect, the second industrial camera 702 is arranged on the second holder 707, especially by 1/4 the second holder of screw connection
707, the first holder 706 is fixed on the first sliding block 704, and the second holder 707 is fixed on the second sliding block 705, passes through mobile the
One sliding block 704 and the second sliding block 705, can adjust the horizontal position of the first industrial camera 701 and the second industrial camera 702, from
And change the position relationship between the first industrial camera 701 and the second industrial camera 702, it is ensured that index point 2 is in the first industry
The vision-based detection of camera 701 and the second industrial camera 702 within sweep of the eye, to acquisition all index points 2 within sweep of the eye
Space coordinate, can pass through and adjust coarse adjustment knob on the first holder 706 and the second holder 707 and vernier knob controls the first work
The level angle and pitch angle of industry camera 701 and the second industrial camera 702 have multiple damping gears.
Further, it there are four the acceleration transducers 9, is powered by sensor power supply 10, an acceleration
Sensor 9 is mounted on 101 endpoint location of horizontal flexibility bar of 1 top of flexible truss, and an acceleration transducer 9 is mounted on soft
Property 1 top of truss 102 endpoint location of vertical flexible link, acceleration transducer 9 is mounted on flexible truss 1 above second
102 endpoint location of vertical flexible link of layer, an acceleration transducer 9 are mounted on the vertical soft of the third layer above of flexible truss 1
Property 102 endpoint location of bar, 1 remaining four layer of flexible truss do not install acceleration transducer 9.
Further, the processing equipment includes computer, A/D capture cards 11 and filter amplification circuit 12, computer with
Binocular vision system 7 connect, and pass sequentially through A/D capture cards 11, filter amplification circuit 12 respectively with four acceleration transducers 9
Connection, Computer includes host 13 and display 14, and the first industrial camera 701 and the second industrial camera 702 pass through USB numbers
It is connect with host 13 according to line, the first industrial camera 701 and the second industrial camera 702 demarcate respective coordinate system respectively, obtain soft
Property truss 1 uniform coordinate value, flexible truss 1 generate vibration when carried out by the first industrial camera 701 and the second industrial camera 702
Image Acquisition, the first industrial camera 701 and the second industrial camera 702 carry out Image Acquisition by certain sampling time, pass through meter
The host 13 of calculation machine carries out image procossing, and the vibrational coordinate comparison original coordinates of index point 2 can analyze vibration displacement, in turn
Each vibration parameters of flexible truss can be analyzed, and 3D reconstruction pictures are shown in the display of computer 14；Four acceleration
Sensor 9 detects the vibration of 1 free end of flexible truss and the composite signal of situation of movement, and by the signal in different channels through filtering
Wave amplifying circuit 12 and A/D capture cards 11, the host 13 for being input to computer carry out corresponding Algorithm Analysis, obtain flexible truss
The parameters such as the vibration frequency response diagram of 1 free end and damping ratio can subsequently be used for and the result of vision-based detection is compared.
In the present embodiment, the first industrial camera 701 and the second industrial camera 702 are using Prosilica companies of Canada
Model GE1050 industrial cameras, resolution ratio is 1megapixels 1024 × 1024, and 1/2 " ccd image of photosensitive element is suitable
Sequence scans Kodak KAI-01050, and greatest frame rate 60fps, light color is white light, using traditional Cat-5e cables,
Interface type is Gigabit Ethernet；First holder 706 and the second holder 707 use the model B0's of BENRO companies
Holder；Material is magnesium alloy, can load-bearing 8kg, pedestal use UNC3/8 interfaces；Guide rail 703 is using the mating guide rail of holder, material
For metal, rail length 1m, fixed bottom outlet size is 3/8 inch；Acceleration transducer 9 select kistler company models for
The voltage-type acceleration transducer of 8762A5, normal sensibility 1000mv/g, measurement frequency ranging from 0.5-6000Hz are surveyed
Amount direction is three axis；Sensor power supply 10 is using kistler companies corollary equipment；A/D capture cards 11 use PCI-
1800H models, in the pci card slot of computer；Filter amplification circuit 12 selects model YE3760A, and being joined by Jiangsu can electricity
Sub- Technology Co., Ltd.'s production；It is the limited public affairs of Founder Technology group share that computer, which selects I500-7255 models, manufacturer,
Department.
As shown in Fig. 1~Fig. 7, the present embodiment additionally provides a kind of flexible truss method for detecting vibration, and this method is based on upper
Device realization is stated, is included the following steps：
Step 1: signal generator 5 provides the sine wave signal of certain frequency and amplitude, in the effect of power amplifier 6
The lower driving voltage by voltage amplification to a certain extent vibrates to drive piezoelectric ceramics actuator 4 to control flexible truss 1；
Step 2: four acceleration transducers 9 feed back the vibration signal in tri- directions X, Y, Z, filter amplification circuit 12
The effect of exclusive PCR frequency, the host 13 that A/D capture cards 11 convert analog signals into digital signal input computer are real-time
Processing；
Step 3: appropriately distance is arranged between two industrial cameras and flexible truss 1, pass through the thick of the first holder 706
It adjusts knob and the first industrial camera of vernier knob pair 701 to carry out angle adjustment appropriate, passes through the coarse adjustment knob of the second holder 707
Angle adjustment appropriate is carried out with the second industrial camera of vernier knob pair 702, by the first sliding block 704 to the first industrial camera
701 horizontal position is fixed, and the horizontal position of second industrial camera 702 is fixed by the second sliding block 705, according to
The stereo calibration of first industrial camera 701 and the second industrial camera 702 obtains the uniform coordinate value of flexible truss 1；
Step 4: carrying out image by the first industrial camera 701 and the second industrial camera 702 when flexible truss 1 generates vibration
Acquisition, the processing in real time of host 13 that data are inputted to computer by USB interface obtain the various vibration parameters of flexible truss 1,
And show 3D reconstruction pictures in the display of computer 14.
In conclusion the present invention is detected flexible truss using vision and acceleration transducer, by examining two kinds
The advantage of survey mode combines, both compensated for vision-based detection in the case that the insufficient picture contrast deficiency of illumination condition disadvantage,
Illustrate the flexibility of vision-based detection and good adaptability again, can in the case that laboratory condition it is insufficient provide it is more feasible
Solution, realizing reduces experimental cost and builds the purpose of difficulty.
The above, patent preferred embodiment only of the present invention, but the protection domain of patent of the present invention is not limited to
This, any one skilled in the art is in the range disclosed in patent of the present invention, according to the skill of patent of the present invention
Art scheme and its inventive concept are subject to equivalent substitution or change, belong to the protection domain of patent of the present invention.
Claims (10)
1. flexible truss vibration detection device, it is characterised in that：Including flexible truss, drive mechanism and vibration detection machine
Structure, the drive mechanism are connect with flexible truss, for driving flexible truss to generate vibration, vibration detection mechanism packet
Binocular vision system, workbench, acceleration transducer and processing equipment are included, the binocular vision system is arranged in workbench
On, for detecting the index point region on flexible truss, the acceleration transducer is arranged on flexible truss, and the processing is set
Back-up is not connect with binocular vision system, acceleration transducer.
2. flexible truss vibration detection device according to claim 1, it is characterised in that：The flexible truss has multilayer
Structure, every layer of structure are connected with each other by ten six roots of sensation flexible links, and bottom structure is connect with drive mechanism.
3. flexible truss vibration detection device according to claim 2, it is characterised in that：Every layer of knot of the flexible truss
In structure, ten six roots of sensation flexible links include eight horizontal flexibility bars, four vertical flexible links and four inclination flexible links, wherein four
Horizontal flexibility bar and the setting symmetrical above and below of other four horizontal flexibility bars, four vertical flexible links are constituted with eight horizontal flexibility bars
One cube, four tilt flexible link and are separately positioned on cubical four sides.
4. flexible truss vibration detection device according to claim 2, it is characterised in that：The bottom of the flexible truss
In structure, two flexible links are connect with drive mechanism respectively, every piece flexible link of the flexible truss in addition to this two flexible links
On be evenly distributed with multi-turn index point.
5. according to claim 2-4 any one of them flexible truss vibration detection devices, it is characterised in that：Described device is also wrapped
Support platform is included, the bottom structure of the flexible truss is fixed in support platform.
6. flexible truss vibration detection device according to claim 1, it is characterised in that：The binocular vision system includes
Two industrial cameras, a guide rail, two sliding blocks and two holders, described two sliding blocks are slidably arranged on guide rail, described to lead
Rail is fixed on workbench, and two industrial cameras, two sliding blocks and two holders are to correspond, every industrial phase
Machine is arranged on corresponding holder, and each holder is fixed on corresponding sliding block.
7. flexible truss vibration detection device according to claim 1, it is characterised in that：The vibratory drive mechanism includes
Piezoelectric ceramics actuator and signal processing module, the piezoelectric ceramics actuator are connect with flexible truss, the signal processing mould
Block is connect with electroceramics actuator.
8. flexible truss vibration detection device according to claim 7, it is characterised in that：The signal processing module includes
Signal generator and power amplifier, the signal generator, power amplifier and piezoelectric ceramics actuator are sequentially connected.
9. flexible truss vibration detection device according to claim 1, it is characterised in that：The processing equipment includes calculating
Machine, A/D capture cards and filter amplification circuit, the computer are connect with binocular vision system, and pass sequentially through A/D capture cards,
Filter amplification circuit is connect with acceleration transducer.
10. the flexible truss method for detecting vibration based on any one of claim 1-9 described devices, it is characterised in that：The side
Method includes：
Signal generator provides the sine wave signal of certain frequency and amplitude, arrives voltage amplification under the action of power amplifier
A degree of driving voltage, to drive the control flexible truss vibration of piezoelectric ceramics actuator；
Acceleration transducer feeds back the vibration signal in tri- directions X, Y, Z, the effect of filter amplification circuit exclusive PCR frequency,
The host that A/D capture cards convert analog signals into digital signal input computer is handled in real time；
Appropriately distance is arranged in two of binocular vision system between industrial camera and flexible truss, pass through the coarse adjustment knob of holder
Angle adjustment appropriate, and the horizontal position by two industrial cameras of sliding block pair are carried out with two industrial cameras of vernier knob pair
It sets and is fixed, the uniform coordinate value of flexible truss is obtained according to the stereo calibration of industrial camera；
Image Acquisition is carried out by industrial camera when flexible truss generates vibration, the host for entering data into computer is handled in real time
Go out the various vibration parameters of flexible truss, and 3D reconstruction pictures are shown in the display of computer.
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| CN110095242A (en) * | 2019-05-29 | 2019-08-06 | 华南理工大学 | A kind of the reflecting surface vibration detection device and method of umbrella antenna |
| CN111059206A (en) * | 2019-12-28 | 2020-04-24 | 中国科学院沈阳自动化研究所 | Piezoelectric active vibration damper of flexible solar wing supporting structure |
| CN111289197A (en) * | 2020-01-18 | 2020-06-16 | 苏州浪潮智能科技有限公司 | Server mainboard vibration displacement detection device and method |
| CN113428386A (en) * | 2021-06-30 | 2021-09-24 | 北京空间飞行器总体设计部 | On-orbit overlong truss structure deformation control device |
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Application publication date: 20181026 |