CN108760025A - More flexible board vibration detection devices and method - Google Patents
More flexible board vibration detection devices and method Download PDFInfo
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- CN108760025A CN108760025A CN201810763559.8A CN201810763559A CN108760025A CN 108760025 A CN108760025 A CN 108760025A CN 201810763559 A CN201810763559 A CN 201810763559A CN 108760025 A CN108760025 A CN 108760025A
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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
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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Abstract
The invention discloses a kind of more flexible board vibration detection devices and methods, described device includes 2N+1 blocks flexible board, linear moving mechanism, vibration detection mechanism and control assembly, one of flexible board is located at center, remaining flexible board is symmetricly set on the right and left of the block flexible board, all flexible boards are perpendicular to horizontal plane, and it is hinged by hinge, flexible hinged plate is formed, the flexible hinged plate is arranged on linear moving mechanism；The vibration detection mechanism includes two slide projectors, two groups of binocular vision systems and 2N acceleration transducer, every slide projector is used to index point being incident upon flexible hinged plate, every group of binocular vision system is arranged for detecting the index point region that corresponding slide projector is incident upon on flexible hinged plate, each acceleration transducer on corresponding flexible board.The present invention can reflect the global property of flexible hinged plate, and provide condition to Vibration Active Control of the research based on multisensor.
Description
Technical field
The present invention relates to a kind of vibration detection device, especially a kind of more flexible board vibration detection devices and method belong to
The rigidity of flexible structure and vibration detection field.
Background technology
Flexible structure is widely used in space flight and field of industrial production, and flexible structure has quality relative to rigid structure
Gently, the advantages that low energy consumption, efficient, operation is flexible, but the intrinsic frequency of flexible structure is low, and low frequency modal vibration is easily ignited
Feature limits its application and development in certain fields.
In field of aerospace, there is a large amount of solar energy sailboards.Solar energy sailboard in practice is by polylith rectangle sail
Plate is formed by connecting, and one section of first piece of windsurfing is connected with spacecraft, and the other end is connected by hinge with second piece of windsurfing, the
Two pieces of windsurfings are then connected with third block windsurfing in the same way；In this way, polylith rectangle windsurfing has connected and composed solar energy sail
Plate.Under this condition of contact, solar energy sailboard has the characteristics that large span and high flexibility.And under the space environment of no extrernal resistance,
It is highly prone to external drive effect and generates long-term low frequency Large Amplitude Vibration, therefore, to large-size pliable structure
Vibration analysis and control research are necessary.In the prior art, the rigidity of connects hinge is to the curved of solar energy sailboard structure
The influence of bent mode and torsion mode vibration can not be ignored, and study influence pair of the connects hinge of different-stiffness to flexible panel vibration
The mode of oscillation for studying solar energy sailboard structure has directive significance.
Acceleration transducer light weight, it is easy to install, and frequency band is wider, using acceleration transducer feedback control can compared with
Broad frequency range increases the active damping of system, enhances system robustness.Since the application of acceleration transducer can be drawn to system
Into a large amount of HF noise signal, therefore to be filtered.Acceleration transducer is to noise-sensitive simultaneously, exist it is sluggish and
The problems such as temperature drift, influences its precision, and can only measure the displacement of certain point on object, to obtain all information, it is necessary to hinged
Several acceleration transducers are respectively arranged on plate.
There is its unique advantage using binocular vision non-cpntact measurement, and can also quick obtaining measurement data.Binocular vision
In the case where not contacting testee surface, do not change the characteristics such as frequency, the amplitude of vibrating object, can be very good to avoid bearing
Carry effect.It is compared with laser displacement sensor, laser displacement sensor can only carry out spot measurement, and machine vision sensor has
The advantages that having measuring characteristic of overall importance, capable of carrying out multimetering, and be not limited solely to the vibration information of any and monocular regard
Feel is compared, and monocular vision can only obtain the in-plane displacement of flexible structure, and binocular vision can not only obtain in-plane displacement, may be used also
To obtain face outer displacement.
Invention content
The purpose of the present invention is to solve the defects of the above-mentioned prior art, provide a kind of more flexible board vibration detection dresses
It sets, which can reflect the global property of flexible hinged plate using binocular vision detection, and be examined using acceleration transducer
It surveys the method being combined with binocular vision detection to be compared the vibration information of flexible hinged plate, is conducive to improve detection essence
Degree provides condition to Vibration Active Control of the research based on multisensor.
Another object of the present invention is to provide a kind of more flexible board 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：
More flexible board vibration detection devices, including 2N+1 blocks flexible board, linear moving mechanism, vibration detection mechanism and control
Component, one of flexible board are located at center, remaining flexible board is symmetricly set on the right and left of the block flexible board, own
Flexible board is perpendicular to horizontal plane, and, formation flexible hinged plate hinged by hinge, and the flexible hinged plate setting is straight
In line mobile mechanism；The vibration detection mechanism includes two slide projectors, two groups of binocular vision systems and 2N acceleration sensing
Device, two slide projectors and two groups of binocular vision systems correspond, and every slide projector is used to index point being incident upon flexible, hinged
On plate, every group of binocular vision system is for detecting the index point region that corresponding slide projector is incident upon on flexible hinged plate, acceleration
Sensor is corresponded with the flexible board in addition to center, and each acceleration transducer is arranged on corresponding flexible board；
The control assembly is connect with linear moving mechanism, binocular vision system, acceleration transducer respectively；Wherein, N is natural number.
Further, the linear moving mechanism includes motor, screw rod, nut, guide rail, sliding block and pedestal, the motor
It is connect with screw rod by shaft coupling, the nut is connect with screw rod, and the guide rail is fixed on the base, the sliding block sliding setting
It is fixedly connected on guide rail, and with nut, the flexible board positioned at center is fixed on a rigid body, and the rigid body is fixed on cunning
On block.
Further, the linear moving mechanism further includes the first travel switch and the second travel switch, the first row
Cheng Kaiguan and the second travel switch are fixed on the base, and the first travel switch, close to one end of guide rail, the second travel switch leans on
The side of the other end of nearly guide rail, the sliding block is equipped with block.
Further, the guide rail has two, and two guide rails are symmetrically fixed on the base, and positioned at the left and right two of screw rod
The bottom on side, the sliding block is slidably connected with two guide rails respectively.
Further, every group of binocular vision system is led including two industrial cameras, two holders, two sliding blocks and one
Rail, two industrial cameras, two holders and two sliding blocks are to correspond, and each sliding block is slidably arranged on guide rail,
The camera lens of two industrial cameras is directed at the index point region that corresponding slide projector is incident upon on flexible hinged plate, and every industrial phase
Machine is arranged on corresponding holder, and each holder is fixed on corresponding sliding block.
Further, the control assembly includes computer, motion control card, terminal board, driver and charge amplifier,
The computer, motion control card and terminal board are sequentially connected, and the terminal board is connect with driver, charge amplifier respectively；
The computer is connect with binocular vision system, and the driver is connect with linear moving mechanism, and the charge is put
Big device is connect with acceleration transducer.
Further, it is evenly distributed with polylith silicon chip among every piece of flexible board.
Further, described device further includes two workbenches, two slide projectors, two groups of binocular vision systems and two
Workbench is to correspond, and every slide projector and every group of binocular vision system are fixed on corresponding workbench.
Further, described device further includes support platform, and the linear moving mechanism is fixed in support platform.
Another object of the present invention can be reached by adopting the following technical scheme that：
More flexible board method for detecting vibration based on above-mentioned apparatus, the method includes：
Two slide projectors are opened, index point is incident upon on flexible hinged plate, two groups of binocular vision systems and acceleration are utilized
Degree sensor detects the vibration of flexible hinged plate respectively, obtains corresponding vibration signal；
The vibration signal that two groups of binocular vision systems detect is directly inputted in computer, and by acceleration sensing
The vibration signal that device detects amplifies via charge amplifier, via the transmission of terminal board, passes through the A/D inside motion control card
Conversion module converts analog signals into digital signal and is input in computer；
The signal that computer is detected according to two groups of binocular vision systems obtains the flexible board and left side flexible board of center
Image coordinate and center flexible board and the right flexible board image coordinate, using the flexible board of center as base
Seat board three-dimensional coordinate is compared, and the coordinate difference of two groups of binocular vision systems is obtained, and solves the bending and torsion of decoupling flexible hinged plate
Rotational oscillation is dynamic, and the acceleration transducer detection signal obtained in conjunction with computer, and comparative analysis is under different-stiffness hinge connection
The difference of flexible board vibration information；
By changing hinge stiffness, repetition test obtains many experiments as a result, obtaining the hinged flexibility of different-stiffness
Panel vibration characteristic.
The present invention has following advantageous effect compared with the existing technology：
1, one of flexible board is located at center by the present invention, remaining flexible board is symmetricly set on the block flexible board
The right and left, all flexible boards are perpendicular to horizontal plane, and, formation flexible hinged plate, using binocular hinged by hinge
Vision detects the vibration displacement of flexible hinged plate, and compared to other touch sensors, binocular vision has not contact measurement
The advantages of, do not increase structure additional mass, do not change architectural characteristic, realizes multimetering；What Binocular vision photogrammetry obtained is packet
Image containing vibration information, and image information is abundant, can reflect the global property of flexible hinged plate, take suitable image
Processing Algorithm can obtain other significant parameters；Meanwhile acceleration sensing is set on the flexible board in addition to center
Device compares the vibration information of flexible hinged plate using the method that acceleration transducer detection and binocular vision detection are combined
Compared with, be conducive to improve accuracy of detection, to research the Vibration Active Control based on multisensor provide condition.
2, the present invention obtains the index point on flexible board using the method for two slide projector projected spots, solves unglazed
The vibration measurement problem of flexible hinged plate under the environment of source is evenly distributed with polylith silicon chip among each flexible board, so as to flexible hinge
Index point on fishplate bar is identified.
3, linear moving mechanism of the invention can design double guide rails so that flexible hinged plate is in the process of moving more
Steadily, it is effectively reduced vibration effect of the external drive to flexible hinged plate.
4, every group of binocular vision system of the invention is provided with two industrial cameras, two holders, two sliding blocks and guide rail,
Two industrial cameras can be detected the index point region being incident upon on flexible hinged plate, by horizontal positioned guide rail,
The camera adjustments mode of holder and sliding block composition, easily can adjust the posture of two cameras by two holders, lead to
The sliding of two sliding blocks is crossed to adjust the spacing between industrial camera, is respectively indicated on flexible hinged plate so as to easily measure
The vibration displacement of point.
Description of the drawings
Fig. 1 is more flexible board vibration detection device general structure schematic diagrams of the embodiment of the present invention 1.
Fig. 2 is the front view of more flexible board vibration detection devices of the embodiment of the present invention 1.
Fig. 3 is the vertical view of more flexible board vibration detection devices of the embodiment of the present invention 1.
Fig. 4 is the left view of more flexible board vibration detection devices of the embodiment of the present invention 1.
Fig. 5 is the structural schematic diagram of the flexible hinged plate of the embodiment of the present invention 1.
Fig. 6 is the structural schematic diagram of the linear moving mechanism of the embodiment of the present invention 1.
Fig. 7 is the structural schematic diagram of the slide projector and binocular vision system of the embodiment of the present invention 1 on workbench.
Fig. 8 is more flexible board method for detecting vibration flow charts of the embodiment of the present invention 1.
Wherein, the first flexible boards of 1-, the second flexible boards of 2-, 3- third flexible boards, the 4th flexible boards of 4-, 5- the 5th are flexible
Plate, 6- linear moving mechanisms, 601- motors, 602- screw rods, 603- nuts, the first sliding blocks of 604-, 605- pedestals, 606- first are led
Rail, the second guide rails of 607-, 608- shaft couplings, 609- bearing blocks, the first travel switches of 610-, the second travel switches of 611-, 612-
Block, the first slide projectors of 7-, the second slide projectors of 8-, first group of binocular vision system of 9-, the first industrial cameras of 901-, 902- second
Industrial camera, the first holders of 903-, the second holders of 904-, the second sliding blocks of 905-, 906- third sliding blocks, 907- third guide rails, 10-
Second group of binocular vision system, 1001- third industrial cameras, the 4th industrial cameras of 1002-, 1003- third holders, 1004-
Four holders, 1005- Four-sliders, the 5th sliding blocks of 1006-, the 4th guide rails of 1007-, the first acceleration transducers of 11-, 12- second
Acceleration transducer, 13- third acceleration transducers, the 4th acceleration transducers of 14-, 15- first axles, 16- second hinges,
17- third hinges, the 4th hinges of 18-, 19- silicon chips, 20- rigid bodies, 21- I-shaped clamping plates, 22- support platforms, 2201- first
Substrate, the first support legs of 2202-, the first transverse support bars of 2203-, 23- index points, the first workbenches of 24-, 2401- second
Substrate, the second support legs of 2402-, the second transverse support bars of 2403-, the second workbenches of 25-, 2501- third substrates, 2502-
Second support leg, 2503- third transverse support bars, 26- computers, 27- motion control cards, 28- terminal boards, 29- drivers,
30- charge amplifiers.
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 more flexible board vibration detection devices are present embodiments provided, which includes first
Flexible board 1, the second flexible board 2, third flexible board 3, the 4th flexible board 4, the 5th flexible board 5, linear moving mechanism 6, vibration inspection
Survey mechanism and control assembly, vibration detection mechanism include the first slide projector 7,8, first groups of binocular vision systems 9 of the second slide projector,
Second group of binocular vision system 10, the first acceleration transducer 11, the second acceleration transducer 12, third acceleration transducer 13
With the 4th acceleration transducer 14, the dotted line in Fig. 1 indicates the line relationship between each equipment, and direction arrow shows inspection
Survey and control the direction of transfer of signal stream.
As shown in fig. 1~fig. 5, first flexible board 1, the second flexible board 2, third flexible board 3, the 4th flexible board 4,
Five flexible boards 5 are hinged by hinge, form flexible hinged plate, and specifically, the first flexible board 1 is located at center, the
Two flexible boards 2 and third flexible board 3 are located at the right and left of the first flexible board 1, and symmetrical, and the 4th flexible board 4 is located at the
The lower section of two flexible boards 2, the 5th flexible board 5 is located at the lower section of third flexible board 3, and the 4th flexible board 4 and the 5th flexible board 5 are left
Right symmetrical, the right end of the second flexible board 2 is fixing end, and left end is free end, and the left end of third flexible board 3 is fixing end, right end
Upper end for free end, the 4th flexible board 4 is fixing end, and lower end is free end, and the upper end of the 5th flexible board 5 is fixing end, under
End is free end, and the left end of the first flexible board 1 is hinged by the right end of first axle 15 and the second flexible board 2, the first flexible board 1
Right end it is hinged by the left end of second hinge 16 and third flexible board 3, the lower end of the second flexible board 2 by third hinge 17 with
The upper end of 4th flexible board 4 is hinged, and the lower end of third flexible board 3 is hinged by the upper end of the 4th hinge 18 and the 5th flexible board 5；
First flexible board 1, the second flexible board 2, third flexible board 3, the 4th flexible board 4, the 5th flexible board 5 centre be evenly distributed with it is more
Block silicon chip 19, so that subsequently the index point on flexible hinged plate is identified；First acceleration transducer 11 is mounted on second
On flexible board 2, specific on the width direction center line of the second flexible board 2 and close to free end edge, the second acceleration passes
Sensor 12 is mounted on third flexible board 3, specific on the width direction center line of third flexible board 3 and close to free end edge
Edge, third acceleration transducer 13 are mounted on the 4th flexible board 4, the specific length direction center line for being mounted on the 4th flexible board 4
Upper and close free end edge, the 4th acceleration transducer 14 are mounted on the 5th flexible board 5, are specifically mounted on the 5th flexible board
On 5 length direction center line and close to free end edge.
Further, first axle 15 and second hinge 16 all have upper and lower two pieces of hinges, and third hinge 17 and the 4th is cut with scissors
Chain 18 all has left and right two pieces of hinges, and every piece of hinge is single-axis hinge, four pieces of hinges of first axle 15 and third hinge 17
Torsion stiffness is identical, and second hinge 16 is identical with the torsion stiffness of four pieces of hinges of the 4th hinge 18, but preceding four pieces of hinges is rigid
Degree is different from the rear rigidity of four pieces of hinges, and the torsion stiffness of every piece of hinge can be adjusted by the screw hole of axis of rotation, hinge
Rotation angle is 0-180 °, extremely fixed by pin lock in hinge axis when hinge is rotated to 180 °, to the phase of fixed flexible board
To link position.
In the present embodiment, the first flexible board 1, the second flexible board 2, third flexible board 3, the 4th flexible board the 4, the 5th are flexible
5 material identical of plate, is all made of epoxide resin material thin plate, and the elasticity modulus of epoxy resin is Ep=34.64Gpa, density be ρ=
1840kg/m3, the geometric dimension of the first flexible board 1 is 500mm × 500mm × 3mm, the second flexible board 2 and third flexible board 3
Size is identical, and the 4th flexible board 4 is identical with the size of the 5th flexible board 5；First axle 15, second hinge 16, third hinge 17
It is identical with the geometric dimension of every piece of hinge in the 4th hinge 18, it is 99mm × 71.5mm × 2mm；The size of every piece of silicon chip 19 is
40mm×20mm×1mm；First acceleration transducer 11, the second acceleration transducer 12, third acceleration transducer 13 and
The capacitance type sensor of the model 8310B2 of four acceleration transducers 14 selection Kistler companies, normal sensibility are
1000mv/g, measurement frequency ranging from 0-250Hz.
As shown in Fig. 1~Fig. 6, the linear moving mechanism 6 uses ball lead screw drive mechanism, for driving each flexible board
It moves linearly in the horizontal direction comprising motor 601, screw rod 602, nut 603, guide rail, the first sliding block 604 and pedestal 605, this
For embodiment in order to improve the stationarity of flexible hinged plate, the guide rail of the present embodiment has two, respectively the first guide rail 606 and second
Guide rail 607, motor 601 use servo motor, are connect with screw rod 602 by shaft coupling 608, and nut 603 connects with screw rod 602
It connects, the first guide rail 606 and the second guide rail 607 are symmetrically fixed on pedestal 605, and are slided positioned at the right and left of screw rod 602, first
Block 604 is slidably arranged on the first guide rail 606 and the second guide rail 607, and specifically, the bottom of the first sliding block 604 is respectively with first
Guide rail 606, the second guide rail 607 are slidably connected, and are fixedly connected with nut 603, and the first flexible board 1 is fixed on a rigid body 20,
Specifically, it is hollow rigid body that the first flexible board 1 passes through clamping plate rigid body 20, the rigid body 20 by screw, is fixed on the first sliding block 604
On, specifically, rigid body 20 is fixed on by I-shaped clamping plate 21 on the first sliding block 604, and motor 601 obtains the electricity of control assembly
It is rotated after pressure signal, while screw rod 602 being driven to rotate so that straight line moves the nut 603 being connect with screw rod 602 in the horizontal direction
It is dynamic, therefore the first sliding block 604 being fixedly connected on nut 603 also moves in the same direction, since the first flexible board 1 is by rigid
Body 20 is fixed on I-shaped clamping plate 21, therefore can be reached by control motor 601 and be accurately controlled flexible hinged plate shifting
Dynamic purpose.
In order to enable 502 steady operation of screw rod, the linear moving mechanism 6 of the present embodiment further includes bearing block 609, bearing
Seat 609 is set in the outside of screw rod 602, realizes the support to screw rod 602, ensures the steady operation of screw rod 602.
In order to make the first sliding block 604 be moved in certain stroke range, the linear moving mechanism 6 of the present embodiment further includes
First travel switch 610 and the second travel switch 611, the first travel switch 610 and the second travel switch 611 are fixed on pedestal
On 605, and the first travel switch 610, close to one end of the first guide rail 606, the second guide rail 607, the second travel switch 611 is close
The side of the other end of first guide rail 606, the second guide rail 607, the first sliding block 604 is equipped with block 612, when the first sliding block 604 moves
Move close to the first guide rail 606, the first guide rail 607 one end when, the machinery that block 612 touches the first travel switch 610 goes out
Head, 610 internal circuit of the first travel switch connect generation electric signal and are input to control assembly, and the control stopping of motor 601 is then controlled
Screw rod 602 processed stops, and similarly, when the first sliding block 604 is moved close to the other end of guide rail 504, block 612 touches the
The machinery of two travel switches 611 is lifted one's head, and 611 internal circuit of the second travel switch connects generation electric signal and is input to control assembly,
It controls motor 601 and stops then control screw rod 602 stopping.
It is flexible in order to stablize the first flexible board 1 of support, the second flexible board 2, third flexible board 3, the 4th flexible board the 4, the 5th
More flexible board vibration detection devices of plate 5 and linear moving mechanism 6, the present embodiment further include support platform 22, and move linearly machine
The pedestal 605 of structure 6 is fixed in support platform 22；Further, support platform 22 includes first substrate 2201 and four first
Support leg 2202, pedestal 605 are fixed on the upper surface of first substrate 2201 by fastening bolt, and the first guide rail 606 and second are led
Rail 607 along first substrate 2201 the distribution of upper surface central symmetry, four first support legs 2202 respectively with first substrate 2201
Lower surface be fixedly connected, the first transverse support bar 2203 is equipped between adjacent two first support legs 2202 so that entire
Support platform 22 is more firm.
In the present embodiment, Mitsubishi servo motor HG-KN43J-S100 can be selected in motor 601, and rated voltage is exchange
220V, output power 400W, nominal torque 1.3Nm, rated speed 3000r/min；First guide rail 606 and the second guide rail
607 helical pitch is 750mm, and the size of the first sliding block 604 is 82mm × 68mm × 7mm；Support platform 22 is distinguished by three kinds of length
Assemble for the aluminium section bar of 1400mm, 360mm, 600mm, substrate 2201 is the stainless steel of one piece of 1520mm × 480mm × 8mm
Plate is connect by screw with proximate matter, and each junction of proximate matter has angle bar to fix.
As shown in Fig. 1~Fig. 5, Fig. 7, the first slide projector 7 and the second slide projector 8 are used to index point 23 being incident upon flexible hinge
On fishplate bar, specifically, index point 23 is incident upon the first flexible board 1, the second flexible board 2 and the 4th flexible board 4 by the first slide projector 7
On, index point 23 is incident upon on the first flexible board 1, third flexible board 3 and the 5th flexible board 5 by the second slide projector 8, specifically,
Index point 23 can be all incident upon on the silicon chip 19 of the first flexible board 1, the second flexible board 2 and the 4th flexible board 4, first group of binocular vision
Feel system 9 is for detecting 23 region of index point that the first slide projector 7 is incident upon on flexible hinged plate, second group of binocular vision system
10 for detecting 23 region of index point that the second slide projector 8 is incident upon on flexible hinged plate, wherein first group of binocular vision system 9
Including the first industrial camera 901, the second industrial camera 902, the first holder 903, the second holder 904, the second sliding block 905, third
Sliding block 906 and third guide rail 907, second group of binocular vision system 10 include third industrial camera 1001, the 4th industrial camera
1002, third holder 1003, the 4th holder 1004, Four-slider 1005, the 5th sliding block 1006 and the 4th guide rail 1007, due to two
The structure of group binocular vision system is identical with principle, and the present embodiment is illustrated with first group of binocular vision system 9, the second sliding block
905 and third sliding block 906 be slidably arranged on third guide rail 907, that is to say, that the second sliding block 905 and third sliding block 906 can be
It is moved freely on third guide rail 907, the camera lens of the first industrial camera 901 and the second industrial camera 902 is directed at the first slide projector 7
It is incident upon 23 region of index point on flexible hinged plate, and the first industrial camera 901 is arranged on the first holder 903, the second work
Industry camera 902 is arranged on the second holder 904, and the first holder 903 is fixed on the second sliding block 905, and the second holder 904 is fixed on
On third sliding block 906, the position of the first industrial camera 901 can be changed by moving freely for the second sliding block 905, pass through third
Sliding block 906 moves freely the position that can change the second industrial camera 902, so as to adjust the first industrial camera 901 and second
Spacing between industrial camera 902, the first holder 903 and the second holder 904 are all made of ball-shaped cloud platform, by adjusting the first holder
903 can adjust the posture of the first industrial camera 901, and the second industrial camera 902 can be adjusted by adjusting the second holder 904
Posture, it is seen that more flexible board vibration detection devices of the present embodiment can be used for the vibration mould of solar energy sailboard in simulation space
State projects the mode of index point combination binocular vision detection using slide projector under simulation space gauge without light source environment, obtains flexible
The vibration information of articulated slab.
In order to project index point 23 preferably on flexible hinged plate and detect 23 region of index point of flexible hinged plate,
More flexible board vibration detection devices of the present embodiment further include the first workbench 24 and the second workbench 25, the first slide projector
7 and the third guide rail 907 of first group of binocular vision system 9 be fixed on the first workbench 24, the second slide projector 8 and second group
4th guide rail 1007 of binocular vision system 10 is fixed on the second workbench 25；Further, the first workbench 24 wraps
Include second substrate 2401 and four second support legs 2502, third guide rail 907 is fixed on the upper surface of second substrate 2401, four
Second support leg 2502 is fixedly connected with the lower surface of second substrate 2401 respectively, between adjacent two second support legs 2502
Equipped with the second transverse support bar 2403 so that the first workbench 24 is more firm, and similarly, the second workbench 25 includes third
Substrate 2501 and four third support legs 2402, the 4th guide rail 1007 are fixed on the upper surface of third substrate 2501, four thirds
Support leg 2402 is fixedly connected with the lower surface of third substrate 2501 respectively, is equipped between adjacent two the 4th support legs 2402
Third transverse support bar 2503 so that the second workbench 25 is more firm.
The control assembly includes computer 26, motion control card 27, terminal board 28, driver 29 and charge amplifier
30, computer 26, motion control card 27 and terminal board 28 are sequentially connected, terminal board 28 respectively with driver 29, charge amplifier
30 connections.
The first industrial camera 901, the second industrial camera with first group of binocular vision system 9 respectively of the computer 26
902 and second group of binocular vision system 10 third industrial camera 1001, the 4th industrial camera 1002 connection, first industry
Camera 901, the second industrial camera 902, third industrial camera 1001 and the vibration signal of the 4th industrial camera 10023 detection are direct
It is input in computer 35 and is handled, obtain the image coordinate of the first flexible board 1, the second flexible board 2, the 4th flexible board 4, with
And the image coordinate of first flexible board 1, third flexible board 3, the 5th flexible board 5, with the first flexible board 1 for base plate three-dimensional coordinate
It is compared, obtains the coordinate difference of first group of binocular vision system 9 and second group of binocular vision system 10, to which comparative analysis exists
The difference of flexible board vibration information under different-stiffness hinge connection.
The driver 29 uses motor servo driver, is connect with the motor 601 of linear moving mechanism 6, specifically, will
Motor 601 connects driver 29 by the way of speed control or position control, and the included encoder of motor 601 can will be electric
The rotation information of machine feeds back to driver 29, is transmitted to motion control card 27 by terminal board 28, and then pass through motion control card
27 are transferred to computer 26, and computer 26 sends out corresponding controlled quentity controlled variable after running respective algorithms according to feedback information, is controlled via movement
Fabrication 27, terminal board 28 are transferred to driver 29, and the output shaft of the rotation of driving motor 601, motor 601 passes through shaft coupling 608
Screw rod 602 is driven, to control the movement of flexible hinged plate.
The charge amplifier 30 accelerates with the first acceleration transducer 11, the second acceleration transducer 12, third respectively
Sensor 13 and the connection of the 4th acceleration transducer 14 are spent, by the first acceleration transducer 11, the second acceleration transducer 12, the
Three acceleration transducers 13 and the 4th acceleration transducer 14 detection vibration signal after 30 enhanced processing of charge amplifier,
Via the transmission of terminal board 28, output to motion control card 27 will be simulated by the A/D conversion modules inside motion control card 27
Signal is converted into digital signal and is input in computer 26, then carries out subsequent processing through computer 26.
In the present embodiment, the first slide projector 7 and the second slide projector 8 select the RD-806 type magic lanterns of RIGAL companies production
Machine, resolution ratio are 1280 × 800dpi, and brightness is 8000 lumens, is equipped with 24V/150W accent lights；First industrial camera 901,
Two industrial cameras 902, third industrial camera 1001 and the 4th industrial camera 1002 all have parallel optical axis structure, select Germany
The image size of the CMOS cameras of Basler companies, model Basler acA1600-60gc, acquisition is 1600 × 1200 pictures
Element, about 2,000,000 pixels, frame per second are 60 frames/second, and lens interface is C interface, the interface of each industrial camera and computer 26
For GigE, transmission speed is better than USB interface；The CPU model core76650U2.2GHz of the computer 26 of selection, memory
4G has PCI-e slots in mainboard, can install motion control card 27；Motion control card 27 selects the production of GALIL companies of the U.S.
DMC-2x00 digital motion controllers provide the pci bus interface of standard；It is SGDM- that driver 29, which selects Σ-II serial model No.s,
The servo unit of 04ADAR；Charge amplifier 30 selects the YE5850 type charge amplifiers of Jiangsu Lian Neng Electronics Co., Ltd.s.
As shown in Fig. 1~Fig. 8, the present embodiment additionally provides a kind of more flexible board method for detecting vibration, and this method is based on upper
Device realization is stated, is included the following steps：
Step 1: opening the first slide projector 7 and the second slide projector 8, five group of 6 × 6 index point 23 is incident upon first respectively
On flexible board 1, the second flexible board 2, third flexible board 3, the 4th flexible board 4 and the 5th flexible board 5, first group of binocular vision is utilized
The first industrial camera 901, the second industrial camera 902 of system 9, the third industrial camera of second group of binocular vision system 10
1001, the 4th industrial camera 1002 and the first acceleration transducer 11, the second acceleration transducer 12, third acceleration pass
Sensor 13 and the 4th acceleration transducer 14 detect the vibration of flexible hinged plate respectively, obtain corresponding vibration signal；
Step 2: the vibration signal that the industrial camera of two groups of binocular vision systems detects is directly inputted to computer 26
In, and the vibration signal that four acceleration transducers detect amplified via charge amplifier 30, via terminal board 28
Transmission, converts analog signals into digital signal by the A/D conversion modules inside motion control card 27 and is input to computer 26
In；
Step 3: the signal that computer 26 is detected according to the industrial camera of two groups of binocular vision systems, it is flexible to obtain first
The image coordinate (i.e. left image coordinate) of plate 1, the second flexible board 2 and the 4th flexible board 4 and the first flexible board 1, third are flexible
The image coordinate (i.e. right image coordinate) of plate 3 and the 5th flexible board 5 is that base plate three-dimensional coordinate carries out pair with the first flexible board 1
Than obtaining the coordinate difference of two groups of binocular vision systems, solving the bending and twisting vibration of decoupling flexible hinged plate, and combine computer
26 obtained acceleration transducer detection signals, the area of flexible board vibration information of the comparative analysis under different-stiffness hinge connection
Not；
Step 4: by changing hinge stiffness, repetition test obtains many experiments as a result, obtaining different-stiffness hinge company
The flexible board vibration characteristics connect.
Embodiment 2：
The present embodiment is mainly characterized by：Flexible board can also be three pieces, and one of flexible board is equally located at center
Position, remaining two pieces of flexible board are symmetricly set on the right and left of the block flexible board, and structure can refer to above-described embodiment 1
First flexible board, the second flexible board and third flexible board, correspondingly, acceleration transducer can be two；Flexible board can also
It is seven pieces, one of flexible board is equally located at center, remaining six pieces of flexible board is symmetricly set on the block flexible board
The right and left, wherein the structure of five pieces of flexible boards can refer to first flexible board, the second flexible board, third of above-described embodiment 1
Flexible board, the 4th flexible board and the 5th flexible board, remaining two pieces of flexible boards are located at the second flexible board, third flexible board
Top, correspondingly, acceleration transducer can be six, and similarly, flexible board is nine pieces, 11 pieces etc., as long as meeting 2N+1 (N
For natural number) requirement of block, it may be necessary to the size for adjusting each flexible board, the height for adjusting industrial camera, adjustment work
The distance between industry camera and flexible hinged plate etc..Remaining is the same as embodiment 1.
In conclusion one of flexible board is located at center by the present invention, remaining flexible board is symmetricly set on the block
The right and left of flexible board, all flexible boards are perpendicular to horizontal plane, and, formation flexible hinged plate hinged by hinge,
The vibration displacement that flexible hinged plate is detected using binocular vision, compared to other touch sensors, binocular vision has not
The advantages of contact measurement, does not increase structure additional mass, does not change architectural characteristic, realizes multimetering；Binocular vision photogrammetry obtains
To be to include the image of vibration information, and image information is abundant, can reflect the global property of flexible hinged plate, take conjunction
Suitable image processing algorithm can obtain other significant parameters；Meanwhile setting adds on the flexible board in addition to center
Velocity sensor believes the vibration of flexible hinged plate using the method that acceleration transducer detection and binocular vision detection are combined
Breath is compared, and is conducive to improve accuracy of detection, and condition is provided to Vibration Active Control of the research based on multisensor.
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)
- Flexible board vibration detection device more than 1., it is characterised in that：Including 2N+1 blocks flexible board, linear moving mechanism, vibration detection Mechanism and control assembly, one of flexible board are located at center, remaining flexible board is symmetricly set on a left side for the block flexible board Right both sides, all flexible boards are perpendicular to horizontal plane, and, formation flexible hinged plate hinged by hinge, the flexible hinge Fishplate bar is arranged on linear moving mechanism；The vibration detection mechanism includes two slide projectors, two groups of binocular vision systems and 2N A acceleration transducer, two slide projectors and two groups of binocular vision systems correspond, and every slide projector is for throwing index point It penetrates on flexible hinged plate, every group of binocular vision system is for detecting the index point that corresponding slide projector is incident upon on flexible hinged plate Region, acceleration transducer are corresponded with the flexible board in addition to center, and each acceleration transducer is arranged in correspondence Flexible board on；The control assembly is connect with linear moving mechanism, binocular vision system, acceleration transducer respectively；Wherein, N is natural number.
- 2. more flexible board vibration detection devices according to claim 1, it is characterised in that：The linear moving mechanism includes Motor, screw rod, nut, guide rail, sliding block and pedestal, the motor are connect by shaft coupling with screw rod, and the nut connects with screw rod It connects, the guide rail is fixed on the base, and the sliding block is slidably arranged on guide rail, and is fixedly connected with nut, is located at centre bit The flexible board set is fixed on a rigid body, and the rigid body is fixed on sliding block.
- 3. more flexible board vibration detection devices according to claim 2, it is characterised in that：The linear moving mechanism also wraps The first travel switch and the second travel switch are included, first travel switch and the second travel switch are fixed on the base, and the One stroke switch is close to one end of guide rail, and for the second travel switch close to the other end of guide rail, the side of the sliding block is equipped with block.
- 4. more flexible board vibration detection devices according to claim 2, it is characterised in that：The guide rail has two, two Guide rail is symmetrically fixed on the base, and positioned at the right and left of screw rod, and the bottom of the sliding block connects with two guide rail slidings respectively It connects.
- 5. more flexible board vibration detection devices according to claim 1, it is characterised in that：Every group of binocular vision system include Two industrial cameras, two holders, two sliding blocks and a guide rail, two industrial cameras, two holders and two cunnings Block is to correspond, and each sliding block is slidably arranged on guide rail, and the camera lens of two industrial cameras is directed at corresponding slide projector and throws The index point region on flexible hinged plate is penetrated, and every industrial camera is arranged on corresponding holder, each holder is fixed on On corresponding sliding block.
- 6. more flexible board vibration detection devices according to claim 1, it is characterised in that：The control assembly includes calculating Machine, motion control card, terminal board, driver and charge amplifier, the computer, motion control card and terminal board connect successively It connects, the terminal board is connect with driver, charge amplifier respectively；The computer is connect with binocular vision system, and the driver is connect with linear moving mechanism, the charge amplifier It is connect with acceleration transducer.
- 7. according to the more flexible board vibration detection devices of claim 1-6 any one of them, it is characterised in that：In every piece of flexible board Between be evenly distributed with polylith silicon chip.
- 8. according to the more flexible board vibration detection devices of claim 1-6 any one of them, it is characterised in that：Described device is also wrapped Two workbenches are included, two slide projectors, two groups of binocular vision systems and two workbenches are to correspond, every magic lantern Machine and every group of binocular vision system are fixed on corresponding workbench.
- 9. according to the more flexible board vibration detection devices of claim 1-6 any one of them, it is characterised in that：Described device is also wrapped Support platform is included, the linear moving mechanism is fixed in support platform.
- 10. more flexible board method for detecting vibration based on any one of claim 1-9 described devices, it is characterised in that：The side Method includes：Two slide projectors are opened, index point is incident upon on flexible hinged plate, are passed using two groups of binocular vision systems and acceleration Sensor detects the vibration of flexible hinged plate respectively, obtains corresponding vibration signal；The vibration signal that two groups of binocular vision systems detect is directly inputted in computer, and acceleration transducer is examined The vibration signal measured amplifies via charge amplifier, via the transmission of terminal board, is converted by the A/D inside motion control card Module converts analog signals into digital signal and is input in computer；The signal that computer is detected according to two groups of binocular vision systems obtains the figure of the flexible board and left side flexible board of center As the image coordinate of coordinate and the flexible board and the right flexible board of center, using the flexible board of center as base plate Three-dimensional coordinate is compared, and the coordinate difference of two groups of binocular vision systems is obtained, and the bending and torsion for solving decoupling flexible hinged plate are shaken Acceleration transducer detection signal that is dynamic, and being obtained in conjunction with computer, flexibility of the comparative analysis under different-stiffness hinge connection The difference of panel vibration information；By changing hinge stiffness, repetition test obtains many experiments and shakes as a result, obtaining the hinged flexible board of different-stiffness Dynamic characteristic.
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