CN201011610Y - Experiment teaching system for kinematics of mechanism and dynamical parameter detecting - Google Patents
Experiment teaching system for kinematics of mechanism and dynamical parameter detecting Download PDFInfo
- Publication number
- CN201011610Y CN201011610Y CNU2007200486316U CN200720048631U CN201011610Y CN 201011610 Y CN201011610 Y CN 201011610Y CN U2007200486316 U CNU2007200486316 U CN U2007200486316U CN 200720048631 U CN200720048631 U CN 200720048631U CN 201011610 Y CN201011610 Y CN 201011610Y
- Authority
- CN
- China
- Prior art keywords
- kinematics
- measured
- image
- camera
- kinetic parameter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model relates to a kinematics and dynamics parameters detecting system and is mainly used for the experimental teaching of machinery principle of engineering course. The utility model comprises a mechanism(1) that is waiting for analyzing and verifying, test points of analyzing points that are arranged on the key position of the mechanism(1), a camera ensuring to shoot a whole moving trace area, as well as a data processing device(4) that can process a series of shot videos. The camera connects with the video processing device(4) through a video collecting card. The detecting accuracy and efficiency of the detecting system is high and can be used for non-contact detection of various movement of all mechanism. The position information of the node can be gained and then the kinematics and dynamics parameters can be worked out according to kinematics and dynamics theories to verify the analysis of kinematics and dynamics.
Description
Technical field:
The utility model is a kind of kinematics of mechanism, kinetic parameter test experience tutoring system, particularly a kind of kinematics of mechanism based on vision technique, kinetic parameter test experience tutoring system belong to the innovative technology equipment of kinematics of mechanism, kinetic parameter test experience teaching.
Background technology:
Mechanism is the basis of forming various mechanical systems, as piston engine, and various textile machines, printing machinery etc., so the research of theory of mechanisms is the research emphasis in the mechanical field always.No matter be the serviceability of analysis and research existing machinery, or the optimal design new mechanism, kinematic analysis of mechanisms all is crucial.So-called Kinematic Analysis, exactly displacement, speed and the acceleration to mechanism calculate, measure, analysis such as experiment.The related kinematic analysis of mechanisms of the utility model is under the condition of the characteristics of motion of known driving link, the displacement of each point, track, speed and acceleration on all the other members in the analysis institution, and the angular displacement of these members, angular velocity and angular acceleration.These kinematic parameters have been arranged, could analyze, estimate the serviceability of existing mechanism, it also is a basic foundation of optimizing comprehensive new mechanism simultaneously.
By the displacement analysis of (comprising track), whether mutual interference takes place in the time of can determining the space that some component movement is required or judge their motions; Can also determine the stroke of driven member, can certain point realize the requirement that the precalculated position changes on examination member or the member.
By analysis, can determine whether the velocity variations of driven member in the mechanism satisfies job requirement to speed.Velocity analysis simultaneously also is the acceleration analysis of mechanism and the basis of force analysis.
To the analysis of mechanism's acceleration, be to calculate the indispensable precondition of inertial force.In high speed machine, calculate dynamic performances such as its exercise intensity, vibrations, these are all relevant with variation with the size of dynamic loading or inertial force.Therefore, to high speed machine, dynamic analysis can not be ignored.
The how kinematics and the dynamic analysis correctness of certifying organization, existing method generally is at some key positions of mechanism various sensors to be installed, carry out data acquisition and data analysis with computing machine, result and Computer simulation results after handling are compared checking.The shortcoming that this method exists is that the sensor installation is dumb, to the kinematic parameter that a lot of inconvenient sensor installations are measured, can only carry out indirect analysis and measure, and makes that accuracy of detection and efficient are not high enough; The sensor of being installed usually can produce mechanism kinematic interferes, and can cause the kinematic parameter distortion under some high speed, high acceleration situation; Be unfavorable for that the student carries out Creative Mechanism Design.This experimental system experimentizes under the situation that does not need sensor installation, and student's intention can obtain maximum performance
The utility model content:
The purpose of this utility model is to consider the problems referred to above and a kind of accuracy of detection and efficient of can improving is provided, realize at a high speed, high-resolution image acquisition, kinematics of mechanism and dynamics correlation parameter are carried out kinematics of mechanism, the kinetic parameter test experience tutoring system of fast detecting.
The structural representation of the utility model test experience tutoring system as shown in Figure 2, include: be used for mechanism to be measured (1) analyzed and checking, be installed in mechanism to be measured (1) and go up the test point or the analysis site (2) of key position, the data processing equipment (4) that a series of images that guarantees take to cover the camera (3) in mechanism to be measured (1) whole movement locus zone, shooting is obtained is handled passes through the image acquisition card connection between camera (3) and the image processing apparatus (4).
Test point in the above-mentioned mechanism to be measured (1) or analysis site (2) are represented with the arbitrary motion position of mechanism to be measured (1).
Test point in the above-mentioned mechanism to be measured (1) or analysis site (2) are with having the light source of certain brightness or color or reflecting with reverberation.
Above-mentioned camera (3) is for when test point or analysis site (2) move with mechanism, and its track is taken into the CCD camera of continuous working image.
Above-mentioned image processing apparatus (4) is for being that main tool is gathered and pretreated image processing apparatus the image data information that is formed by track with the computing machine.
The utility model detection system is owing to adopt the reverberation of the light source of different brightness or color being installed or being had different characteristic at the tested position of mechanism, the camera that is positioned at the mechanism front in the certain intervals Time Triggered carries out the image production, the image that luminous point is returned carries out information acquisition, the image information that obtains is sent to image preprocess apparatus through image pick-up card, image preprocess apparatus carries out pre-service with the image that collects, for detecting, succeeding target prepares, therefore, the utility model detection system accuracy of detection and efficient are all higher, can realize at a high speed, high-resolution image acquisition.Analytical approach of the present utility model is by obtaining the information such as displacement of node, again according to the theory of kinematics and mechanics, obtains mechanism relevant motion and dynamic (dynamical) parameter, comes the correctness of certifying organization's motion and dynamic analysis.Analytical approach of the present utility model is convenient and practical, can carry out curve fitting to various unconventional characteristics of motion.
Description of drawings:
Fig. 1 is the utility model embodiment motion of mechanism schematic diagram to be measured;
Fig. 2 is the structural representation of the utility model detection system;
Fig. 3 is the process flow diagram of the utility model detection method.
Embodiment:
Embodiment:
The mechanism principle figure to be measured of the utility model detection system embodiment as shown in Figure 1, structural representation as shown in Figure 2, include and be installed on mechanism to be measured 1 test point or the analysis site, be used for, guarantee that shooting area covers the camera 3 of the whole movement locus of mechanism to be measured, a series of images that shooting is obtained carries out pretreated image preprocess apparatus 4 at some component representation things 2 of analyzing and representing during checking member, camera 3 with a series of images that shooting obtains is carried out pass through the image acquisition card connection between the pretreated image preprocess apparatus 4.
The arbitrary motion position of test point in the above-mentioned mechanism to be measured 1 or analysis site 2 usefulness mechanism 1 to be measured is represented or is reflected with the light source with certain brightness or color or with reverberation.In the present embodiment, above-mentioned mechanism to be measured 1 test point or analysis site are at the hinge place of mechanism 1 to be measured.Above-mentioned component representation thing 2 is different brightness or the light source of color or the reverberation with different characteristic.Above-mentioned camera 3 is the CCD camera.Above-mentioned image preprocess apparatus 4 is a computing machine.
The utility model kinematics of mechanism, kinetic parameter will carry out relevant operation according to following steps when carrying out experimental teaching:
1) setting regular time interval of delta t triggering camera 3 takes, some component representation things 2 were with test point or analysis site motion when mechanism 1 to be measured moved, camera 3 is taken the movement locus of some component representation things 2, the movement locus of promptly representing mechanism to be measured 1 test point or analysis site, thereby a series of images of acquisition mechanism kinematic;
2) image of 4 pairs of acquisitions of the image preprocess apparatus pre-service of being correlated with makes the key character of image more obvious, and removes disturbing factor such as noise;
3) because the component representation thing 2 that is equipped with at the test point or the analysis site place of mechanism 1 to be measured is light source or reverberation, its brightness exceeds background, so form certain contrast with background, utilization target extractive technique, extract each test point or analysis site, each point be can distinguish according to brightness and chromaticity, thereby the position of test point or analysis site and the position of member drawn;
4), obtain the position sequence of a certain test point or analysis site, thereby determine in the time period or a certain test point or the movement locus of analysis site and the movement locus of member that complete cycle is interior from a series of images;
5) from adjacent two width of cloth images, obtain the position of same node interval time Δ t, according to kinematic relevant theoretical, speed is exactly the displacement time differential, thus the speed of obtaining, acceleration is the speed time differential, and then tries to achieve acceleration;
6), determine the dynamics of mechanism by acceleration and quality according to kinetic theory.
Now with shown in Figure 1 in machine most widely used linkage assembly be that example illustrates its analytical approach, specifically include following steps:
1) at the node A of tested linkage assembly, B, C, D load onto at the place miniature bulb or the reverberation of different colours, and bulb moves with node during connecting rod mechanism movement, the movement locus of expression node;
2) the CCD camera is installed in the linkage assembly top, guarantees the whole movement locus of shooting area covering mechanism, with the information that guarantees not omit connecting rod mechanism movement.Determine Δ t interval time of triggering, the few more detected data of Δ t value are accurate more, will be higher to the requirement of hardware simultaneously.Trigger the CCD camera be positioned at the linkage assembly front in interval time and take, image is sent to computing machine through image pick-up card and stores then, and linkage assembly will obtain the linkage assembly motion diagram image sets in the different moment after operation a period of time in the computing machine.
3) a series of images that shooting is obtained must carry out pre-service.Pretreated purpose is to prepare for succeeding target point detects.Pre-service comprises the contrast that improves background and linkage assembly, makes linkage assembly obviously be different from background, utilizes Hi-pass filter to carry out sharpening, makes the impact point feature more obvious;
4) to image after the pre-service, utilization impact point detection algorithm carries out impact point and extracts in the zone of connecting rod mechanism movement, thereby finds out the node on the linkage assembly;
5) to two adjacent images, its mistiming is Δ t.Four nodes supposing a certain moment of linkage assembly are the AB1C1D among Fig. 1, interested in node at B1, since bulb or reverberation color difference, utilization impact point detection algorithm detects and B1 point bulb or reverberation colourity and brightness judgement, can detect the position of this node,, and note the color that B1 is ordered.Behind the elapsed time Δ t, obtain other piece image, at this moment four AB2C2Ds of node in Fig. 1.Same utilization impact point detection algorithm detects and the colourity and the brightness of preceding piece image same point judge that can obtain this position of this point constantly, its track remembers that it is B
1B
2Obtain track C as a same reason
1C
2According to kinematic principle, speed is exactly the displacement time differential, uses the formula V=dS/d Δ t that asks speed, and we can obtain the movement velocity in this this moment of node.Equally, our the different movement velocitys constantly of same node of noting adjacent image are respectively V
1And V
2, acceleration is the speed time differential, uses the formula a=dv/dt that asks acceleration so.After trying to achieve acceleration, according to principle of dynamics, utilize Newton second law F=ma, can obtain the size of power, so far, obtain this motion and dynamic (dynamical) parameter of linkage assembly, in like manner, can obtain the parameter of other nodes, thereby obtain kinematics and dynamic (dynamical) important parameter of this linkage assembly, verify then whether linkage assembly meets demand.
Claims (5)
1. a kinematics of mechanism, kinetic parameter test experience tutoring system, it is characterized in that including: be used for mechanism to be measured (1) analyzed and checking, be installed in mechanism to be measured (1) and go up the test point or the analysis site (2) of key position, the data processing equipment (4) that a series of images that guarantees take to cover the camera (3) in mechanism to be measured (1) whole movement locus zone, shooting is obtained is handled passes through the image acquisition card connection between camera (3) and the image processing apparatus (4).
2. kinematics of mechanism according to claim 1, kinetic parameter test experience tutoring system is characterized in that test point or the analysis site (2) in the above-mentioned mechanism to be measured (1) represented with the arbitrary motion position of mechanism to be measured (1).
3. kinematics of mechanism according to claim 1, kinetic parameter test experience tutoring system is characterized in that test point in the above-mentioned mechanism to be measured (1) or analysis site (2) are with having the light source of certain brightness or color or reflecting with reverberation.
4. kinematics of mechanism according to claim 1, kinetic parameter test experience tutoring system, it is characterized in that in position installing CCD camera (3), when test point or analysis site (2) moved with mechanism, its track was taken into the continuous working image by above-mentioned CCD camera.
5. kinematics of mechanism according to claim 1, kinetic parameter test experience tutoring system, it is characterized in that above-mentioned image processing apparatus (4) for being main tool with the computing machine, can gather and pretreated image processing apparatus the image data information that is formed by track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200486316U CN201011610Y (en) | 2007-02-13 | 2007-02-13 | Experiment teaching system for kinematics of mechanism and dynamical parameter detecting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200486316U CN201011610Y (en) | 2007-02-13 | 2007-02-13 | Experiment teaching system for kinematics of mechanism and dynamical parameter detecting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201011610Y true CN201011610Y (en) | 2008-01-23 |
Family
ID=39046553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200486316U Expired - Fee Related CN201011610Y (en) | 2007-02-13 | 2007-02-13 | Experiment teaching system for kinematics of mechanism and dynamical parameter detecting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201011610Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102564450A (en) * | 2011-12-23 | 2012-07-11 | 奇瑞汽车股份有限公司 | Method and device for measuring distance and speed |
| CN102810276A (en) * | 2012-05-10 | 2012-12-05 | 许卫刚 | Method and system for measuring displacement, speed and acceleration |
| TWI493374B (en) * | 2013-12-20 | 2015-07-21 | Univ Taipei Medical | Quantitative Method for the Induction of Traumatic Brain Injury Animal Model and System thereof |
-
2007
- 2007-02-13 CN CNU2007200486316U patent/CN201011610Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102564450A (en) * | 2011-12-23 | 2012-07-11 | 奇瑞汽车股份有限公司 | Method and device for measuring distance and speed |
| CN102810276A (en) * | 2012-05-10 | 2012-12-05 | 许卫刚 | Method and system for measuring displacement, speed and acceleration |
| TWI493374B (en) * | 2013-12-20 | 2015-07-21 | Univ Taipei Medical | Quantitative Method for the Induction of Traumatic Brain Injury Animal Model and System thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102253043B (en) | Monocular CCD (Charge Coupled Device) digitalized analysis method of multi-angle yarn appearance | |
| CN105808416B (en) | A kind of automated testing method and system of man-machine figure interactive interface | |
| CN101917599B (en) | Cradle head fault detecting method and device | |
| CN101038239A (en) | Device for detecting engine condition based on pure vibration signal and method thereof | |
| CN204479490U (en) | A kind of laser marking On-line Product testing and analysis system | |
| CN106781529B (en) | It is a kind of based on the vehicle of weight measurement across road and retrograde detection system | |
| CN201438178U (en) | Displacement table device for vision detection system | |
| CN201011610Y (en) | Experiment teaching system for kinematics of mechanism and dynamical parameter detecting | |
| CN106251249A (en) | A kind of construction informationization dynamic monitoring system | |
| CN103106411A (en) | Tennis motion capturing and analyzing method | |
| CN102539107A (en) | Method for accurately synchronizing test signals of wind tunnel | |
| CN1975361A (en) | Mechanical kinematics, kinetic parameter detecting system and analysis method | |
| CN109514521A (en) | The servo operation and its method of manpower collaboration Dextrous Hand based on multi-information fusion | |
| Catbas et al. | A vision for vision-based technologies for bridge health monitoring | |
| CN102779090B (en) | A kind of desktop virtual system performance measurement method and system | |
| CN110444026A (en) | The triggering grasp shoot method and system of vehicle | |
| CN109978844A (en) | One kind being based on the modular intelligent analysis method of deep learning and system | |
| CN108490381A (en) | A kind of ammeter detection device and its detection method | |
| CN112343712B (en) | Sensitivity analysis method for engine suspension vibration | |
| Wolfram et al. | Pattern Recognition in High Speed Schlieren Visualization at the High Enthalpy Shock Tunnel Göttingen (HEG) | |
| CN114777581A (en) | Device and method for testing outer trajectory parameters of light curtain array | |
| CN204630546U (en) | A kind of automatic measure on line visualization detection system of wind power equipment securing member | |
| CN102542239B (en) | Sintering machine tail red cross section effective image automatic capture method | |
| CN207996386U (en) | Force exerciser with check weighing, speed measuring function | |
| CN111488785A (en) | Rotary kiln working condition detection method based on in-kiln image |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080123 Termination date: 20110213 |